A robotic arm for surface garbage collection

Abstract

The present invention discloses a mechanical arm for recycling garbage on the water surface, comprising mechanical claws arranged opposite to each other on the left and right sides, each mechanical claw is hinged on the corresponding movable arm, the other end of the movable arm is hinged on the rotating seat, each movable arm is opened and retracted by a corresponding opening and closing mechanism, and the two opening and closing mechanisms are both driven by the same driving mechanism, the opening and closing mechanism is provided with a covering mechanism for realizing the covering action of the mechanical claw, the rotating seat is provided with a flipping mechanism for realizing the flipping of the rotating seat, and the covering mechanism and the flipping mechanism are both driven by the corresponding opening and closing mechanism. The mechanical claw is hinged on the movable arm, and can realize the large-scale opening and covering of the mechanical claw through the opening and closing structure and the covering mechanism, thereby realizing the salvage of the garbage on the water surface; a flipping mechanism is provided, and the flipping of the mechanical claw is realized by the flipping mechanism, so that the mechanical claw will not push out the garbage floating on the water surface when it is opened, thereby facilitating the salvage of the garbage on the water surface.

Description

Technical Field

[0001] The invention belongs to the technical field of water surface garbage recycling, and in particular relates to a mechanical arm used for water surface garbage recycling. Background Art

[0002] In order to facilitate the cleaning of surface garbage and improve the surface environment, various types of surface garbage salvage ships have emerged, all of which are designed to improve salvage efficiency and reduce safety hazards. In the prior art, salvage ships are equipped with different mechanical arms for salvaging work, but the structures of the mechanical arms are diverse and can achieve different functions. However, when the mechanical arms achieve multiple functions, each function requires a separate power to achieve action. Summary of the invention

[0003] The present invention provides a robotic arm for recycling garbage on the water surface, which not only has a simple structure, but also can realize different actions of the robotic arm through the same driving mechanism, thereby reducing the number of motors.

[0004] To this end, the technical solution adopted by the present invention is: a mechanical arm for water surface garbage recovery, including mechanical claws arranged opposite to each other on the left and right, each mechanical claw is hinged on the corresponding movable arm, the other end of the movable arm is hinged on the rotating seat, each movable arm realizes opening and closing of the movable arm through a corresponding opening and closing mechanism, and the two opening and closing mechanisms are both realized by the same driving mechanism, the opening and closing mechanism is provided with a covering mechanism for realizing the covering action of the mechanical claw, the rotating seat is provided with a flipping mechanism for realizing the flipping of the rotating seat, and the covering mechanism and the flipping mechanism are both realized by the corresponding opening and closing mechanism; the opening and closing structure includes a screw rod driven to rotate by the driving mechanism, the screw rod is provided with a slider that forms a screw rod slider pair with the screw rod, the slider is hinged with a first connecting rod, the other end of the first connecting rod is hinged at the middle part of the movable arm, the rotating seat is provided with a sliding groove for accommodating the left and right movement of the slider, one end of the screw rod is arranged on the rotating seat after passing through the sliding groove, and the first connecting rod, the slider, the movable arm and the rotating seat form a crank slider mechanism.

[0005] As a preferred embodiment of the above scheme, the enveloping mechanism includes a second connecting rod with one end hinged on a rotating seat, the other end of the second connecting rod is hinged to a third connecting rod, and the other end of the third connecting rod is hinged to a movable arm, wherein the rotating seat, the second connecting rod, the third connecting rod and the movable arm constitute a crank-connecting rod mechanism, and the 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 meshing with the driven gear.

