CN112868539A - Manipulator clamp for pipeline plugging robot - Google Patents
Manipulator clamp for pipeline plugging robot Download PDFInfo
- Publication number
- CN112868539A CN112868539A CN202110041703.9A CN202110041703A CN112868539A CN 112868539 A CN112868539 A CN 112868539A CN 202110041703 A CN202110041703 A CN 202110041703A CN 112868539 A CN112868539 A CN 112868539A
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- China
- Prior art keywords
- ball
- excrement
- pipe
- hard
- wind
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K1/00—Housing animals; Equipment therefor
- A01K1/01—Removal of dung or urine, e.g. from stables
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K31/00—Housing birds
- A01K31/04—Dropping-boards; Devices for removing excrement
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/10—Treating the inside of pipes
- F16L2101/12—Cleaning
Abstract
The invention discloses a manipulator clamp for a pipeline plugging robot, which comprises an excrement pipe and is characterized in that: the excrement pipe is internally provided with an anti-blocking mechanism, the separating mechanism is arranged below the excrement pipe and is connected with the anti-blocking mechanism through a pipeline, the watering mechanism is arranged on the left side of the excrement pipe and is connected with the anti-blocking mechanism through a pipeline, the anti-blocking mechanism comprises an induction column, a rotary ball is arranged inside the induction column, a flexible plate II is arranged below the rotary ball, a plurality of blades are arranged on the upper surface and the lower surface of the rotary ball, a hydraulic cavity I is arranged above the flexible plate I and the induction column, a hydraulic cavity II is arranged below the flexible plate II and the induction column, one side of the flexible plate I is connected with the upper portion of the rotary ball through a rope, and the flexible plate II is connected with the lower portion of the rotary ball through a rope.
Description
Technical Field
The invention relates to the technical field of mechanical arm clamps, in particular to a mechanical arm clamp for a pipeline plugging robot.
Background
In order to protect animals, animal farms are built all over the country to protect local animals and meanwhile visitors are supplied to visit the farms, but the removal of excrement of the animals is troublesome, excrement channels are often blocked, the excrement can be fished out to be used for applying fertilizer to solve the blockage of the excrement channels and reduce the fertilizer application cost, meanwhile, the existing excrement channel passing equipment only can pass through the excrement channels and cannot utilize the excrement of the animals, and therefore the design of the manipulator clamp for the pipeline blocking robot is very necessary, and the manipulator clamp is strong in practicability and can recycle excrement.
Disclosure of Invention
The present invention is directed to a robot hand clamp for a pipe plugging robot, which solves the above problems of the related art.
In order to solve the technical problems, the invention provides the following technical scheme: the utility model provides a manipulator anchor clamps for pipe blockage robot, includes excrement pipe, its characterized in that: the excrement pipe is characterized in that an anti-blocking mechanism is arranged inside the excrement pipe, a separating mechanism is arranged below the excrement pipe, the separating mechanism and the anti-blocking mechanism are connected through a pipeline, a watering mechanism is arranged on the left side of the excrement pipe, and the watering mechanism and the anti-blocking mechanism are connected through a pipeline.
According to the technical scheme, the anti-blocking mechanism comprises the induction column, a rotary ball is arranged inside the induction column, a first flexible plate is arranged above the rotary ball, a second flexible plate is arranged below the rotary ball, a plurality of blades are arranged on the upper surface and the lower surface of the rotary ball, a first hydraulic cavity is arranged above the first flexible plate and the induction column, a second hydraulic cavity is arranged below the second flexible plate and the induction column, one side of the first flexible plate is connected with the rotary ball through a rope, and the second flexible plate is connected with the rotary ball through a rope.
According to the technical scheme, a center ball is arranged on one side of the induction column and is located on the surface of the fecal pipe, a second push plate is arranged on the left side of the inside of the center ball, a first push plate is arranged on the right side of the center ball, a first hydraulic cavity is connected with the second push plate through a pipeline, and a second hydraulic cavity is connected with the first push plate through a pipeline.
