CN217494235U

CN217494235U - Wet garbage treatment mechanical arm based on mobile vehicle-mounted platform

Info

Publication number: CN217494235U
Application number: CN202221637621.7U
Authority: CN
Inventors: 刘慧宇
Original assignee: Changsha Kelvte Environmental Protection Technology Co ltd
Current assignee: Changsha Kelvte Environmental Protection Technology Co ltd
Priority date: 2022-06-27
Filing date: 2022-06-27
Publication date: 2022-09-27
Anticipated expiration: 2032-06-27

Abstract

The utility model relates to a wet refuse treatment robotic arm based on remove on-vehicle platform, including arm I, arm II, arm III, arm IV, pneumatic cylinder I, pneumatic cylinder II, pneumatic cylinder III, pneumatic cylinder IV and can dismantle the tongs, I front end of arm is rotated with II rear ends of arm and is connected, II front ends of arm are rotated with III rear ends of arm and are connected, III front ends of arm are rotated with IV rear ends of arm and are connected, IV front end of arm is connected with the mounting panel, can dismantle the tongs and install on the mounting panel, the piston rod top of pneumatic cylinder I is rotated with I arm and is connected, II linking arms of pneumatic cylinder I and arm II, III linking arms of pneumatic cylinder III and arm III, IV's cylinder body linking arm III and connecting rod I, connecting rod II, connecting rod I, connecting rod II is linking arm III and arm IV respectively. The utility model discloses the arm that sets up is more, and rotatable coupling's point is more, and is consequently more nimble, is fit for more narrowly and narrow and small, and has the rubbish pond work of certain degree of depth, and the tongs is removable, and the practicality is stronger.

Description

Wet garbage treatment mechanical arm based on mobile vehicle-mounted platform

Technical Field

The utility model belongs to the technical field of robotic arm, especially, belong to a wet refuse treatment robotic arm based on remove on-vehicle platform.

Background

Wet waste is generally stored in a waste pool in a collective manner, and is transported out in a collective manner and disposed of after reaching a certain amount. Generally use the excavator to transport when transporting now, but present excavator all sets up two arms, and the rubbish pond seems more narrow and small again after comparing with the excavator, and still has certain degree of depth, and is therefore not nimble enough when two arm excavators transport wet rubbish, and the bucket of excavator can not be changed in addition, when meetting the less rubbish pond in pool mouth, can not use even.

SUMMERY OF THE UTILITY MODEL

The utility model aims at improving and innovating the shortcoming and the problem that exist among the background art, provide a wet refuse handling robotic arm that the operation is more nimble when transporting wet rubbish, tongs can be changed as required.

The technical scheme of the utility model a construct a wet refuse handling robotic arm based on remove on-vehicle platform, including arm I, arm II, arm III, arm IV, pneumatic cylinder I, pneumatic cylinder II, pneumatic cylinder III, pneumatic cylinder IV and can dismantle the tongs, I front end of arm is rotated with II rear ends of arm and is connected, II front ends of arm are rotated with III rear ends of arm and are connected, III front ends of arm are rotated with the IV rear end of arm and are connected, the IV front end of arm is connected with the mounting panel, can dismantle the tongs and install on the mounting panel, the piston rod top of pneumatic cylinder I is rotated with I arm and is connected, the cylinder body of pneumatic cylinder II is rotated with I arm and is connected, and the piston rod top is rotated with II rear ends of arm and is connected, the cylinder body of pneumatic cylinder III is rotated with II arms and is connected, and the piston rod top is rotated with III rear ends of arm and is connected, the cylinder body of pneumatic cylinder IV rotates with arm III and is connected, and the piston rod top is connected with I, The rear end of the connecting rod II is connected, and the front ends of the connecting rod I and the connecting rod II are respectively connected with the rear end of the arm III and the front end of the arm IV in a rotating mode.