[0006] Further preferably, the flipping mechanism includes a fixed seat that can be fixed on the fishing device. A rotating groove for accommodating the rotating seat is provided on the fixed seat. Fixed pins are provided on both the left and right sides of the slider, and telescopic spring pins are provided at both the left and right ends of the fixed seat. When the slider moves to the right extreme, the fixed pin on the right side passes through the rotating seat and pushes out the telescopic section of the telescopic spring pin on the right side into the rotating seat. At this time, the lead screw, the rotating seat, and the slider are locked. When the lead screw continues to rotate, it will drive the rotating seat to rotate in the rotating groove. After rotating a certain angle, when the lead screw rotates in the reverse direction to drive the slider to move in the reverse direction, the telescopic section of the telescopic spring pin on the left side returns to the rotating seat under the action of the elastic force. When the slider moves to the left extreme, the fixed pin on the left side passes through the rotating seat and pushes out the telescopic section of the telescopic spring pin on the left side into the rotating seat. At this time, the lead screw, the rotating seat, and the slider are locked. When the lead screw continues to rotate, it will drive the rotating seat to rotate in the rotating groove. After rotating a certain angle, when the lead screw rotates in the reverse direction to drive the slider to move in the reverse direction, the telescopic section of the telescopic spring pin on the right side returns to the rotating seat under the action of the elastic force.

[0007] Further preferably, the driving mechanism includes a driving motor, and the output end of the driving motor drives the lead screw to rotate through a speed-changing mechanism.

[0008] Further preferably, the fixed seat includes two fixed blocks arranged opposite to each other in the front and rear. A positioning post is provided below one of the fixed blocks, and a positioning hole is provided at the position corresponding to the positioning post below the other fixed block.

[0009] Further preferably, the rotating seat includes a rotating anti-disengagement section, a sliding section, a rotating limiting section, and a hinged section. The sliding groove is provided on the sliding section. The outer sides of the rotating anti-disengagement section, the sliding section, and the rotating limiting section are all cylindrical, and the outer diameters of the rotating anti-disengagement section and the rotating limiting section are both larger than the outer diameter of the sliding section. The rotating groove is also set to a structure with larger diameters at both ends and a smaller diameter in the middle.

[0010] Further preferably, the lead screws on the two opening and closing mechanisms are two lead screws, or the lead screws on the two opening and closing mechanisms are the left and right ends of the same lead screw. When the two opening and closing mechanisms use the same lead screw, the helix directions at both ends of the lead screw are opposite.

[0011] Further preferably, a plurality of clamping jaws are arranged at intervals in the front and rear at the other end of the mechanical claw.

[0012] The beneficial effects of the present invention are as follows: the mechanical claw is hinged on the movable arm, and can realize large-scale opening and encompassing of the mechanical claw through the opening and closing structure and the encompassing mechanism, thereby realizing the salvage of surface garbage; a flipping mechanism is provided, and the flipping of the mechanical claw is realized through the flipping mechanism, so that the mechanical claw will not push out the garbage floating on the water surface when it is opened, thereby facilitating the salvage of surface garbage; the opening and encompassing, flipping and returning of the mechanical claw are all realized by the same driving mechanism, which not only makes the structure of the entire mechanical arm simple but also compact, and is convenient for installing it on any salvage device. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the present invention.

[0014] Figure 2 It is a schematic diagram of the right side of the robotic arm in the present invention.

[0015] Figure 3 It is a schematic diagram of the fixing seat in the present invention.

[0016] Figure 4 It is a schematic diagram of the rotating seat in the present invention.

[0017] Figure 5 It is a schematic diagram of the retractable spring pin in the present invention.

[0018] Figure 6 The mechanism diagram of the left side of the robot arm in the present invention is shown in FIG. Figure 1 (With power mechanism).

[0019] Figure 7 The mechanism diagram of the left side of the robot arm in the present invention is shown in FIG. Figure 2 (Without power mechanism).

[0020] Figure 8 Schematic diagram of the dumping device in the present invention Figure 1 .

[0021] Figure 9 Schematic diagram of the dumping device in the present invention Figure 2 (After removing one of the support plates).

[0022] Figure 10 The figure is a schematic diagram of the mechanism of the connecting rod assembly and the box body on one side of the present invention.

[0023] Figure 11 For Figure 10 The mechanism performs frame iteration to obtain the motion simulation trajectory of the connecting rod representing the box.

