CN111360864A - Mechanical claw for grabbing floating garbage on water surface and working method thereof - Google Patents
Mechanical claw for grabbing floating garbage on water surface and working method thereof Download PDFInfo
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- CN111360864A CN111360864A CN202010340253.9A CN202010340253A CN111360864A CN 111360864 A CN111360864 A CN 111360864A CN 202010340253 A CN202010340253 A CN 202010340253A CN 111360864 A CN111360864 A CN 111360864A
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- 210000000078 claw Anatomy 0.000 title claims abstract description 204
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 57
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 35
- 210000000683 abdominal cavity Anatomy 0.000 claims description 9
- 230000008569 process Effects 0.000 claims description 8
- 238000004140 cleaning Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 239000010865 sewage Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Classifications
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- 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
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- 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
- B25J15/0028—Gripping heads and other end effectors with movable, e.g. pivoting gripping jaw surfaces
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- Mechanical Engineering (AREA)
Abstract
The invention provides a mechanical claw for grabbing floating garbage on water surface and a working method thereof, comprising a claw disc, an upper claw finger and a lower claw finger, the rear side of the upper claw finger is hinged with the claw disc, the lower claw finger comprises a lower claw left claw finger and a lower claw right claw finger which are overlapped and staggered up and down, a collecting net is fixed between the lower left claw finger and the lower right claw finger, the overlapping part between the lower left claw finger and the lower right claw finger is hinged and connected, the rear sides of the lower left claw finger and the lower right claw finger are connected with a claw disc, the claw disk is provided with a driving mechanism for driving the upper claw fingers to swing up and down around the hinged part of the claw disk to realize the closing of the lower claw finger collecting net, this grab and hold device can realize by the actuating mechanism drive that lower claw indicates to act on earlier and hold the target object in the pocket below the surface of water, goes up the claw and indicates the plane closure that forms with lower claw afterwards, impresses the target object and collects and store in the net, and the collection efficiency that faces surface of water floating garbage is high and convenient accurate.
Description
Technical Field
The invention relates to a mechanical claw for grabbing floating garbage on water surface and a working method thereof.
Background
At present, the pollution caused by the water surface garbage of rivers, lakes, ports and other water areas is serious, which not only brings great negative effects to the problems of the living environment of wild animals and plants, the resource protection and the like, but also harms the water safety of human beings. Most of the existing water surface garbage cleaning devices are water surface solid garbage collecting machines such as large comprehensive sewage disposal ships with high automation level, the water surface solid garbage collecting machines are good in endurance and powerful in functions, and cannot meet the water surface floating garbage cleaning requirements of places such as small rivers, artificial lakes, water amusement parks and the like due to the fact that the large water surface is inconvenient to move in narrow water areas, low in working efficiency, high in power consumption and use cost and the like.
Therefore, the floating garbage on the water surface in various areas is still treated by means of manual salvage nowadays. However, the method has certain limitation and danger, and for places such as small rivers, artificial lakes, amusement parks on water and the like, areas with narrow water surface or shallow water depth often exist, so that the ship body cannot pass through the areas, and the fishing is difficult; meanwhile, for some water areas with serious pollution, the method is not suitable for workers to go to salvage; as labor prices rise, manual handling is not only costly but extremely dangerous.
And to surface of water floating garbage, current gripper often can not carry out effectual snatching and collecting, inefficiency.
Disclosure of Invention
The invention improves the problems, namely the technical problem to be solved by the invention is that the existing mechanical claw cannot effectively grab and collect garbage floating on the water surface, and the efficiency is low.
The specific embodiment of the invention is as follows: the utility model provides a mechanical gripper that snatchs towards surface of water floating garbage, includes claw dish, last claw finger and lower claw finger, the rear side that goes up the claw finger is connected with the claw dish is articulated, lower claw finger includes that the lower left claw finger that upper and lower coincide was crisscross sets up reaches lower right claw finger, be fixed with between lower left claw finger and the lower right claw finger and collect the net, lower left claw finger and lower right claw finger between the position of coincide hinge connection, lower left claw finger and the rear side that lower right claw finger indicated are connected with the claw dish, it indicates around realizing sealing the actuating mechanism who grabs the finger and collect the net with the articulated department luffing motion of claw dish to have the drive on the claw dish.
