CN116494260A - Mechanical arm for recycling water surface garbage - Google Patents

Mechanical arm for recycling water surface garbage Download PDF

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Publication number
CN116494260A
CN116494260A CN202310374860.0A CN202310374860A CN116494260A CN 116494260 A CN116494260 A CN 116494260A CN 202310374860 A CN202310374860 A CN 202310374860A CN 116494260 A CN116494260 A CN 116494260A
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CN
China
Prior art keywords
rotating seat
rotating
section
mechanical
screw rod
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202310374860.0A
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Chinese (zh)
Inventor
马钦仕
汪亚琦
尹岩
朱波田
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Chongqing University
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Chongqing University
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Filing date
Publication date
Application filed by Chongqing University filed Critical Chongqing University
Priority to CN202310374860.0A priority Critical patent/CN116494260A/en
Publication of CN116494260A publication Critical patent/CN116494260A/en
Pending legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02B—HYDRAULIC ENGINEERING
    • E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
    • E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
    • E02B15/10—Devices for removing the material from the surface
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A20/00—Water conservation; Efficient water supply; Efficient water use
    • Y02A20/20—Controlling water pollution; Waste water treatment
    • Y02A20/204—Keeping clear the surface of open water from oil spills

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Environmental & Geological Engineering (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Removal Of Floating Material (AREA)

Abstract

The invention discloses a mechanical arm for recycling water surface garbage, which comprises mechanical claws which are oppositely arranged left and right, wherein each mechanical claw is hinged on a corresponding movable arm, the other end of the movable arm is hinged on a rotating seat, each movable arm realizes the opening and closing of the movable arm through a corresponding opening and closing mechanism, the two opening and closing mechanisms all realize the action through the same driving mechanism, a covering mechanism for realizing the covering action of the mechanical claws is arranged on the opening and closing mechanism, a turnover mechanism for realizing the turnover of the rotating seat is arranged on the rotating seat, and the covering mechanism and the turnover mechanism realize the action through the corresponding opening and closing mechanism. The mechanical claw is hinged on the movable arm, and can be opened and covered by a large extent through the opening and closing structure and the covering mechanism, so that the salvaging of the garbage on the water surface is realized; the turnover mechanism is arranged, and the turnover of the mechanical claw is realized through the turnover mechanism, so that the mechanical claw can not push out the garbage floating on the water surface outwards when being opened, and the salvaging of the garbage on the water surface is facilitated.

Description

Mechanical arm for recycling water surface garbage
Technical Field
The invention belongs to the technical field of water surface garbage recovery, and particularly relates to a mechanical arm for water surface garbage recovery.
Background
In order to facilitate cleaning of water surface garbage and improve water surface environment, various water surface garbage salvage ships exist at present, and the salvage ship is used for improving salvage efficiency and reducing potential safety hazards. In the prior art, the mechanical arms which are used for realizing the salvaging work are arranged on the salvaging ship, but the mechanical arms have various structures and can realize different functions, and when the mechanical arms realize various functions, each function needs to be realized by independent power.
Disclosure of Invention
The invention aims to provide the mechanical arm for recycling the garbage on the water surface, which is simple in structure, can realize different actions of the mechanical arm through the same driving mechanism and reduces the number of motors.
The technical scheme adopted by the invention is as follows: the mechanical arm for recycling the garbage on the water surface comprises mechanical claws which are oppositely arranged left and right, each mechanical claw is hinged to a corresponding movable arm, the other end of each movable arm is hinged to a rotating seat, each movable arm is opened and closed through a corresponding opening and closing mechanism, the two opening and closing mechanisms are operated through the same driving mechanism, a covering mechanism for covering the mechanical claws is arranged on the opening and closing mechanism, a turnover mechanism for turnover of the rotating seat is arranged on the rotating seat, and the covering mechanism and the turnover mechanism are operated through the corresponding opening and closing mechanism; the opening and closing structure comprises a screw rod which is driven to rotate through a driving mechanism, a sliding block which forms a screw rod sliding block pair with the screw rod is arranged on the screw rod, a first connecting rod is hinged to the sliding block, the other end of the first connecting rod is hinged to the middle of the movable arm, a sliding groove for accommodating left and right movement of the sliding block is formed in the rotating seat, one end of the screw rod penetrates through the sliding groove and then is arranged on the rotating seat, and a crank sliding block mechanism is formed by the first connecting rod, the sliding block, the movable arm and the rotating seat.