[0024] Figure 12 The figure is a schematic diagram of the connecting rod assembly, driving assembly and housing on one side of the present invention.

[0025] Figure 13 ForFigure 10 The function image of the motion trajectory of the cam position extraction during manual simulation of the mechanism.

[0026] Figure 14 To Figure 12 perform frame iteration on the mechanism to obtain the motion simulation trajectory of the connecting rod representing the box body.

[0027] Figure 15 To Figure 5 perform frame iteration on the mechanism to obtain the motion simulation trajectory of the point representing the roller shaft.

[0028] Figure 16 The fitting result of this embodiment. Specific implementation manner

[0029] The present invention will be further described below through embodiments in conjunction with the accompanying drawings:

[0030] As Figures 1 - 7 shown, a robotic arm for water surface garbage collection mainly consists of a mechanical claw 1, a moving arm 2, a rotating seat 3, an opening and closing mechanism, a driving mechanism, a wrapping mechanism, and a flipping mechanism. Among them, there are two mechanical claws 1, moving arms 2, rotating seats 3, opening and closing mechanisms, wrapping mechanisms, and flipping mechanisms arranged relatively on the left and right. Each mechanical claw 1 is hinged to the corresponding moving arm 2, and at the same time, the other end of the moving arm 2 is hinged to the rotating seat 3. The setting of the moving arm also increases the range that each mechanical claw can wrap each time. Each moving arm 2 realizes the opening and closing of the moving arm 2 through the corresponding opening and closing mechanism. Among them, the two opening and closing mechanisms are both actuated by the same driving mechanism. A wrapping mechanism for realizing the wrapping action of the mechanical claw 1 is arranged on the opening and closing mechanism, and a flipping mechanism for realizing the flipping of the rotating seat 3 is arranged on the rotating seat 3. Moreover, the wrapping mechanism and the flipping mechanism are both actuated through the opening and closing mechanism.

[0031] The specific structure of the opening and closing structure includes a lead screw 4 driven to rotate by a driving mechanism. A slider 5 is arranged on the lead screw 4, so that the slider and the lead screw form a conventional lead screw and nut mechanism, and the power is the lead screw at this time. A first connecting rod 6 is hinged to the slider 5, and the other end of the first connecting rod 6 is hinged to the middle of the moving arm 2, so that the slider, the rotating seat, the moving arm, and the first connecting rod form a crank-slider mechanism, and the power is the slider at this time. To facilitate the manufacturing of the lead screw for the rotating seat and the sliding of the slider, a sliding groove 3a for accommodating the left and right movement of the slider 5 is arranged on the rotating seat 3. At the same time, one end of the lead screw 4 passes through the sliding groove 3a and is arranged on the rotating seat 3. When the lead screw rotates, the slider moves left and right in the sliding groove, and then the moving arm is rotated around the rotating seat through the first connecting rod.

[0032] The specific structure of the enveloping mechanism includes a second connecting rod 7 with one end hinged to the rotating seat 3. At the other end of the second connecting rod 7, a third connecting rod 8 is hinged. At the same time, the other end of the third connecting rod 8 is hinged to the boom 2, so that the boom, the second connecting rod, the third connecting rod and the rotating seat form a linkage mechanism, and at this time the power is the boom. To realize the enveloping of the mechanical claw, a driven gear 1a is provided at one end of the mechanical claw 1 hinged to the boom 2, and a driving gear 8a meshing with the driven gear 1a is provided at the other end of the third connecting rod 8. When the boom rotates, since the boom, the second connecting rod, the third connecting rod and the rotating seat form a linkage mechanism, the third connecting rod also rotates. Then, under the meshing of the driving gear and the driven gear, the mechanical claw also rotates around the boom, thus realizing the enveloping and relaxing actions of the mechanical claw.