According to the technical scheme, the inside of center ball is provided with the transmission ball, the inside of transmission ball is provided with left extrusion chamber and right extrusion chamber, left side extrusion chamber is the cooperation structure with push pedal two, right side extrusion chamber is the cooperation structure with push pedal one, the inside in left side extrusion chamber is provided with two sets of swash plates one, the inside in right side extrusion chamber is provided with two sets of swash plates two.
According to the technical scheme, the first rotating ring is arranged on the left side of the inner portion of the rotating ball, the second rotating ring is arranged on the right side of the inner portion of the rotating ball, the rotating plate is connected between the first rotating ring and the second rotating ring, the left side of the rotating ball is connected with the second inclined plate through a pipeline, and the right side of the rotating ball is connected with the first inclined plate through a pipeline.
According to the technical scheme, a guide wheel is arranged inside the excrement pipe, a plurality of steering blades are rotatably connected to the surface of the guide wheel, a steering plate is arranged inside the upper portion of the excrement pipe, the steering plate and the steering blades are of a matched structure, a first connecting rod is connected to the lower portion of the first rotating ring and the lower portion of the guide wheel, and a second connecting rod is connected to the upper portion of the second rotating ring and the upper portion of the guide wheel.
According to the technical scheme, the separating mechanism comprises a dung separating machine, a soft cavity is arranged in the dung separating machine, a hard cavity is arranged in the soft cavity, a plurality of filtering holes are formed in the inner wall of the hard cavity, and elastic balls are arranged on the surfaces of the filtering holes.
According to the technical scheme, the irrigation mechanism comprises a first air ball, an air inlet is formed in one side of the first air ball, and a catalytic ball is arranged below the second air ball.
According to the technical scheme, the catalysis ball, the inside of catalysis ball sets up left cavity and right cavity, left cavity and right cavity are inside to be provided with left movable ball and right movable ball respectively, be provided with the elastic membrane between left side movable ball and the right movable ball, left side movable ball is the pipe connection with wind ball two, right side movable ball is the pipe connection with wind ball one.
According to the technical scheme, the left side of catalysis ball is provided with deposits soft ball, the inside of depositing soft ball is provided with balloon two, it is the pipe connection with left cavity to cross balloon two, the right side of catalysis ball is provided with deposits hard ball, the inside of depositing hard ball is provided with balloon one, cross balloon one and right cavity be the pipe connection, deposit soft ball and soft cavity be the pipe connection, it is the pipe connection with hard cavity to deposit hard ball, cross balloon one and wind ball one be the pipe connection, cross balloon two and wind ball two be the pipe connection.
Compared with the prior art, the invention has the following beneficial effects: according to the invention, the steering plate is arranged, the steering blade can be converted into directions by the friction between the steering plate and the steering blade, so that the steering blade can be conveniently reversed left and right to convey hard feces on and below the rotating ball, meanwhile, certain inertia can be generated in the reversing process, sticky feces on the steering blade are thrown out, and the condition that the feces pipe is blocked due to the fact that excessive feces are stained on the steering blade to cause the non-addition of the feces discharging effect is prevented.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic illustration of the present invention for preventing clogging;
FIG. 3 is a schematic view of the dung separating machine of the present invention;