As the preferable in the above scheme, the covering mechanism comprises a second connecting rod with one end hinged on the rotating seat, the other end of the second connecting rod is hinged with a third connecting rod, the other end of the third connecting rod is hinged on the movable arm, wherein the rotating seat, the second connecting rod, the third connecting rod and the movable arm form a crank connecting rod mechanism, one end of the mechanical claw hinged on the movable arm is provided with a driven gear, and the other end of the third connecting rod is provided with a driving gear meshed with the driven gear.
Further preferably, the tilting mechanism is including fixing the fixing base on fishing device, be provided with the rotation groove that is used for holding the rotation seat on the fixing base, the left and right sides of slider all is provided with the fixed pin, the left and right sides both ends of fixing base are provided with scalable spring pin, and when the slider moved to the right limit, the fixed pin that is located the right side passed the rotation seat and rotated in the ejecting rotation seat of the telescopic section of the scalable spring pin on right side, and lead screw, rotation seat and slider locking this moment continue to rotate and can drive the rotation seat and rotate the inslot rotation, rotate to the certain angle back, and the reverse rotation of lead screw drives the slider back of back, and the flexible section of left scalable spring pin is got back to in the rotation seat under the effect of elasticity. When the slider moves to the left limit, the fixing pin on the left side penetrates through the rotating seat to eject the telescopic section of the telescopic spring pin on the left side into the rotating seat, at the moment, the screw rod, the rotating seat and the slider are locked, the screw rod continues to rotate to drive the rotating seat to rotate in the rotating groove, after the rotating seat rotates to a certain angle, the screw rod reversely rotates to drive the slider to reversely move, and the telescopic section of the telescopic spring pin on the right side returns into the rotating seat under the action of elastic force.
Further preferably, the driving mechanism comprises a driving motor, and the output end of the driving motor drives the screw rod to rotate through the speed change mechanism.
Further preferably, the fixing seat comprises two fixing blocks which are oppositely arranged front and back, a positioning column is arranged below one fixing block, and a positioning hole is formed in the position, corresponding to the positioning column, of the lower part of the other fixing block.
Further preferably, the rotating seat comprises a rotating anti-falling section, a sliding section, a rotating limiting section and a hinging section, the sliding groove is formed in the sliding section, the outer sides of the rotating anti-falling section, the sliding section and the rotating limiting section are all cylindrical, the outer diameters of the rotating anti-falling section and the rotating limiting section are both larger than the outer diameter of the sliding section, and the rotating groove is also formed into a structure with two corresponding ends and a middle part which is small.
Further preferably, the two screws on the two opening and closing mechanisms are two screws, or the screws on the two opening and closing mechanisms are the left end and the right end of the same screw, and when the two opening and closing mechanisms are the same screw, the rotation directions of the two ends of the screw are opposite.
Further preferably, a plurality of clamping jaws are arranged at intervals in front of and behind the other end of the mechanical claw.
The invention has the beneficial effects that: the mechanical claw is hinged on the movable arm, and can be opened and covered by a large extent through the opening and closing structure and the covering mechanism, so that the salvaging of the garbage on the water surface is realized; the turnover mechanism is arranged, and the turnover of the mechanical claw is realized through the turnover mechanism, so that the mechanical claw can not push out the garbage floating on the water surface outwards when being opened, thereby being convenient for salvaging the garbage on the water surface; the mechanical claw is opened, the mechanical claw is wrapped, overturned and returned by the same driving mechanism, so that the whole mechanical arm is simple and compact in structure, and is convenient to install on any salvaging device.
Drawings
FIG. 1 is a schematic diagram of the present invention.
Fig. 2 is a schematic view of the right side of the mechanical arm in the present invention.
Fig. 3 is a schematic view of a fixing base in the present invention.
Fig. 4 is a schematic view of a rotary seat according to the present invention.
Fig. 5 is a schematic view of a retractable spring pin of the present invention.
Fig. 6 is a schematic diagram of a mechanism on the left side of the mechanical arm (powered mechanism) in the present invention.