[0033] The specific structure of the flipping mechanism includes a fixed seat 9 that can be fixed on the salvage device. A rotating groove 9a for accommodating the rotating seat is provided on the fixed seat 9. Fixed pins 5a are provided on both the left and right sides of the slider 5, and telescopic spring pins 10 are provided at both the left and right ends of the fixed seat 9. When the slider moves to the right extreme position, the fixed pin on the right side passes through the rotating seat and pushes out the telescopic section of the telescopic spring pin on the right side into the rotating seat. At this time, the lead screw, the rotating seat and the slider are locked. When the lead screw continues to rotate, it will drive the rotating seat to rotate in the rotating groove. After rotating a certain angle, when the lead screw rotates in the reverse direction and drives the slider to move in the reverse direction, the telescopic section of the left telescopic spring pin returns into the rotating seat under the action of the elastic force. When the slider moves to the left extreme position, the fixed pin on the left side passes through the rotating seat and pushes out the telescopic section of the telescopic spring pin on the left side into the rotating seat. At this time, the lead screw, the rotating seat and the slider are locked. When the lead screw continues to rotate, it will drive the rotating seat to rotate in the rotating groove. After rotating a certain angle, when the lead screw rotates in the reverse direction and drives the slider to move in the reverse direction, the telescopic section of the right telescopic spring pin returns into the rotating seat under the action of the elastic force.

[0034] The specific structure of the driving mechanism includes a driving motor, and the output end of the driving motor drives the lead screw 4 to rotate through a speed change mechanism, and the speed change mechanism realizes speed change through meshing gears. The lead screws 4 on the two opening and closing mechanisms can adopt two lead screws. At this time, the speed change mechanism can be set to have a driving bevel gear at the output end of the driving motor, and a driven bevel gear at the adjacent ends of the two lead screws, and the two lead screws are driven through the meshing of the driving bevel gear and the driven bevel gear. It can also be that the lead screws 4 on the two opening and closing mechanisms are the left and right ends of the same lead screw 4. At this time, the helix directions at both ends of the lead screw 4 are opposite, and the speed change mechanism can be set to the meshing of two cylindrical gears, and the lead screw is arranged on the driven cylindrical gear.

[0035] The specific structure of the rotating seat includes a rotating anti - detachment section 3b, a sliding section 3c, a rotating limiting section 3d, and a hinged section 3e. Among them, the sliding groove 3a is arranged on the sliding section 3c. The moving arm and the second connecting rod are both hinged on the hinged section. Preferably, the hinged section is located outside the rotating groove. To facilitate the rotation of the rotating seat, the outer sides of the rotating anti - detachment section 3b, the sliding section 3c, and the rotating limiting section 3d are all set to be cylindrical. And to prevent the rotating seat from leaving the rotating groove, the outer diameters of the rotating anti - detachment section 3b and the rotating limiting section 3d are both larger than the outer diameter of the sliding section 3c. At the same time, the rotating groove 9a is also set to a structure with larger ends and a smaller middle part.

[0036] For the convenience of installation, the fixed seat 9 includes two fixed blocks 9b arranged opposite to each other in the front - rear direction. A positioning column 9c is arranged below one of the fixed blocks 9b, and a positioning hole 9d is arranged at the position corresponding to the positioning column below the other fixed block 9b.

[0037] To expand the grasping range of the mechanical claw, a plurality of clamping claws are arranged at intervals in the front - rear direction at the other end of the mechanical claw 1.

[0038] The working process of the entire robotic arm is as follows: In the initial state, both the mechanical claw and the moving arm are in the retracted state, and at this time, the mechanical claw and the moving arm are out of the water. When the drive motor works, the lead screw rotates, driving the two sliders to move towards each other. At this time, the mechanical claw and the moving arm are continuously opened outwards. When the slider moves to the extreme position on the inner side, the fixed pin just pushes open the inner telescopic spring positioning pin, releasing the restriction of the rotating seat. When the drive motor continues to work and the lead screw rotates a certain angle, the rotating seat drives the moving arm and the mechanical claw to rotate towards the water surface. At the same time, the two telescopic spring positioning pins on the left and right outer sides return to the rotating seat, realizing the restriction of the rotating seat. Then the drive motor works in the reverse direction, making the two sliders move away from each other. During the process, the moving arm and the mechanical claw are continuously retracted. When the slider moves to the extreme position on the outer side, the fixed pin just pushes open the outer telescopic spring positioning pin, releasing the restriction of the rotating seat. When the drive motor continues to act in the reverse direction and the lead screw rotates a certain angle, the rotating seat drives the moving arm and the mechanical claw to rotate away from the water surface. At the same time, the two telescopic spring positioning pins on the left and right inner sides return to the rotating seat, realizing the restriction of the rotating seat.