in the figure: 1. a fecal tube; 2. a dung separating machine; 3. a soft cavity; 4. a hard cavity; 5. an induction column; 6. a first hydraulic cavity; 7. a first flexible plate; 8. rotating the ball; 9. a rotating plate; 10. rotating the ring I; 11. a second flexible plate; 12. a second hydraulic cavity; 13. a second rotating ring; 14. a first connecting rod; 15. a second connecting rod; 16. a guide wheel; 17. a turning blade; 18. pushing a first plate; 19. a central ball; 20. a left extrusion cavity; 21. a second push plate; 22. a steering plate; 23. storing the hard balls; 24. passing a first balloon; 25. storing the soft ball; 26. passing through a balloon II; 27. a catalytic sphere; 28. a first wind ball; 29. a second wind ball; 30. and a right extrusion cavity.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-3, the present invention provides the following technical solutions: the utility model provides a manipulator anchor clamps for pipe blockage robot, includes excrement pipe 1, its characterized in that: the anti-blocking mechanism is arranged inside the excrement pipe 1, the separating mechanism is arranged below the excrement pipe 1, the separating mechanism is connected with the anti-blocking mechanism through a pipeline, the irrigation mechanism is arranged on the left side of the excrement pipe 1 and connected with the anti-blocking mechanism through a pipeline, and more animals are discharged in an animal farm, so that the excrement pipe 1 is easily blocked, the excrement of the animals cannot be discharged, bacteria breeding influences the animals, at the moment, the internal blockage of the excrement pipe 1 can be detected through the anti-blocking mechanism, the internally blocked excrement is discharged into the separating mechanism through the anti-blocking mechanism, the excrement of the animals is classified by the separating mechanism to obtain the nutrient components of the excrement of the animals, the nutrient components of the animal are obtained, the fertilizer can be fermented into the fertilizer, the grasses in the animal farm can be irrigated, the fertilizer cost of the animal farm can be saved, and the excrement of the animals can be cleaned, so that the environment of the animal farm can be kept fresh, the animals are not interfered by the bred bacteria;
the anti-blocking mechanism comprises an induction column 5, a rotary ball 8 is arranged inside the induction column 5, a first flexible plate 7 is arranged above the rotary ball 8, a second flexible plate 11 is arranged below the rotary ball 8, a plurality of blades are arranged on the upper surface and the lower surface of the rotary ball 8, a first hydraulic cavity 6 is arranged above the first flexible plate 7 and the induction column 5, a second hydraulic cavity 12 is arranged below the second flexible plate 11 and the induction column 5, one side of the first flexible plate 7 is connected with the upper part of the rotary ball 8 through a rope, the second flexible plate 11 is connected with the lower part of the rotary ball 8 through a rope, excrement discharged by an animal passes through the excrement pipe 1 under normal conditions, the induction column 5 inside cannot be influenced by the excrement, the excrement can be normally discharged through the induction column 5, when the excrement is discharged by the animal in the excrement pipe 1 too much, the induction column 5 can be blocked by the excrement, the excrement has different hardness degrees due to different health of the animal, soft excrement easily passes through the inside of the induction column 5 and hard excrement is not easy to pass through the inside of the induction column 5, when hard excrement passes through the upper part of the rotary ball 8 and soft excrement passes through the lower part of the rotary ball 8, the upper part of the rotary ball 8 is easily blocked, at the moment, hard excrement is accumulated too much, so that a first flexible plate 7 is extruded to move upwards to extrude a hydraulic chamber 6, so that the rotary ball 8 is pulled to move rightwards through a rope, at the moment, the blades also rotate rightwards to push the hard excrement above the rotary ball 8 to an outlet and can rub the hard excrement to conveniently flow out, the storage space above the rotary ball 8 is increased when the first flexible plate 7 is pushed upwards by the hard excrement, so that the blades can rotate in the inner part, the hard excrement is conveniently discharged from the inner part when the excrement pipe 1 is slightly blocked, when the hard excrement passes through the lower part of the rotary ball 8 and the soft excrement passes through the upper part of the rotary ball 8, the lower part of the rotating ball 8 is easily blocked, hard excrement is accumulated too much at the moment so as to extrude the flexible plate II 11 to move downwards to extrude the hydraulic cavity II 12, so that the rotating ball 8 is pulled to move leftwards through a rope, at the moment, the blade also rotates leftwards so as to push the harder excrement below the rotating ball 8 to an outlet and can rub the hard excrement to conveniently flow out, the storage space below the rotating ball 8 is increased by the upward pushing of the flexible plate II 11 by the hard excrement so as to facilitate the rotation of the blade in the rotating ball, and the hard excrement above or below the rotating ball 8 is conveniently discharged from the inside when the excrement pipe 1 is slightly blocked, so that the circulation of the excrement in the excrement pipe 1 is ensured, and the environmental pollution of an animal farm is avoided;