Fig. 7 is a schematic diagram of a mechanism on the left side of the mechanical arm (without a power mechanism) in the present invention.
Fig. 8 is a schematic view of a pouring device according to the present invention.
Fig. 9 is a schematic view of a pouring device according to the present invention (after one of the side support plates is removed).
FIG. 10 is a schematic view of the mechanism of one side link assembly and the case of the present invention.
FIG. 11 is a simulated trajectory of motion of a link representing a box from a frame iteration of the mechanism of FIG. 10.
FIG. 12 is a schematic view of the mechanism of one side link assembly, drive assembly and housing of the present invention.
Fig. 13 is a functional image of the motion profile extracted from the cam point locations during manual simulation of the mechanism of fig. 10.
FIG. 14 is a simulated trajectory of motion of a link representing a box from a frame iteration of the mechanism of FIG. 12.
FIG. 15 is a simulated trajectory of motion of points representing roller axes resulting from frame iterations of the mechanism of FIG. 5.
Fig. 16 is a fitting result of the present embodiment.
Detailed Description
The invention is further illustrated by the following examples in conjunction with the accompanying drawings:
as shown in fig. 1-7, a mechanical arm for recycling garbage on water surface mainly comprises mechanical claws 1, movable arms 2, a rotating seat 3, an opening and closing mechanism, a driving mechanism, a covering mechanism and a turnover mechanism, wherein the movable arms 2 of the mechanical claws 1, the rotating seat 3, the opening and closing mechanism, the covering mechanism and the turnover mechanism are all arranged in left and right opposite directions, each mechanical claw 1 is hinged on the corresponding movable arm 2, meanwhile, the other end of the movable arm 2 is hinged on the rotating seat 3, and the arrangement of the movable arms also enables the covering range of each mechanical claw to be increased. Each movable arm 2 realizes opening and closing of the movable arm 2 through corresponding opening and closing mechanisms, wherein the two opening and closing mechanisms all realize actions through the same driving mechanism, a covering mechanism for realizing covering actions of the mechanical claw 1 is arranged on the opening and closing mechanism, a turnover mechanism for realizing turnover of the rotating seat 3 is arranged on the rotating seat 3, and the covering mechanism and the turnover mechanism all realize actions through the opening and closing mechanisms.
The concrete structure of the opening and closing structure comprises a screw rod 4 driven to rotate by a driving mechanism, a sliding block 5 is arranged on the screw rod 4, so that the sliding block and the screw rod form a conventional screw nut mechanism, and the power is the screw rod at the moment. The first connecting rod 6 is hinged on the sliding block 5, and the other end of the first connecting rod 6 is hinged at the middle part of the movable arm 2, so that the sliding block, the rotating seat, the movable arm and the first connecting rod form a crank sliding mechanism, and the power is the sliding block at the moment. In order to facilitate the rotation of the seat to make a screw rod and the sliding of the sliding block, a sliding groove 3a for accommodating the left-right movement of the sliding block 5 is arranged on the rotation seat 3, and one end of the screw rod 4 passes through the sliding groove 3a and then is arranged on the rotation seat 3. When the screw rod rotates, the sliding block moves left and right in the sliding groove, and then the movable arm rotates around the rotating seat through the first connecting rod.
The specific structure of the cable mechanism comprises a second connecting rod 7 with one end hinged on the rotating seat 3, a third connecting rod 8 is hinged at the other end of the second connecting rod 7, and the other end of the third connecting rod 8 is hinged on the movable arm 2, so that the movable arm, the second connecting rod, the third connecting rod and the rotating seat form a connecting rod mechanism, and the power is the movable arm at the moment. In order to realize the gripper wrapping, a driven gear 1a is arranged at one end of the gripper 1 hinged on the movable arm 2, and a driving gear 8a meshed with the driven gear 1a is arranged at the other end of the third connecting rod 8. When the movable arm rotates, the movable arm, the second connecting rod, the third connecting rod and the rotating seat form a connecting rod mechanism, so that the third connecting rod also rotates, and then the mechanical claw also rotates around the movable arm under the engagement of the driving gear and the driven gear, thereby realizing the covering and releasing actions of the mechanical claw.