[0039] Meanwhile, a fully automatic surface garbage collection ship is also provided, which mainly consists of a hull, a robotic arm, and the above-mentioned tipping device. The robotic arm is used to collect surface garbage. The tipping device is fixed on the hull, and the robotic arm is also arranged on the hull. Preferably, the tipping device is located at the stern of the hull, and the robotic arm is arranged at the bow of the hull. A conveyor belt for garbage transfer is also arranged on the hull. One end of the conveyor belt is close to the robotic arm, and the other end is close to the upper end of the box body. To facilitate the automatic return of the box body after it is lifted and tipped under the action of the tipping device, a gap is left between the conveyor belt and the upper end of the box body. Since the moving direction of the conveyor belt is from the robotic arm to the box body, the garbage will fall into the box body due to the inertia of the conveyor belt, and the situation where the garbage cannot be transported into the box body will not occur.

[0040] Preferably, a plurality of first water leakage holes for water leakage are arranged at intervals on the conveyor belt. A water collector with a large upper part and a small lower part for collecting the water leaking 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 also be arranged outside the hull through a bracket. At this time, water can be discharged directly by opening a hole at the lower end of the water collector.

[0041] As Figure 8 and 9 shown, the tipping device mainly consists of a connecting rod assembly and a driving assembly. Connecting rod assemblies are arranged on both the left and right sides of the box body, and the connecting rod assembly can achieve the tipping of the box body 11. The driving assembly is used to drive the connecting rod assembly to act, so as to achieve the tipping of the box body.

[0042] The specific structure of the connecting rod assembly includes a driving rod 13 and a driven rod 14. The upper end of the driving rod 13 is hinged to the middle of the upper end of the box body 11, and the upper end of the driven rod 14 is hinged to the position near the front side of the upper end of the box body 11. The lower ends of both the driving rod 13 and the driven rod 14 are hinged to the driving assembly, and the lower end of the driving rod 13 is located in front of the lower end of the driven rod 14, that is, the driving rod and the driven rod are in a crossed state. To achieve the tipping of the box body, a support plate 12 is arranged on the side of each connecting rod assembly away from the box body 11. At the same time, a roller shaft 13a facing the corresponding side support plate 12 is arranged on the driving rod 13, and a roller 15 capable of rolling in the cam groove 12a is sleeved on the roller shaft 13a.

[0043] The specific structure of the driving assembly includes a translation plate 16. The translation plate 16 moves up and down through a pushing assembly 20. Correspondingly, the lower end of the driving rod 13 is hinged to the front end of the translation plate 16, and the lower end of the driven rod 14 is hinged to the rear end of the translation plate 16. In this embodiment, the pushing assembly is any linear mechanism capable of driving the translation plate to move up and down, such as a telescopic cylinder, a lead screw nut mechanism, or an electric push rod.

[0044] The translation plate 16 is hinged to the driven rod 14 through the first hinge shaft 18, and the translation plate 16 is hinged to the active rod 13 through the second hinge shaft 19. To ensure the up and down movement of the translation plate, guide grooves 12b extending up and down are arranged at intervals on the support plate 12, and guide wheels 17 that can roll up and down in the guide grooves 12b are installed on the ends of the first hinge shaft 18 and the second hinge shaft 19 away from the box body 11.

[0045] When the translation plate moves upward under the action of the pushing assembly, the guide wheel moves upward in the guide groove, causing the box body and the connecting rod to move upward. At the same time, since the roller can only move in the cam groove, the box body is tilted under the action of the connecting rod assembly. When the translation plate moves downward under the action of the pushing assembly, the box body returns to its original position.

