A full-automatic cleaning and skimming device for a ship

Abstract

The utility model relates to the field of water body garbage cleaning, concretely to a full -automatic clean boat and catch floating device, including ship body, and catch floating device sets up on ship body, catch floating device includes mechanical arm and jaw subassembly, the mechanical arm includes first connecting arm, second connecting arm and third connecting arm that rotate connection in proper order, one end of first connecting arm is connected with ship body through base away from second connecting arm, one end of third connecting arm is connected with jaw subassembly away from second connecting arm, in the embodiment, by setting catch floating device on ship body, the branch and so on larger garbage is clamped by the jaw driven by mechanical arm, directly carries out collection and shifts to the rear hold, can separately use, also can cooperate and use with the collection mechanism of traditional conveyer belt time, greatly increased the range limit of garbage collection kind of clean boat to floating.

Description

Technical Field

[0001] This utility model relates to the field of water body garbage cleaning technology, and in particular to a fully automatic floating debris catching device for a floating debris cleaning boat. Background Technology

[0002] Currently, the most widely used floating debris collection vessels in waterways both domestically and internationally are generally divided into bucket-type and conveyor belt-type vessels. Bucket-type collection vessels operate by scooping buckets, resulting in discontinuous operation and low efficiency, thus performing poorly in collecting densely packed floating debris. Conveyor belt-type collection vessels can collect floating debris including floating garbage, duckweed, and aquatic plants, and can operate continuously. However, neither of these methods can effectively collect irregularly shaped and large pieces of debris, such as tree branches, or large patches of aquatic plants. Therefore, the practical applicability of existing floating debris collection vessels is limited by the type or condition of the debris being collected. Thus, how to quickly and effectively collect tree branches and large patches of aquatic plants is a problem that those skilled in the art need to consider. Utility Model Content

[0003] The purpose of this invention is to provide a fully automatic floating debris removal device for cleaning boats, in order to solve the problem that existing technologies cannot effectively collect special debris such as tree branches in water bodies.

[0004] The technical solution of this utility model is: a fully automatic drift-catching device for a drift-clearing boat, including a hull, and a drift-catching device is installed on the hull; the drift-catching device includes a mechanical arm and a gripper assembly, the mechanical arm includes a first connecting arm, a second connecting arm and a third connecting arm that are rotatably connected in sequence, the end of the first connecting arm away from the second connecting arm is connected to the hull through a base, and the end of the third connecting arm away from the second connecting arm is connected to the gripper assembly.

[0005] The line connecting the two ends of the first connecting arm is inclined relative to the vertical direction, and the end of the first connecting arm that is close to the base is rotatably connected to the first driver. The end of the first driver that is away from the first connecting arm is rotatably connected to the second connecting arm. The second connecting arm is rotatably connected to the second driver. The end of the second driver that is away from the second connecting arm is connected to the third connecting arm.

[0006] Preferably, the ends of the second connecting arm and the third connecting arm that are close to each other are respectively rotatably connected to a first link and a second link, and the ends of the first link and the second link that are away from the second connecting arm and the third connecting arm are rotatably connected to each other and simultaneously rotatably connected to the second driver; the first link, the second link, the third connecting arm and the second connecting arm together form a closed-loop four-bar linkage structure.

[0007] Preferably, a first bracket is connected to the second connecting arm, and the end of the second driver away from the first and second links is connected to the second connecting arm through the first bracket.

[0008] Preferably, the upper end of the base is provided with a rotating device, and the first connecting arm is connected to the base through the rotating device.

[0009] Preferably, the gripper assembly includes two grippers and a second bracket connected to the two grippers, wherein the end of the second bracket away from the grippers is rotatably connected to a third connecting arm.

[0010] Preferably, the hull is provided with a receiving bin, which includes a first conveyor belt disposed above the hull and a enclosure disposed around the first conveyor belt.

[0011] Preferably, a second conveyor belt is provided at the front end of the hull, and the second conveyor belt is rotatably connected to the hull; during operation, one end of the second conveyor belt extends below the water surface, and the other end is directly above the first conveyor belt.

[0012] Compared with the prior art, the advantages of this utility model are:

[0013] (1) In this embodiment, by setting up a floating grabbing device on the hull, the mechanical arm drives the gripper to grab larger garbage such as tree branches, collect them directly and transfer them to the rear cabin. It can be used alone or in conjunction with the traditional conveyor belt collection mechanism, which greatly increases the range of garbage types that the floating garbage collection vessel can collect.

[0014] (2) The first connecting arm is inclined and the first driver is connected to it near the base, so that when the first driver drives the second connecting arm to move, its load-bearing part is at the base and the whole is triangular, the force is more balanced and the operation is more stable.

[0015] (3) By setting up a four-bar linkage structure in which the first link, the second link, the third connecting arm and the second connecting arm form a closed loop, the second driver can drive the third connecting arm to move at a large angle with a smaller driving stroke, making the movement of the third connecting arm more stable. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0017] Figure 1 This is a schematic diagram of the structure of the fully automatic clean-up vessel described in this utility model;

[0018] Figure 2 This is a schematic diagram of the structure of the float-catching device described in this utility model;

[0019] Figure 3 This is a front view structural diagram of the float-catching device described in this utility model;

[0020] Figure 4 This is a schematic diagram of the floating device described in this utility model during operation.