The specific structure of the turnover mechanism comprises a fixed seat 9 which can be fixed on a salvaging device, a rotating groove 9a for accommodating a rotating seat is formed in the fixed seat 9, fixing pins 5a are arranged on the left side and the right side of a sliding block 5, and telescopic spring pins 10 are arranged on the left end and the right end of the fixed seat 9. When the slider moves to the right limit, the fixing pin on the right side penetrates through the rotating seat to eject the telescopic section of the telescopic spring pin on the right side into the rotating seat, at the moment, the screw rod, the rotating seat and the slider are locked, the screw rod continues to rotate to drive the rotating seat to rotate in the rotating groove, after the rotating seat rotates to a certain angle, the screw rod reversely rotates to drive the slider to reversely move, and the telescopic section of the telescopic spring pin on the left side returns into the rotating seat under the action of elastic force. When the slider moves to the left limit, the fixing pin on the left side penetrates through the rotating seat to eject the telescopic section of the telescopic spring pin on the left side into the rotating seat, at the moment, the screw rod, the rotating seat and the slider are locked, the screw rod continues to rotate to drive the rotating seat to rotate in the rotating groove, after the rotating seat rotates to a certain angle, the screw rod reversely rotates to drive the slider to reversely move, and the telescopic section of the telescopic spring pin on the right side returns into the rotating seat under the action of elastic force.
The specific structure of the driving mechanism comprises a driving motor, the output end of the driving motor drives the screw rod 4 to rotate through a speed change mechanism, and the speed change mechanism realizes speed change through meshed gears. The screw rods 4 on the two opening and closing mechanisms can adopt two screw rods, at the moment, the speed change mechanism can be arranged to be provided with a driving bevel gear at the output end of the driving motor, one end, close to the two screw rods, of the two screw rods is provided with a driven bevel gear, and the driving of the two screw rods is realized through the meshing of the driving bevel gear and the driven bevel gear. The screw rods 4 on the two opening and closing mechanisms can be left and right ends of the same screw rod 4, at the moment, the rotation directions of the two ends of the screw rod 4 are opposite, and the speed change mechanism can be arranged to be meshed with two cylindrical gears, wherein the screw rods are arranged on the driven cylindrical gears.
The specific structure of the rotating seat comprises a rotating anti-falling section 3b, a sliding section 3c, a rotating limiting section 3d and a hinging section 3e, wherein the sliding groove 3a is formed in the sliding section 3c, the movable arm and the second connecting rod are both hinged to the hinging section, and the hinging section is located at the outer side of the rotating groove when the movable arm and the second connecting rod are best. For the rotation that conveniently rotates the seat, will rotate anticreep section 3b, slip section 3c and rotate the outside of spacing section 3d and all set up to cylindrically, and for preventing to rotate the seat and leave the rotation groove, make the external diameter that rotates anticreep section 3b and rotate spacing section 3d all be greater than slip section 3 c's external diameter, rotate groove 9a simultaneously and also set up to the structure of the big centre of corresponding both ends.
For convenient installation, fixing base 9 includes two fixed blocks 9b that the front and back set up relatively, and the below of one of them fixed block 9b is provided with reference column 9c, and the below of another fixed block 9b corresponds the position department of reference column and is provided with locating hole 9d.
In order to expand the wrapping range of the mechanical claw, a plurality of clamping jaws are arranged at intervals in front of and behind the other end of the mechanical claw 1.
The whole mechanical arm works as follows: in the initial state, the mechanical claw and the movable arm are in a furled state, the mechanical claw and the movable arm leave the water surface at the moment, when the driving motor works, the screw rod rotates to drive the two sliding blocks to move in opposite directions, the mechanical claw and the movable arm are continuously opened outwards at the moment, when the sliding blocks move to the limit position of the inner side, the fixing pin just pushes the locating pin of the inner side of the telescopic spring open, the limit of the rotating seat is relieved, when the driving motor continuously works to enable the screw rod to rotate a certain angle, the rotating seat drives the movable arm and the mechanical claw to rotate towards the water surface, meanwhile, the two telescopic spring locating pins positioned at the left side and the right side are returned to the rotating seat to realize the limit of the rotating seat, and then the driving motor reversely works to enable the two sliding blocks to move back, in-process the movable arm and the mechanical claw are continuously furled, when the sliding blocks move to the limit of the outer side of the sliding blocks, the fixing pin just pushes the locating pin of the outer side of the telescopic spring open, the limit of the rotating seat is relieved, and when the driving motor continuously reversely acts to enable the screw rod to rotate a certain angle, and the rotating seat is enabled to leave the water surface, and the two telescopic spring locating pins positioned at the left side and the inner side of the rotating seat are simultaneously to return to the rotating seat.