Preferably, the detachable gripper comprises a bottom plate, a hydraulic cylinder V, a fixing plate, supporting plates, a connecting plate, two gripping arms and two sliding blocks, wherein the fixing plate is arranged above the bottom plate, a cylinder body of the hydraulic cylinder V is arranged between the bottom plate and the fixing plate, the lower end of the cylinder body of the hydraulic cylinder V is connected with the bottom plate, the upper end of the cylinder body of the hydraulic cylinder V is connected with the fixing plate, the upper end of a piston rod of the hydraulic cylinder V is connected with the connecting plate, the two supporting plates are respectively arranged at two sides of the fixing plate, the connecting plate is arranged above the fixing plate and between the two supporting plates, the two gripping arms are respectively and rotatably connected to different supporting plates and are mutually symmetrical by taking a central bisector of the fixing plate as a symmetrical line, the two sliding blocks are respectively and rotatably connected with the lower ends of different gripping arms, the sliding blocks are arranged in sliding grooves, and the sliding grooves are arranged on the connecting plate, and side grooves communicated with the sliding groove are formed in two sides of the bottom of the sliding groove, and two sides of the sliding block extend into the side grooves.

Preferably, the bottom plate is connected with the mounting plate through bolts.

Preferably, a support rod is arranged between the bottom plate and the fixed plate, and two ends of the support rod are respectively connected with the bottom plate and the fixed plate.

Preferably, I rear end of arm is connected with mobile vehicle platform rotation, the cylinder body of pneumatic cylinder I is connected with mobile vehicle platform rotation.

The utility model has the advantages and beneficial effect:

the utility model discloses the arm that sets up is more, and rotatable coupling's point is more, and is consequently more nimble, is fit for more narrowly and closely, and has work in the rubbish pond of certain degree of depth. In addition, the detachable hand grab and the arm are detachably connected, and different hand grabs can be replaced when different conditions are met, so that the practicability is higher.

Drawings

FIG. 1 is a schematic structural diagram of a wet garbage disposal robot arm based on a mobile vehicle-mounted platform

Fig. 2 is an enlarged view at a.

Fig. 3 is a top view of the connecting plate after the slider is mounted thereon.

Fig. 4 is a side view of the web after the slider is installed.

Description of the figures:

1-arm I, 2-arm II, 3-arm III, 4-arm IV, 5-hydraulic cylinder I, 6-hydraulic cylinder II, 7-hydraulic cylinder III, 8-hydraulic cylinder IV, 9-connecting rod I, 10-connecting rod II, 11-bottom plate, 12-hydraulic cylinder V, 13-fixing plate, 14-supporting plate, 15-connecting plate, 16-grabbing arm, 17-supporting rod, 18-mobile vehicle-mounted platform, 19-mounting plate, 20-sliding block, 21-sliding groove and 22-side groove.

Detailed Description

In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. The invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "disposed" or "connected" to another element, it can be directly disposed or connected to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Example 1

As shown in figures 1-4, the wet garbage treatment mechanical arm based on the mobile vehicle-mounted platform comprises an arm I1, an arm II 2, an arm III 3, an arm IV 4, a hydraulic cylinder I5, a hydraulic cylinder II 6, a hydraulic cylinder III 7, a hydraulic cylinder IV 8 and a detachable gripper, wherein the front end of the arm I1 is rotatably connected with the rear end of the arm II 2, the front end of the arm II 2 is rotatably connected with the rear end of the arm III 3, the front end of the arm III 3 is rotatably connected with the rear end of the arm IV 4, the front end of the arm IV 4 is connected with a mounting plate 19, the detachable gripper is mounted on the mounting plate 19, the top end of a piston rod of the hydraulic cylinder I5 is rotatably connected with the arm I1, the cylinder body of the hydraulic cylinder II 6 is rotatably connected with the arm I1, the top end of the piston rod is rotatably connected with the rear end of the arm II 2, the cylinder body of the hydraulic cylinder III 7 is rotatably connected with the arm II 2, and the top end of the piston rod is rotatably connected with the rear end of the arm III 3, the cylinder body of the hydraulic cylinder IV 8 is rotatably connected with the arm III 3, the top end of the piston rod is connected with the rear ends of the connecting rod I9 and the connecting rod II 10, and the front ends of the connecting rod I9 and the connecting rod II 10 are rotatably connected with the rear end of the arm III 3 and the front end of the arm IV 4 respectively.