one side of the induction column 5 is provided with a pivot ball 19, the pivot ball 19 is positioned on the surface of the fecal pipe 1, the left side of the inside of the pivot ball 19 is provided with a push plate II 21, the right side of the pivot ball 19 is provided with a push plate I18, a hydraulic cavity I6 is connected with the push plate II 21 through a pipeline, a hydraulic cavity II 12 is connected with the push plate I18 through a pipeline, when hard feces are more above the rotary ball 8, the flexible plate I7 is pushed to move upwards so as to extrude the inside of the hydraulic cavity I6, so that the push plate II 21 is pushed to move, at the moment, when the blade rotates, as the flexible plate I7 is pushed upwards by the hard feces to increase the distance between the flexible plate I and the rotary ball 8, the flexible plate I can be prevented from being scraped when the blade rotates, so that the service life of the flexible plate I7 can be prolonged, the flexible plate I17 is prevented from being broken so as to influence the defecation effect, when the hard feces are more below the, therefore, the first pushing plate 18 is pushed to move, and when the blade rotates, the second flexible plate 11 is pushed upwards by the hard manure to increase the distance between the second flexible plate 11 and the rotating ball 8, so that the second flexible plate 11 can be prevented from being scraped when the blade rotates, the service life of the second flexible plate 11 can be prolonged, and the first flexible plate 17 is prevented from being broken to influence the defecation effect;
the transmission ball is arranged in the pivot ball 19, the left extrusion cavity 20 and the right extrusion cavity 30 are arranged in the transmission ball, the left extrusion cavity 20 and the second push plate 21 are in a matching structure, the right extrusion cavity 30 and the first push plate 18 are in a matching structure, the first left extrusion cavity 20 is provided with two groups of inclined plates, the second right extrusion cavity 30 is provided with two groups of inclined plates, when the upper part of the rotary ball 8 is blocked by hard excrement, the second push plate 21 is pushed to move rightwards to extrude the transmission ball, so that the first left extrusion cavity 20 is extruded to approach and extrude the two groups of inclined plates, when the lower part of the rotary ball 8 is blocked by hard excrement, the first push plate 18 is pushed to move leftwards to extrude the transmission ball, so that the right extrusion cavity 30 is extruded to approach and extrude the two groups of inclined plates, when the first inclined plates and the second inclined plates are extruded, the air pressure in the left extrusion cavity 20 and the right extrusion cavity 30 can be discharged, and the air pressure in the transmission ball is prevented from being increased so that the transmission ball in the pivot ball 19, when the excrement pipe 1 is burst, the excrement pipe 1 is damaged, so that the excrement of the animal can be detected from the excrement pipe 1, and the harm to workers can be prevented;
the left side of the inside of the rotary ball 8 is provided with a first rotating ring 10, the right side of the inside of the rotary ball 8 is provided with a second rotating ring 13, a rotating plate 9 is connected between the first rotating ring 10 and the second rotating ring 13, the left side of the rotary ball 8 is connected with a second inclined plate through a pipeline, the right side of the rotary ball 8 is connected with the first inclined plate through a pipeline, when hard excrement is too much above the rotary ball 8 or the hard excrement is not enough to be discharged through a first flexible plate 7, a push plate 21 is pushed to extrude the first inclined plate, so that the gas inside is input to the right side of the rotary ball 8 to enable the rotary ball 8 to rotate rightwards, the rotating force of the blades is increased by driving the blades to rotate rightwards, harder excrement on the rotary ball 8 can be discharged, when the hard excrement is too much below the rotary ball 8 or the hard excrement is not enough to be discharged through a second flexible plate 11, the push plate 18 is pushed to extrude the inclined plate, so that the gas inside is input to the left side, the blades are driven to rotate leftwards to increase the rotating force of the blades, and harder dung on the rotating ball 8 can be discharged, so that the situation that the dung pipe 1 is burst due to excessive pressure increase of the dung in the dung pipe 1 caused by excessive dung on the upper part and the lower part of the rotating ball 8 is prevented, the environment of an animal farm is polluted, bacteria are bred, and animals are infected with diseases;