The full-automatic water surface garbage salvage ship is mainly composed of a ship body, the mechanical arm and the dumping device, wherein the mechanical arm is used for realizing the wrapping of water surface garbage, the dumping device is fixed on the ship body, the mechanical arm is also arranged on the ship body, the dumping device is preferably arranged at the tail of the ship body, the mechanical arm is arranged at the bow of the ship body, a conveying belt for conveying garbage is further arranged on the ship body, one end of the conveying belt is close to the mechanical arm, and the other end of the conveying belt is close to the upper end of the box body. For the convenience of the automatic return of the box body after rising and dumping under the action of the dumping device, a gap is reserved between the conveying belt and the upper end of the box body, and as the movement direction of the conveying belt is that the mechanical arm is arranged to the box body, garbage can fall into the box body under the inertia of the conveying belt, and the situation that the garbage cannot be conveyed into the box body can not occur.
Preferably, a plurality of first water leakage holes for water supply leakage are formed in the conveyor belt at intervals, a water collector which is large in upper part and small in lower part and used for collecting water leaked from the first water leakage holes is arranged below the conveyor belt, a discharge pipe capable of discharging water to the water surface is arranged at the lower end of the water collector, the water collector can be arranged outside a ship body through a bracket, and water can be discharged through the holes at the lower end of the water collector.
As shown in fig. 8 and 9, the dumping device mainly comprises a connecting rod assembly and a driving assembly, wherein the connecting rod assembly is arranged on the left side and the right side of the box body, the box body 11 can be dumped by the connecting rod assembly, and the driving assembly is used for driving the connecting rod assembly to act, so that the box body can be dumped.
The concrete structure of the connecting rod assembly comprises a driving rod 13 and a driven rod 14, wherein the upper end of the driving rod 13 is hinged in the middle of the upper end of the box 11, the upper end of the driven rod 14 is hinged at the position, close to the front side, of the upper end of the box 11, the lower ends of the driving rod 13 and the driven rod 14 are both hinged on the driving assembly, and the lower end of the driving rod 13 is positioned at the front end of the driven rod 14, namely, the driving rod and the driven rod are in a crossed state. To achieve the tilting of the case, a support plate 12 is provided on a side of each link assembly away from the case 11, a roller shaft 13a facing the corresponding side support plate 12 is provided on the driving lever 13, and a roller 15 capable of rolling in the cam groove 12a is fitted over the roller shaft 13 a.
The specific structure of the driving assembly comprises a translation plate 16, the translation plate 16 moves up and down through a pushing assembly 20, correspondingly, the lower end of a driving rod 13 is hinged to the front end of the translation plate 16, and the lower end of a driven rod 14 is hinged to the rear end of the translation plate 16. In this embodiment, the pushing component is any linear mechanism that can drive the translation plate to move up and down, such as a telescopic cylinder, a screw nut mechanism, or an electric push rod.
The translation plate 16 is hinged to the driven lever 14 through a first hinge shaft 18, and the translation plate 16 is hinged to the driving lever 13 through a second hinge shaft 19. In order to ensure the up-and-down movement of the translation plate, guide grooves 12b extending up and down are arranged on the support plate 12 at intervals in the front-and-back direction, and guide wheels 17 capable of rolling up and down in the guide grooves 12b are sleeved at one ends of the first hinge shaft 18 and the second hinge shaft 19, which are far away from the box body 11.
When the translation plate moves upwards under the action of the pushing component, the guide wheel moves upwards in the guide groove, so that the box body and the connecting rod move upwards, meanwhile, the roller wheel can only move in the cam groove, so that the box body can tilt under the action of the connecting rod component, and when the translation plate moves downwards under the action of the pushing component, the box body returns.