The utility model discloses a working process and principle:

the utility model discloses a pneumatic cylinder I5, pneumatic cylinder II 6, pneumatic cylinder III 7, pneumatic cylinder IV 8 control arm I1, arm II 2, arm III 3, the operation of arm IV 4 respectively and rotate, the utility model discloses be provided with four arms, not only guaranteed the support intensity of whole arm, and rotatable node and arm are also more, and consequently whole arm is more nimble, is fit for working in narrow and small, and the rubbish pond that has certain degree of depth more.

Example 2

On the basis of embodiment 1, as shown in fig. 1 to 4, the detachable gripper includes a bottom plate 11, a hydraulic cylinder v 12, a fixing plate 13, supporting plates 14, a connecting plate 15, gripping arms 16 and a slider 20, the fixing plate 13 is disposed above the bottom plate 11, a cylinder body of the hydraulic cylinder v 12 is disposed between the bottom plate 11 and the fixing plate 13, a lower end of the cylinder body of the hydraulic cylinder v 12 is connected to the bottom plate 11, an upper end of the cylinder body is connected to the fixing plate 13, an upper end of a piston rod of the hydraulic cylinder v 12 is connected to the connecting plate 15, the supporting plates 14 are disposed at two sides of the fixing plate 13, the connecting plate 15 is disposed above the fixing plate 13 and is disposed between the two supporting plates 14, the gripping arms 16 are disposed in two numbers, the gripping arms 16 are rotatably connected to different supporting plates 14, and are symmetrical to each other with a center bisector of the fixing plate 13, the two sliding blocks 20 are arranged, the two sliding blocks 20 are respectively connected with the lower ends of different gripping arms 16 in a rotating mode, the sliding blocks 20 are arranged in sliding grooves 21, the sliding grooves 21 are arranged on the connecting plate 15, side grooves 22 communicated with the sliding grooves 21 are formed in the two sides of the bottom of the sliding grooves 21, and the two sides of the sliding blocks 20 extend into the side grooves 22.

The utility model discloses a can dismantle work process and principle of tongs:

when wet garbage needs to be grabbed or released by using the detachable gripper, only the hydraulic cylinder V12 needs to be started, a piston rod of the hydraulic cylinder V12 moves in a retracting or extending mode, the two grabbing arms 16 move in an inward closing or expanding mode, meanwhile, the lower ends of the grabbing arms 16 slide inwards or outwards along with the sliding block 20, the grabbing arms 16 are prevented from being blocked, and therefore the wet garbage can be grabbed or released.

The purpose of the sliding grooves 21 and the side grooves 22 is to act as a guide rail to stabilize the movement of the sliding block 20.

The two grabbing arms 16 and the two sliding blocks 20 are arranged symmetrically with respect to the central bisector of the fixed plate 13.

Example 3

In embodiment 2, as shown in fig. 1 to 4, the base plate 11 and the mounting plate 19 are bolted. Because the bottom plate 11 and the mounting plate 19 are connected through bolts, the detachable gripper is detachably mounted and connected with the mechanical arm, and the bolts are connected through the most practical and simplest detachable mounting.

Example 4

In addition to embodiment 2, as shown in fig. 1 to 4, a support rod 17 is disposed between the bottom plate 11 and the fixing plate 13, and both ends of the support rod 17 are respectively connected to the bottom plate 11 and the fixing plate 13. The support bar 17 serves as a support for connecting the base plate 11 and the fixing plate 13.

Example 5

In addition to embodiment 1, as shown in fig. 1 to 4, the rear end of the arm i 1 is rotatably connected to the mobile vehicle-mounted platform 18, and the cylinder body of the hydraulic cylinder i 5 is rotatably connected to the mobile vehicle-mounted platform 18. The mobile cart platform 18 is the carrier for the entire robotic arm.