the inner part of the fecal pipe 1 is provided with a guide wheel 16, the surface of the guide wheel 16 is rotatably connected with a plurality of steering vanes 17, the inner part of the upper part of the fecal pipe 1 is provided with a steering plate 22, the steering plate 22 and the steering vanes 17 are of a matched structure, the lower part of the first rotating ring 10 and the guide wheel 16 is connected with a first connecting rod 14, the upper part of the second rotating ring 13 and the upper part of the guide wheel 16 is connected with a second connecting rod 15, when too much hard feces above the rotating ball 8 is discharged by the vanes, the rotating ball 8 rotates, the rotating ring 10 drives the first connecting rod 14 to move, at the moment, the guide wheel 16 is pushed to rotate leftwards, at the moment, the steering vanes 17 can rapidly discharge the hard feces above the fecal pipe 1 and accelerate the discharge of the soft feces below the fecal pipe 1, when too much hard feces below the rotating ball 8 is discharged by the vanes, the rotating ball 8 rotates, at the moment, the rotating ring 13 is driven to rotate, the second connecting rod 15 is, the first rotating ring 10 can push the first connecting rod 14 to move, the guide wheel 16 can be pushed to rotate rightwards at the moment, the steering blade 17 can quickly discharge hard excrement below the excrement pipe 1 and accelerate discharge of soft excrement above the excrement pipe 1 at the same time, the steering blade 17 can be converted into directions through friction between the steering plate 22 and the steering blade 17, the steering blade 17 can conveniently reverse left and right to convey the hard excrement above and below the rotating ball 18, certain inertia can be generated in the reversing process, sticky excrement on the steering blade 17 can be thrown out, the phenomenon that the excrement discharging effect is not added due to the fact that too much excrement can be stained on the steering blade 17 is prevented, and the excrement pipe 1 can be blocked;
the separating mechanism comprises a feces separating machine 2, a soft cavity 3 is arranged in the feces separating machine 2, a hard cavity 4 is arranged in the soft cavity 3, a plurality of filtering holes are formed in the inner wall of the hard cavity 4, elastic balls are arranged on the surface of the filtering holes, soft and hard feces in the feces pipe 1 are conveyed to the interior of the feces separating machine 2 through a steering leaf 17, the feces separating machine 2 rotates to separate the feces in the feces pipe, the animal health is different, the soft and hard degrees of the feces are different, when the feces are soft, more fiber nutrient components in the feces are shown, when the feces are hard, the fiber components in the feces are shown to be less, and the nutrients are not much, the feces with too much fiber are soft, so the feces with less fiber can be thrown into the soft cavity 3 through the filtering holes under the centrifugal action of the feces separating machine 2, and the feces with different soft and hard degrees are left in the hard cavity 4 so as to be classified, the elastic ball is arranged around the filter hole, so that the flexible excrement can be rubbed with the elastic ball when rubbing against the inner wall of the hard cavity 4, and the rolling of the elastic ball can provide larger conveying force for the flexible excrement, so that the filter hole is prevented from being blocked, the separation speed of the excrement from the excrement machine 2 can be increased, and secondary blockage and pollution caused by too much excrement which is too much to be treated are prevented;
the irrigation mechanism comprises a wind ball II 29, a wind ball I28 is arranged inside the wind ball II 29, an air inlet is formed in one side of the wind ball I28, a catalysis ball 27 is arranged below the wind ball II 29, the animal farm has various animal grasses, the growing density of the grasses is different, when the grasses are luxuriant, the wind blows over the grasses to have certain resistance, so that the wind power is reduced, the wind quantity entering the wind ball I28 through the air inlet is reduced, the wind ball I28 cannot be blown to expand, when the grasses are not luxuriant, the wind blows over the grasses to have no resistance, the wind power is not reduced, the wind quantity entering the wind ball I28 through the air inlet is increased, the wind ball I28 is blown to expand to extrude the wind ball II 29, the gas inside the wind ball II 29 is extruded to the catalysis ball 27, and the growing degree of the grasses in the animal farm can be known, the subsequent watering of the grass-eating fertilizer amount is convenient to adjust;