Furthermore, the driving mechanism comprises a motor fixed on the claw disc, the motor is fixedly connected with a transmission stud, a sleeve B is matched with the outer portion of the transmission stud in a threaded mode, the sleeve B is connected with the rear side of the upper claw finger through a pull rod, and the pull rod is connected with the sleeve A in a hinged mode and the rear side of the upper claw finger in a hinged mode.
Furthermore, a sleeve A is further in threaded fit with the transmission stud, the sleeve A is located on the rear side of the sleeve B, transmission connecting rods are hinged to two sides of the sleeve A, and the front side ends of the transmission connecting rods are correspondingly hinged to the rear sides of the lower jaw left jaw finger and the lower jaw right jaw finger respectively.
Furthermore, a supporting column is fixed on the front side of the claw disc, a rotatable guide groove part is hinged to the front side of the supporting column, and the transmission connecting rod is buckled in the guide groove part to limit the swinging of the transmission connecting rod.
Furthermore, the motor is fixed in the middle of the claw disc, a fixed plate is fixed on the upper portion of the claw disc, a mechanical arm is fixed on the front side of the fixed plate, and the rear side end of the upper claw finger is hinged to the mechanical arm.
Furthermore, the tip of the upper claw finger is in a curved fishbone shape, and the middle part and the root part of the upper claw finger are in a step-shaped plate surface.
Furthermore, a washer is padded between the overlapped part of the lower claw left finger and the lower claw right finger for reducing friction between the fingers.
Furthermore, the junction of the front end of the lower claw finger is provided with a V-shaped notch convenient for fishing and opening, the front side of the superposed position of the lower claw left claw finger and the lower claw right claw finger is arc-shaped, and a plurality of small holes used for connecting and collecting nets are uniformly distributed.
The invention also comprises a working method of the mechanical claw for grabbing the floating garbage on the water surface, which comprises the following steps: (1) adjusting the mechanical claw to the maximum opening range, wherein the upper claw finger reaches the highest position, the lower claw finger also opens to the maximum range, and the V-shaped collection net is opened completely; (2) the mechanical claw extends into the water surface, and the floating garbage on the water surface is collected into the upper part of the lower claw finger abdominal cavity from the V-shaped opening of the collecting net; the motor rotates to drive the transmission stud sleeve A and the transmission stud sleeve B to perform linear motion in the same direction, when the sleeve A and the sleeve B move towards the rear side, the upper claw finger is pulled to rotate around the hinged position of the upper claw finger and the claw disc to be pressed downwards by the pull rod, the lower claw left claw finger and the lower claw right claw finger of the lower claw finger are pulled to be closed towards each other under the pulling of the transmission connecting rod, the V-shaped opening of the collection net is gradually closed to prevent garbage from falling, and meanwhile, the lowest position of a fishbone-shaped supporting structure at the front end of the upper claw finger can press floating garbage collected above the abdominal cavity of the lower claw finger to the lower position in the abdominal cavity of the lower claw; completing the collection process of the floating garbage on the water surface; (4) the mechanical claw is extended out of the water surface, the motor drives the transmission stud to move the sleeve A and the sleeve B to the front side, so that the upper claw finger reaches the highest position, the lower claw finger is also expanded to the maximum range, and the next circulation process can be carried out.
Furthermore, the angle of the mechanical claw extending into the water surface and the angle of the mechanical claw extending out of the water surface are 25-35 degrees.
Compared with the prior art, the invention has the following beneficial effects: this gripper structure can provide a convenient to use, snatchs and the efficient gripper that snatchs towards surface of water floating garbage with collection, can reduce the cost of labor, the degree of danger of the surface of water garbage collection in the past that significantly reduces.