In order to prevent the box body from interfering with the position of the floating object recovery belt on the front ship body in space during the up-and-down working process, the box body 11 is provided with a frustum structure with a large upper part and a small lower part.
In order to ensure that the tilting angle of the box body exceeds 90 degrees, special design is needed for the cam groove, and the design method of the cam groove is as follows:
the first step: the device is simplified; the above-described link assembly is simplified to a simplified mechanism diagram as shown in fig. 10.
And a second step of: a mechanism position mark; the positions of hinge points at which the box body is hinged with the driving rod and the driven rod respectively are marked through a function equation, and the specific function equation is as follows:
wherein CX is the abscissa of point C; CY is the ordinate of point C; EX is the abscissa of E; EY is the ordinate of E point, FX is the abscissa of F point; FY is the ordinate of the F point, and V is the pushing speed of pushing the BD rod; t is the push rod running time.
And a third step of: simulation; the simulation result shown in fig. 11 is obtained by carrying out frame iteration on the function equation through MATAB software, and the case EF simulated by the connecting rod can be obtained from the simulation result to have a turnover angle larger than 90 degrees, namely, the structure can realize that all objects in the case are completely poured out.
The dumping device is used in the full-automatic water surface garbage salvage ship, so that the box body cannot be dumped in situ and needs to be lifted to be higher than the ship body and then dumped. To achieve the object and reduce the number of motors, the present embodiment is provided with a translation plate in the driving assembly of the dumping device, and the translation plate can be driven to move up and down by the pushing assembly, so that the dumping device can be simplified into a mechanism diagram as shown in fig. 12.
Fourth step: extracting a predicted track; the box body needs to ascend and topple, so that the motion trail of the box body is complex curve motion. In order to simplify the problem, the track of the box body can be fitted better, the mechanism diagram obtained in the first step is manufactured into a physical scissor five-rod mechanism, and the scissor five-rod mechanism is driven to act manually, so that the connecting rod representing the box body can move according to the expected track, then the moving process of the physical scissor five-rod structure is recorded, and then the moving track of the point on the driving rod is extracted through Tracker software.
Fifth step: fitting a track; the motion trail extracted in the fourth step is imported into MATAB software, meanwhile, the position of a connecting rod representing the box body and a point representing the roller shaft in FIG. 5 is marked through a function equation, then the function equation is subjected to frame iteration in MATAB software to obtain simulation results as shown in FIG. 13 and FIG. 14, then the simulation result of the point representing the roller shaft and the motion trail of the point extracted in the fourth step are subjected to polynomial fitting, so that a cam fitting curve can be obtained, a specific fitting structure is shown in FIG. 15, and the fitted five-degree polynomial is as follows:
y＝3.38×10 -5 x 5 -0.004455x 4 +0.2275x 3 -5.648x 2 +69.5x-301.4
the motion track of the roller shaft, namely the cam groove is designed according to the obtained fitting curve, and the fitting curve is input into corresponding three-dimensional software such as SolidWorks or NX and the like during actual operation, so that the cam groove shown in figure 9 can be obtained, and the box body can be lifted and toppled when the dumping device moves upwards on the translation plate.

Claims (8)

1. A arm for surface of water rubbish is retrieved, its characterized in that: the mechanical gripper comprises mechanical grippers (1) which are oppositely arranged left and right, each mechanical gripper (1) is hinged on a corresponding movable arm (2), the other end of each movable arm (2) is hinged on a rotating seat (3), each movable arm (2) is opened and closed through a corresponding opening and closing mechanism, the two opening and closing mechanisms are operated through the same driving mechanism, a covering mechanism for realizing covering action of the mechanical gripper (1) is arranged on the opening and closing mechanism, a turnover mechanism for realizing turnover of the rotating seat (3) is arranged on the rotating seat (3), and the covering mechanism and the turnover mechanism are operated through the corresponding opening and closing mechanism;
the structure that opens and shuts includes drives pivoted lead screw (4) through actuating mechanism, be provided with slider (5) on lead screw (4), articulated on slider (5) have first connecting rod (6), the other end of first connecting rod (6) articulates the middle part at swing arm (2), be provided with on rotating seat (3) and be used for holding slider (5) sliding tray (3 a) of controlling the removal, set up on rotating seat (3) after the one end of lead screw (4) passes sliding tray (3 a).