the left cavity and the right cavity are arranged in the catalysis ball 27, the left movable ball and the right movable ball are respectively arranged in the left cavity and the right cavity, an elastic film is arranged between the left movable ball and the right movable ball, the left movable ball is connected with the wind ball II 29 through a pipeline, the right movable ball is connected with the wind ball I28 through a pipeline, when wind is strong, the grass is proved to be sparse, the excrement with more fibers is needed, at the moment, the wind ball I28 is blown to be large, at the moment, the wind ball II 29 is pushed and pressed, so that the gas in the wind ball II 29 is transmitted into the left movable ball in the left cavity of the catalysis ball 27 through a pipeline, the catalyst in the left cavity can be pushed and pressed by the left movable ball to flow, the mobility of the catalyst can be increased, the catalyst can be fast catalyzed by the excrement with fibers, the descending amount of soft excrement can be increased, the sparse grass growth is ensured, when the wind is small, the grass is proved to be, the manure with more hardness is needed at the moment, the manure with more fibers is not needed, the wind ball I28 is reduced, the movable ball of the right chamber is driven to move at the moment, the right movable ball can push and press the catalyst in the left chamber to flow, the fluidity of the catalyst can be increased, so that the catalyst can catalyze the manure with hardness quickly, the reduction amount of the hard manure can be increased, the sparse and dense grasses can grow uniformly, and the nutrition of the animals is balanced;
the left side of the catalysis ball 27 is provided with a soft storage ball 25, the inside of the soft storage ball 25 is provided with a second air passing ball 26, the second air passing ball 26 is connected with the left chamber by a pipeline, the right side of the catalysis ball 27 is provided with a hard storage ball 23, the inside of the hard storage ball 23 is provided with a first air passing ball 24, the first air passing ball 24 is connected with the right chamber by a pipeline, the soft storage ball 25 is connected with the soft chamber 3 by a pipeline, the hard storage ball 23 is connected with the hard chamber 4 by a pipeline, the first air passing ball 24 is connected with the first air passing ball 28 by a pipeline, the second air passing ball 26 is connected with the second air passing ball 29 by a pipeline, hard excrement in the hard storage ball 23 flows into the soft storage chamber 25, gas in the first air passing ball 24 is blown into the first air passing ball 28 when the air volume is large, the first air passing ball 24 is expanded, the hard storage ball 23 can be irrigated, and the hard excrement is prevented from falling into a grass field to influence sparse grass, when the air volume is smaller, the air in the air ball II 28 can be blown into the air ball II 26, so that the air ball II 26 is expanded, the stored soft ball 25 can be blocked, the soft manure is prevented from falling into a pastoral place, and the thick pastoral watering is influenced, so that different watering amounts can be adjusted according to the pastoral under different thick conditions, the nutrition absorbed by the pastoral is different, the pastoral can grow thick, and the fertilizer cost can be saved for the animal farm by recycling the manure.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a manipulator anchor clamps for pipe blockage robot, includes excrement pipe (1), its characterized in that: the excrement pipe is characterized in that an anti-blocking mechanism is arranged inside the excrement pipe (1), a separating mechanism is arranged below the excrement pipe (1), the separating mechanism and the anti-blocking mechanism are connected through a pipeline, a watering mechanism is arranged on the left side of the excrement pipe (1), and the watering mechanism and the anti-blocking mechanism are connected through a pipeline.
2. The manipulator clamp for a pipe plugging robot according to claim 1, wherein: prevent blockking up mechanism is including response post (5), the inside of response post (5) is provided with roating ball (8), the top of roating ball (8) is provided with first (7) of flexonics board, the below of roating ball (8) is provided with second (11) of flexonics board, the upper and lower surface of roating ball (8) is provided with a plurality of blades, first (7) of flexonics board is provided with hydraulic pressure chamber (6) with the inside top of response post (5), second (11) of flexonics board is provided with second (12) of hydraulic pressure chamber with the inside below of response post (5), one side of first (7) of flexonics board is connected for the rope with the top of roating ball (8), second (11) of flexonics board is connected for the rope with the below of roating ball (8).