Drawings
FIG. 1 is a perspective view of an embodiment of the present invention;
FIG. 2 is a perspective view of a drive stud in an embodiment of the present invention;
FIG. 3 is a perspective view of an upper jaw in an embodiment of the present invention;
FIG. 4 is a perspective view of a pawl plate in an embodiment of the present invention;
FIG. 5 is a perspective view of a lower jaw portion in an embodiment of the present invention;
the reference numbers in the figures illustrate: 1-claw disc, 2-transmission stud, 3-sleeve A, 4-sleeve B, 5-upper claw finger, 51-mounting hole, 6-transmission connecting rod, 7-guide groove piece, 8-lower claw left claw finger, 81-connecting hole I, 82-connecting hole II, 9-gasket, 10-lower claw right claw finger, 11-collection net, 12-tail end hole, 13-through hole, 51-mounting hole, 52-pull rod through hole, 53-pull rod, and 101-round hole.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 5, the mechanical gripper grasping device comprises a gripper disc 1 and 5-level lower gripper fingers of an upper gripper finger, wherein the lower gripper finger comprises a lower left gripper finger 8 and a lower right gripper finger 10, the lower gripper finger comprises the gripper disc 1, the upper gripper finger and the lower gripper finger, the rear side of the upper gripper finger is hinged to the gripper disc, the lower gripper finger comprises a lower left gripper finger 8 and a lower right gripper finger 10 which are overlapped and staggered up and down, a collecting net 11 is fixed between the lower left gripper finger 8 and the lower right gripper finger 10, the overlapped part between the lower left gripper finger 8 and the lower right gripper finger 10 is hinged, the rear side of the lower left gripper finger and the rear side of the lower right gripper finger are connected to the gripper disc 1, and a driving mechanism for driving the upper gripper finger to swing up and down around the hinged part of the gripper disc to realize the collection of the lower gripper finger is arranged on the gripper disc.
In this embodiment, the tip of the upper finger is in the shape of a curved fishbone, and the front part of the tip is concave, so that the weight of the paw can be effectively reduced. The tip of the upper finger is 155 deg. from the rear side and middle lever of the upper finger. This configuration facilitates the pressing of the target into the collecting net. The middle part of the upper claw finger and the root part of the upper claw finger are stepped plate surfaces, so that the upper claw finger and the lower claw finger of the assembly body are opposite to each other in structure.
In this embodiment, collect the net, its indicate the front end junction to be equipped with the V style of calligraphy breach that is convenient for catch and opens and shuts down at lower claw, do benefit to the pocket of object and go into.
In this embodiment, the driving mechanism includes a motor fixed on the claw disk, the motor is fixedly connected with a transmission stud 2, the external thread of the transmission stud 2 is matched with a sleeve a3 and a sleeve B4, the sleeve a is located at the rear side of the sleeve B, two sides of the sleeve a are hinged with a transmission connecting rod 6, the front side end of the transmission connecting rod 6 is correspondingly hinged with the rear sides of the lower claw left claw finger 8 and the lower claw right claw finger 10, the sleeve B4 is connected with the rear side of the upper claw finger 5 through a pull rod 53, and the pull rod 53 is hinged with the sleeve a and the rear side of the upper claw finger.
In this embodiment, the motor is fixed in the middle of the claw disk, the fixed plate is fixed on the upper portion of the claw disk, a mechanical arm is fixed on the front side of the fixed plate, and the front side end of the mechanical arm is hinged to the rear side end of the upper claw finger. The root of the upper claw finger is provided with a mounting hole 51 which is matched and hinged with a tail end hole 12 at the tail end of the mechanical arm, and the upper claw finger can swing around the mounting hole 51.
In this embodiment, the lower left finger and the lower right finger are symmetrical in structure, and the rear sides of the lower left finger 8 and the lower right finger 10 are provided with a first connecting hole 81 connected with the front side end of the transmission link 6. The middle parts of the lower left claw finger 8 and the lower right claw finger 10 are provided with a connecting hole II 82, the connecting holes II in the middle parts of the two claw fingers are connected in a matching mode, the lower left claw finger and the lower right claw finger can be hinged at the overlapped part through riveting a shaft rod longitudinally penetrating through the two connecting holes II 82 or through a bearing, the two claw fingers are connected through the connecting hole II 82, and a gasket 9 is arranged between the two claw fingers in a padding mode and used for reducing friction between the claw fingers and improving mechanical efficiency. The finger tips of the claw fingers are arc-shaped, a plurality of small holes are uniformly distributed on the finger tips and used for being connected with a collecting net, and the load is uniformly distributed on the two claw fingers by the uniformly distributed small holes.
The middle of the upper claw finger 5 is provided with a pull rod through hole 52 which is matched and connected with a pull rod, the middle of the claw disc is provided with a boss with a hole and a round hole 101 which are used for fixing a motor, two sides of the claw disc are provided with a pair of support columns on the same plane, the front side of each support column is provided with a through hole 13, each through hole 13 is used for being hinged and connected with a guide groove piece, the guide groove piece can rotate a transmission connecting rod 6 to be buckled in the upper surface of the guide groove piece so as to limit the swing of the transmission connecting rod, and the lower end of the guide. The upper surface of the guide groove is provided with a bayonet for restraining the transmission connecting rod 6; two ends of the transmission connecting rod are provided with holes and are respectively hinged with the connecting sleeve A and a connecting hole I81 of the left claw finger of the lower claw or the right claw finger of the lower claw.