2. The mechanical arm for water surface garbage collection as claimed in claim 1, wherein: the mechanical gripper is characterized in that the wrapping mechanism comprises a second connecting rod (7) with one end hinged to the rotating seat (3), a third connecting rod (8) is hinged to the other end of the second connecting rod (7), the other end of the third connecting rod (8) is hinged to the movable arm (2), a driven gear (1 a) is arranged at one end of the mechanical gripper (1) hinged to the movable arm (2), and a driving gear (8 a) meshed with the driven gear (1 a) is arranged at the other end of the third connecting rod (8).
3. The mechanical arm for water surface garbage collection as claimed in claim 1, wherein: the turnover mechanism comprises a fixed seat (9) which can be fixed on a salvaging device, a rotating groove (9 a) used for accommodating the rotating seat is formed in the fixed seat (9), fixing pins (5 a) are arranged on the left side and the right side of the sliding block (5), telescopic spring pins (10) are arranged at the left end and the right end of the fixed seat (9), when the sliding block moves to the right limit, the fixing pins located on the right side penetrate through the rotating seat to eject the telescopic section of the telescopic spring pin on the right side to the rotating seat, at the moment, the screw rod, the rotating seat and the sliding block are locked, the screw rod continuously rotates to drive the rotating seat to rotate in the rotating groove, and after the screw rod reversely rotates to a certain angle, the telescopic section of the telescopic spring pin on the left side returns to the rotating seat under the action of elastic force. When the slider moves to the left limit, the fixing pin on the left side penetrates through the rotating seat to eject the telescopic section of the telescopic spring pin on the left side into the rotating seat, at the moment, the screw rod, the rotating seat and the slider are locked, the screw rod continues to rotate to drive the rotating seat to rotate in the rotating groove, after the rotating seat rotates to a certain angle, the screw rod reversely rotates to drive the slider to reversely move, and the telescopic section of the telescopic spring pin on the right side returns into the rotating seat under the action of elastic force.
4. The mechanical arm for water surface garbage collection according to claim 1, wherein: the driving mechanism comprises a driving motor, and the output end of the driving motor drives the screw rod (4) to rotate through the speed change mechanism.
5. A robotic arm for surface waste recovery as claimed in claim 3, wherein: the fixing seat (9) comprises two fixing blocks (9 b) which are oppositely arranged front and back, a positioning column (9 c) is arranged below one fixing block (9 b), and a positioning hole (9 d) is formed in the position, corresponding to the positioning column, of the lower side of the other fixing block (9 b).
6. A robotic arm for surface waste recovery as claimed in claim 3, wherein: the rotating seat (3) comprises a rotating anti-falling section (3 b), a sliding section (3 c), a rotating limiting section (3 d) and a hinging section (3 e), wherein the sliding groove (3 a) is formed in the sliding section (3 c), the outer sides of the rotating anti-falling section (3 b), the sliding section (3 c) and the rotating limiting section (3 d) are all cylindrical, the outer diameters of the rotating anti-falling section (3 b) and the rotating limiting section (3 d) are both larger than the outer diameter of the sliding section (3 c), and the rotating groove (9 a) is also formed into a structure with two corresponding ends and a middle small size.
7. The mechanical arm for water surface garbage collection according to claim 1, wherein: the screw rods (4) on the two opening and closing mechanisms adopt two screw rods, or the screw rods (4) on the two opening and closing mechanisms are the left end and the right end of the same screw rod (4), and when the two opening and closing mechanisms adopt the same screw rod (4), the rotation directions of the two ends of the screw rod (4) are opposite.
8. The mechanical arm for water surface garbage collection according to claim 1, wherein: the other end of the mechanical claw (1) is provided with a plurality of clamping jaws at intervals.
CN202310374860.0A 2023-04-10 2023-04-10 Mechanical arm for recycling water surface garbage Pending CN116494260A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310374860.0A CN116494260A (en) 2023-04-10 2023-04-10 Mechanical arm for recycling water surface garbage

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CN202310374860.0A CN116494260A (en) 2023-04-10 2023-04-10 Mechanical arm for recycling water surface garbage

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