Claims

1. A wet garbage treatment mechanical arm based on a mobile vehicle-mounted platform comprises an arm I (1), an arm II (2), an arm III (3), an arm IV (4), a hydraulic cylinder I (5), a hydraulic cylinder II (6), a hydraulic cylinder III (7), a hydraulic cylinder IV (8) and a detachable gripper, and is characterized in that the front end of the arm I (1) is rotatably connected with the rear end of the arm II (2), the front end of the arm II (2) is rotatably connected with the rear end of the arm III (3), the front end of the arm III (3) is rotatably connected with the rear end of the arm IV (4), the front end of the arm IV (4) is connected with a mounting plate (19), the detachable gripper is mounted on the mounting plate (19), the top end of a piston rod of the hydraulic cylinder I (5) is rotatably connected with the arm I (1), the cylinder body of the hydraulic cylinder II (6) is rotatably connected with the arm I (1), and the top end of the piston rod is rotatably connected with the rear end of the arm II (2), the cylinder body and arm II (2) of pneumatic cylinder III (7) rotate to be connected, and the piston rod top rotates with arm III (3) rear end to be connected, the cylinder body and arm III (3) of pneumatic cylinder IV (8) rotate to be connected, and the piston rod top is connected with the rear end of connecting rod I (9), connecting rod II (10), the front end of connecting rod I (9), connecting rod II (10) rotates with the front end in the rear end of arm III (3), arm IV (4) respectively to be connected.

2. The wet garbage disposal robot arm based on the mobile vehicle-mounted platform as claimed in claim 1, wherein the detachable gripper comprises a bottom plate (11), a hydraulic cylinder V (12), a fixed plate (13), a support plate (14), a connecting plate (15), a gripping arm (16) and a slider (20), the fixed plate (13) is arranged above the bottom plate (11), the cylinder body of the hydraulic cylinder V (12) is arranged between the bottom plate (11) and the fixed plate (13), the lower end of the cylinder body of the hydraulic cylinder V (12) is connected with the bottom plate (11), the upper end of the cylinder body of the hydraulic cylinder V (12) is connected with the fixed plate (13), the upper end of the piston rod of the hydraulic cylinder V (12) is connected with the connecting plate (15), the support plate (14) is provided with two blocks and is respectively positioned at two sides of the fixed plate (13), the connecting plate (15) is arranged above the fixed plate (13) and is positioned between the two support plates (14), the two grabbing arms (16) are arranged, the grabbing arms (16) are respectively connected to different supporting plates (14) in a rotating mode and are symmetrical to each other by taking a central bisector of the fixing plate (13) as a symmetrical line, the two sliding blocks (20) are arranged, the two sliding blocks (20) are respectively connected with the lower ends of the different grabbing arms (16) in a rotating mode, the sliding blocks (20) are arranged in sliding grooves (21), the sliding grooves (21) are formed in connecting plates (15), side grooves (22) communicated with the sliding grooves (21) are formed in the two sides of the bottom of the sliding grooves (21), and the two sides of the sliding blocks (20) extend into the side grooves (22).

3. A wet waste disposal robot based on a mobile vehicle platform according to claim 2 wherein the base plate (11) is bolted to the mounting plate (19).

4. The wet garbage disposal robot arm based on the mobile vehicle-mounted platform as claimed in claim 2, wherein a support rod (17) is disposed between the bottom plate (11) and the fixed plate (13), and both ends of the support rod (17) are respectively connected with the bottom plate (11) and the fixed plate (13).

5. The wet garbage disposal mechanical arm based on the mobile vehicle-mounted platform is characterized in that the rear end of the arm I (1) is rotatably connected with the mobile vehicle-mounted platform (18), and the cylinder body of the hydraulic cylinder I (5) is rotatably connected with the mobile vehicle-mounted platform (18).