[0046] In order to prevent the box from interfering with the floating object recovery belt on the front hull in space during the upward and downward operation, the box 11 is configured as a frustum structure with a larger upper portion and a smaller lower portion.

[0047] In order to ensure that the box tilting angle exceeds 90°, the cam groove needs to be specially designed. The design method of the cam groove is as follows:

[0048] Step 1: simplify the device; simplify the above connecting rod assembly into Figure 10 A schematic diagram of the mechanism is shown.

[0049] Step 2: Mark the position of the mechanism; mark the positions of the hinge points where the box is hinged to the active rod and the driven rod respectively through function equations. The specific function equations are as follows:

[0050]

[0051] Among them, CX is the horizontal coordinate of point C; CY is the vertical coordinate of point C; EX is the horizontal coordinate of point E; EY is the vertical coordinate of point E, FX is the horizontal coordinate of point F; FY is the vertical coordinate of point F, V is the pushing speed of BD rod; t is the running time of the push rod.

[0052] Step 3: Simulation: Use MATAB software to iterate the above function equations and get the following results: Figure 11 The simulation results shown in the figure show that the flipping angle of the box EF simulated by the connecting rod is greater than 90°, that is, the structure can realize the pouring out of all objects in the box.

[0053] Since the dumping device is used in a fully automatic surface garbage salvaging ship, the box cannot be dumped in situ, and needs to be raised to be higher than the back of the ship before dumping. In order to achieve this purpose and reduce the number of motors, this embodiment provides 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 the dumping device can be simplified as follows: Figure 12The mechanism diagram shown.

[0054] Step 4: Expected trajectory extraction; Since the box needs to rise and tilt at the same time, the movement trajectory of the box is a relatively complex curvilinear motion. To simplify the problem and better fit the trajectory of the box, the mechanism diagram obtained in the first step is made into a physical scissor five-bar mechanism, and the scissor five-bar mechanism is manually driven to act so that the connecting rod representing the box can move along the expected trajectory. Then, the movement process of the physical scissor five-bar structure is recorded by video, and then the movement trajectory of the points on the driving rod is extracted through Tracker software.

[0055] Step 5: Trajectory fitting; Import the movement trajectory extracted in Step 4 into MATAB software, and at the same time, mark the positions of the connecting rod representing the box and the points representing the roller shafts in Figure 5 through the function equation. Then, perform frame iteration on the function equation in MATAB software to obtain the simulation results as shown in Figure 13 and Figure 14 . Then, perform polynomial fitting on the simulation results of the points representing the roller shafts and the movement trajectory of these points extracted in Step 4, so as to obtain the fitting curve of the cam. The specific fitting structure is as shown in Figure 15 . The fifth-degree polynomial for fitting is as follows:

[0056] y = 3.38×10 -5 x 5 -0.004455x 4 +0.2275x 3 -5.648x 2 +69.5x - 301.4

[0057] Design the movement trajectory of the roller shaft, that is, the cam groove, according to the obtained fitting curve. During actual operation, input this fitting curve into corresponding 3D software such as SolidWorks or NX, and the cam groove as shown in Figure 9 can be obtained, so that when the translation plate moves upward, the box can rise and tilt.