A working method of a mechanical claw for grabbing floating garbage on water surface comprises the following steps: (1) adjusting the mechanical claw to the maximum stroke, wherein the upper claw finger reaches the highest position, the lower claw finger also extends to the maximum range, the collection net is V-shaped and is fully opened, and the sleeve A and the sleeve B are positioned on the foremost side of the stroke; (2) the mechanical claw extends into the water surface, and the floating garbage on the water surface is collected into the upper part of the lower claw finger abdominal cavity from the V-shaped opening of the collecting net; the motor rotates to drive the transmission stud sleeve A and the transmission stud sleeve B to perform linear motion in the same direction, when the sleeve A and the sleeve B move towards the rear side, the upper claw finger is pulled to rotate around the hinged position of the upper claw finger and the claw disc to be pressed downwards by the pull rod, the lower claw left claw finger and the lower claw right claw finger of the lower claw finger are pulled to be closed towards each other under the pulling of the transmission connecting rod, the V-shaped opening of the collection net is gradually closed to prevent garbage from falling, and meanwhile, the lowest position of a fishbone-shaped supporting structure at the front end of the upper claw finger can press floating garbage collected above the abdominal cavity of the lower claw finger to the lower position in the abdominal cavity of the lower claw; completing the collection process of the floating garbage on the water surface; (4) the mechanical claw is extended out of the water surface, the motor drives the transmission stud to move the sleeve A and the sleeve B to the front side, so that the upper claw finger reaches the highest position, the lower claw finger is also expanded to the maximum range, and the next circulation process can be carried out.
The method for operating the gripper for gripping garbage floating on water surface as claimed in claim 9, wherein the angle between the mechanical gripper extending into the water surface and the gripper extending out of the water surface is 25 ° -35 °.
Any embodiment disclosed herein above is meant to disclose, unless otherwise indicated, all numerical ranges disclosed as being preferred, and any person skilled in the art would understand that: the preferred ranges are merely those values which are obvious or representative of the technical effect which can be achieved. Since the numerical values are too numerous to be exhaustive, some of the numerical values are disclosed in the present invention to illustrate the technical solutions of the present invention, and the above-mentioned numerical values should not be construed as limiting the scope of the present invention.
If the terms "first," "second," etc. are used herein to define parts, those skilled in the art will recognize that: the terms "first" and "second" are used merely to distinguish one element from another in a descriptive sense and are not intended to have a special meaning unless otherwise stated.
Meanwhile, if the invention as described above discloses or relates to parts or structural members fixedly connected to each other, the fixedly connected parts can be understood as follows, unless otherwise stated: a detachable fixed connection (for example using bolts or screws) is also understood as: non-detachable fixed connections (e.g. riveting, welding), but of course, fixed connections to each other may also be replaced by one-piece structures (e.g. manufactured integrally using a casting process) (unless it is obviously impossible to use an integral forming process).
In addition, terms used in any technical solutions disclosed in the present invention to indicate positional relationships or shapes include approximate, similar or approximate states or shapes unless otherwise stated.
Any part provided by the invention can be assembled by a plurality of independent components or can be manufactured by an integral forming process.
Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present invention and not to limit the same; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides a mechanical gripper that snatchs towards surface of water floating garbage, its characterized in that includes the claw dish, goes up claw finger and grabs the finger down, the rear side that goes up claw finger is articulated with the claw dish and is connected, lower claw finger includes lower left claw finger and lower right claw finger that coincide crisscross setting from top to bottom, be fixed with between lower left claw finger and the lower right claw finger and collect the net, overlap department articulated connection between lower left claw finger and the lower right claw finger, the rear side that lower left claw finger and lower right claw finger indicate is connected with the claw dish, it realizes the drive mechanism that seals lower claw finger and collect the net to have the drive on the claw dish to indicate around articulating the department with the claw dish luffing motion.
2. The mechanical claw for grabbing garbage floating on water surface according to claim 1, wherein the driving mechanism comprises a motor fixed on the claw disc, the motor is fixedly connected with a transmission stud, a sleeve B is matched with the outer portion of the transmission stud in a threaded manner, the sleeve B is connected with the rear side of the upper claw finger through a pull rod, and the pull rod is hinged with the sleeve A and the rear side of the upper claw finger.