3. A manipulator clamp for a pipe plugging robot according to claim 2, wherein: one side of response post (5) is provided with center ball (19), center ball (19) are located the surface of excrement pipe (1), the inside left side of center ball (19) is provided with push pedal two (21), the right side of center ball (19) is provided with push pedal one (18), hydraulic pressure chamber one (6) are the pipe connection with push pedal two (21), hydraulic pressure chamber two (12) are the pipe connection with push pedal one (18).
4. A manipulator clamp for a pipe plugging robot according to claim 3, wherein: the inside of center ball (19) is provided with the transmission ball, the inside of transmission ball is provided with left extrusion chamber (20) and right extrusion chamber (30), left side extrusion chamber (20) is the cooperation structure with push pedal two (21), right side extrusion chamber (30) is the cooperation structure with push pedal one (18), the inside in left side extrusion chamber (20) is provided with two sets of swash plates one, the inside in right side extrusion chamber (30) is provided with two sets of swash plates two.
5. The robot gripper of claim 4, wherein: the novel rotary ball is characterized in that a first rotating ring (10) is arranged on the left side of the inside of the rotary ball (8), a second rotating ring (13) is arranged on the right side of the inside of the rotary ball (8), a rotating plate (9) is connected between the first rotating ring (10) and the second rotating ring (13), the left side of the rotary ball (8) is connected with a second inclined plate through a pipeline, and the right side of the rotary ball (8) is connected with the first inclined plate through a pipeline.
6. The robot gripper of claim 5, wherein: the excrement pipe is characterized in that a guide wheel (16) is arranged inside the excrement pipe (1), a plurality of steering blades (17) are rotatably connected to the surface of the guide wheel (16), a steering plate (22) is arranged inside the upper portion of the excrement pipe (1), the steering plate (22) and the steering blades (17) are of a matched structure, a first connecting rod (14) is connected below the first rotating ring (10) and the guide wheel (16), and a second connecting rod (15) is connected above the second rotating ring (13) and the guide wheel (16).
7. The robot gripper of claim 6, wherein: separating mechanism is including from excrement machine (2), the inside from excrement machine (2) is provided with soft chamber (3), the inside in soft chamber (3) is provided with hard chamber (4), a plurality of filtration pores have been seted up to the inner wall in hard chamber (4), the surface of filtering the pore is provided with elastic ball.
8. The robot gripper of claim 7, wherein: the watering mechanism comprises a wind ball II (29), a wind ball I (28) is arranged inside the wind ball II (29), an air inlet is formed in one side of the wind ball I (28), and a catalytic ball (27) is arranged below the wind ball II (29).
9. The robot gripper of claim 8, wherein: the inside of catalysis ball (27) sets up left cavity and right cavity, left side cavity and right cavity are inside to be provided with left movable ball and right movable ball respectively, be provided with the elastic membrane between left side movable ball and the right movable ball, left side movable ball is the pipe connection with wind ball two (29), right side movable ball is the pipe connection with wind ball one (28).
10. A manipulator clamp for a pipe plugging robot according to claim 9, wherein: the left side of catalysis ball (27) is provided with deposits soft ball (25), the inside of depositing soft ball (25) is provided with balloon two (26), it is the pipe connection with left cavity to cross balloon two (26), the right side of catalysis ball (27) is provided with deposits hard ball (23), the inside of depositing hard ball (23) is provided with balloon one (24), cross balloon one (24) and right cavity be the pipe connection, it is the pipe connection with soft chamber (3) to deposit soft ball (25), it is the pipe connection with hard chamber (4) to deposit hard ball (23), cross balloon one (24) and wind ball one (28) and be the pipe connection, cross balloon two (26) and wind ball two (29) and be the pipe connection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110041703.9A CN112868539A (en) | 2021-01-13 | 2021-01-13 | Manipulator clamp for pipeline plugging robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110041703.9A CN112868539A (en) | 2021-01-13 | 2021-01-13 | Manipulator clamp for pipeline plugging robot |
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| CN202110041703.9A Withdrawn CN112868539A (en) | 2021-01-13 | 2021-01-13 | Manipulator clamp for pipeline plugging robot |
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