Claims

1. A robotic arm for surface garbage collection, characterized in that: It includes mechanical claws (1) arranged opposite to each other on the left and right. Each mechanical claw (1) is hinged to the corresponding boom (2), and the other end of the boom (2) is hinged to the rotating seat (3). Each of the booms (2) is opened and closed through a corresponding opening and closing mechanism, and both opening and closing mechanisms are actuated by the same driving mechanism. A holding mechanism for enabling the mechanical claw (1) to perform a holding action is provided on the opening and closing mechanism. A flipping mechanism for enabling the rotating seat (3) to flip is provided on the rotating seat (3). Both the holding mechanism and the flipping mechanism are actuated through the corresponding opening and closing mechanisms; The opening and closing mechanism includes a lead screw (4) driven to rotate by a driving mechanism. A slider (5) is arranged on the lead screw (4). The slider (5) is hinged to a first connecting rod (6), and the other end of the first connecting rod (6) is hinged to the middle of the boom (2). A sliding groove (3a) for accommodating the left and right movement of the slider (5) is provided on the rotating seat (3). One end of the lead screw (4) passes through the sliding groove (3a) and is arranged on the rotating seat (3); The flipping mechanism includes a fixed seat (9) that can be fixed to the salvage device. A rotating groove (9a) for accommodating the rotating seat is provided on the fixed seat (9). Fixed pins (5a) are arranged on both the left and right sides of the slider (5). Telescopic spring pins (10) are arranged at both the left and right ends of the fixed seat (9); When the slider moves to the right limit, the fixed pin on the right side passes through the rotating seat and pushes out the telescopic section of the telescopic spring pin on the right side into the rotating seat. At this time, the lead screw, the rotating seat, and the slider are locked. Continuing to rotate the lead screw will drive the rotating seat to rotate in the rotating groove. After rotating a certain angle, when the lead screw rotates in the reverse direction to drive the slider to move in the reverse direction, the telescopic section of the left telescopic spring pin returns to the rotating seat under the action of the elastic force; When the slider moves to the left limit, the fixed pin on the left side passes through the rotating seat and pushes out the telescopic section of the telescopic spring pin on the left side into the rotating seat. At this time, the lead screw, the rotating seat, and the slider are locked. Continuing to rotate the lead screw will drive the rotating seat to rotate in the rotating groove. After rotating a certain angle, when the lead screw rotates in the reverse direction to drive the slider to move in the reverse direction, the telescopic section of the right telescopic spring pin returns to the rotating seat under the action of the elastic force.

2. The robotic arm for surface garbage collection according to claim 1, wherein: The holding mechanism includes a second connecting rod (7) with one end hinged to the rotating seat (3). The other end of the second connecting rod (7) is hinged to a third connecting rod (8). The other end of the third connecting rod (8) is hinged to the boom (2). A driven gear (1a) is arranged at the end of the mechanical claw (1) hinged to the boom (2). A driving gear (8a) meshing with the driven gear (1a) is arranged at the other end of the third connecting rod (8).

3. The robotic arm for surface garbage collection according to claim 1, wherein: The driving mechanism includes a driving motor, and the output end of the driving motor drives the lead screw (4) to rotate through a speed-changing mechanism.

4. The robotic arm for surface garbage collection according to claim 1, characterized in that: The fixed seat (9) includes two fixed blocks (9b) arranged opposite to each other front and back. A positioning column (9c) is arranged below one of the fixed blocks (9b), and a positioning hole (9d) is arranged at the position corresponding to the positioning column below the other fixed block (9b).

5. The robotic arm for surface garbage collection according to claim 1, wherein: The rotating seat (3) includes a rotation anti - detachment section (3b), a sliding section (3c), a rotation limiting section (3d) and a hinged section (3e). The sliding groove (3a) is arranged on the sliding section (3c). The outer sides of the rotation anti - detachment section (3b), the sliding section (3c) and the rotation limiting section (3d) are all cylindrical, and the outer diameters of the rotation anti - detachment section (3b) and the rotation limiting section (3d) are both larger than the outer diameter of the sliding section (3c). The rotation groove (9a) is also configured as a structure with larger ends and a smaller middle part at both ends.

6. The robotic arm for surface garbage collection according to claim 1, characterized in that: The lead screws (4) on the two opening - closing mechanisms are two lead screws, or the lead screws (4) on the two opening - closing mechanisms are the left and right ends of the same lead screw (4). When the two opening - closing mechanisms use the same lead screw (4), the helix directions at both ends of the lead screw (4) are opposite.

7. The robotic arm for surface garbage collection according to claim 1, characterized in that: A plurality of clamping jaws are arranged at the other end of the mechanical claw (1) at intervals in the front - rear direction.

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