3. The mechanical claw for grabbing garbage floating on water surface as claimed in claim 2, wherein the transmission stud is further screw-engaged with a sleeve a, the sleeve a is located at the rear side of the sleeve B, two sides of the sleeve a are hinged with transmission connecting rods, and the front side ends of the transmission connecting rods are correspondingly hinged with the rear sides of the lower claw left finger and the lower claw right finger respectively.
4. The mechanical claw for grabbing garbage floating on water surface of claim 3, wherein a supporting column is fixed on the front side of the claw disc, a rotatable guide groove member is hinged on the front side of the supporting column, and the transmission connecting rod is buckled in the guide groove member to limit the swing of the transmission connecting rod.
5. The mechanical claw for grabbing garbage floating on water surface as claimed in claim 2 or 3, wherein said motor is fixed in the middle of the claw disk, said upper part of the claw disk has a fixed plate, said fixed plate has a mechanical arm fixed on its front side, and the rear side end of said upper finger is hinged to the mechanical arm.
6. The mechanical claw for grabbing garbage floating on water surface according to claim 1, 2 or 3, wherein the tip of the upper finger is in the shape of a curved fishbone, and the middle part of the upper finger and the root of the upper finger are in a step-shaped plate surface.
7. The mechanical claw for grabbing garbage floating on water surface according to claim 1, 2 or 3, wherein a washer is padded between the overlapped parts of the left claw finger and the right claw finger of the lower claw for reducing friction between the claw fingers.
8. The mechanical claw for grabbing the floating garbage on the water surface according to claim 1, 2 or 3, wherein a V-shaped notch convenient for opening and closing during fishing is arranged at the joint of the front ends of the lower claw fingers, the front side of the overlapped part of the lower claw left claw finger and the lower claw right claw finger is arc-shaped, and a plurality of small holes used for being connected with a collecting net are uniformly distributed.
9. A working method of a mechanical claw for grabbing floating garbage on water surface is characterized in that (1) the mechanical claw is adjusted to the position with the maximum opening range, at the moment, an upper claw finger reaches the highest position, a lower claw finger also opens to the maximum range, and a collecting net is opened fully in a V shape; (2) the mechanical claw extends into the water surface, and the floating garbage on the water surface is collected into the upper part of the lower claw finger abdominal cavity from the V-shaped opening of the collecting net; the motor rotates to drive the transmission stud sleeve A and the transmission stud sleeve B to perform linear motion in the same direction, when the sleeve A and the sleeve B move towards the rear side, the upper claw finger is pulled to rotate around the hinged position of the upper claw finger and the claw disc to be pressed downwards by the pull rod, the lower claw left claw finger and the lower claw right claw finger of the lower claw finger are pulled to be closed towards each other under the pulling of the transmission connecting rod, the V-shaped opening of the collection net is gradually closed to prevent garbage from falling, and meanwhile, the lowest position of a fishbone-shaped supporting structure at the front end of the upper claw finger can press floating garbage collected above the abdominal cavity of the lower claw finger to the lower position in the abdominal cavity of the lower claw; completing the collection process of the floating garbage on the water surface; (4) the mechanical claw is extended out of the water surface, the motor drives the transmission stud to move the sleeve A and the sleeve B to the front side, so that the upper claw finger reaches the highest position, the lower claw finger is also expanded to the maximum range, and the next circulation process can be carried out.
10. The method for operating the gripper for gripping garbage floating on water surface as claimed in claim 9, wherein the angle between the mechanical gripper extending into the water surface and the gripper extending out of the water surface is 25 ° -35 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010340253.9A CN111360864B (en) | 2020-04-26 | 2020-04-26 | Mechanical claw for grabbing water surface floating garbage and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010340253.9A CN111360864B (en) | 2020-04-26 | 2020-04-26 | Mechanical claw for grabbing water surface floating garbage and working method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN111360864A true CN111360864A (en) | 2020-07-03 |
| CN111360864B CN111360864B (en) | 2024-07-26 |
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| Application Number | Title | Priority Date | Filing Date |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112025751A (en) * | 2020-09-03 | 2020-12-04 | 吉林大学 | Multi-freedom-degree enveloping type novel mechanical claw |
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| Publication number | Publication date |
|---|---|
| CN111360864B (en) | 2024-07-26 |
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