[0021] Of which: Hull 1;

[0022] 2 receiving bins, 21 first conveyor belt, 22 enclosure;

[0023] Second conveyor belt 3;

[0024] The device includes a float-catching device 4, a robotic arm 41, a first connecting arm 411, a second connecting arm 412, a third connecting arm 413, a first driver 414, a second driver 415, a first link 416, a second link 417, a first bracket 418, a gripper assembly 42, a gripper 421, a second bracket 422, a base 43, and a rotating device 431. Detailed Implementation

[0025] The present invention will be further described in detail below with reference to specific embodiments:

[0026] like Figures 1-4 As shown, this utility model is applied to a cleaning vessel for collecting and cleaning up garbage, aquatic plants, etc., in water bodies. The cleaning vessel has a collection bin 2 on its hull 1, which includes a first conveyor belt 21 positioned above the hull 1 and a surrounding enclosure 22. A second conveyor belt 3 is located at the front end of the hull 1, and is rotatably connected to the hull 1; during operation, one end of the second conveyor belt 3 extends below the water surface, and the other end is directly above the first conveyor belt 21. A floating debris grabbing device 4 is located at the front end of the hull 1, to the side of the second conveyor belt 3. For floating garbage, aquatic plants, and other debris in the water, the hull 1 collects the debris via the second conveyor belt 3 and transfers it to the first conveyor belt 21 as it moves forward. For branches, patches of aquatic plants, or other debris that the second conveyor belt 3 cannot collect, a robotic arm drives a gripper assembly to grab them and transfer them to the first conveyor belt 21. Specifically:

[0027] A fully automatic drift-catching device for a drift-catching boat includes a robotic arm 41 and a gripper assembly 42. The robotic arm 41 includes a first connecting arm 411, a second connecting arm 412, and a third connecting arm 413 that are rotatably connected in sequence. The end of the first connecting arm 411 away from the second connecting arm 412 is connected to the hull 1 via a base, and the end of the third connecting arm 413 away from the second connecting arm 412 is connected to the gripper assembly 42.

[0028] The line connecting the two ends of the first connecting arm 411 is inclined relative to the vertical direction, and the end of the first connecting arm 411 closest to the base 43 is rotatably connected to the first driver 414. The end of the first driver 414 furthest from the first connecting arm 411 is rotatably connected to the second connecting arm 412. In this embodiment, a rotating device 431 is provided at the upper end of the base 43. The first connecting arm 411 is connected to the base 43 through the rotating device 431, which can drive the first connecting arm 411 to rotate. The first driver 414 can be a hydraulic cylinder capable of driving linear motion. The first driver 414, the first connecting arm 411, and the second connecting arm 412 are generally triangular; and the angle between the first driver 414 and the vertical direction is smaller than that of the first connecting arm 411, so that when the first driver 414 drives the second connecting arm 412 to rotate on the first connecting arm 411, the driving force is utilized more effectively and the operation is more stable.

[0029] A second driver 415 is rotatably connected to the second connecting arm 412. The end of the second driver 415 away from the second connecting arm 412 is connected to the third connecting arm 413. The ends of the second connecting arm 412 and the third connecting arm 413 that are close to each other are respectively rotatably connected to a first link 416 and a second link 417. The ends of the first link 416 and the second link 417 that are away from the second connecting arm 412 and the third connecting arm 413 are rotatably connected to each other and simultaneously rotatably connected to the second driver 415. Furthermore, a first bracket 418 is connected to the second connecting arm 412, and the end of the second driver 415 that is away from the first link 416 and the second link 417 is connected to the second connecting arm 412 through the first bracket 418.

[0030] In this embodiment, the second actuator 415 can be a hydraulic cylinder or other device capable of driving linear motion. The first link 416, the second link 417, the third connecting arm 413, and the second connecting arm 412 together form a closed-loop four-bar linkage. When the second actuator 415 is driven, the first link 416, the second link 417, the third connecting arm 413, and the second connecting arm 412 rotate linearly relative to each other, achieving rotational movement of the third connecting arm 413 relative to the second connecting arm 412. This causes the gripper assembly 42 connected to the third connecting arm 413 to move upwards or downwards. Furthermore, through the four-bar linkage, compared to a linear connection between the second actuator 415 and the third connecting arm 413, the second actuator 415 can drive the third connecting arm 413 to perform large-angle rotational movements with a relatively small driving stroke, thus making the operation more stable.

[0031] The gripper assembly 42 includes two grippers 421 and a second bracket 422 connected to the two grippers. The end of the second bracket 422 away from the grippers 421 is rotatably connected to a third connecting arm 413.

[0032] In this embodiment, the rotational movements of the first connecting arm 411, the second connecting arm 412, and the third connecting arm 413 are all within a vertical plane. Furthermore, during movement, the opening direction of the gripper 421 of the gripper assembly 42 is always directly downwards. When the float-catching device 4 operates, the rotation of the rotating device 431 moves the gripper assembly 42 above the debris; then, driven by the cooperation of the first driver 414 and the second driver 415, the gripper assembly 42 moves downwards to the debris and is gripped by the gripper 421; after gripping, the first driver 414 and the second driver 415 drive the gripper assembly 42 upwards, and under the drive of the rotating device 431, it moves to the first conveyor belt 21, placing the debris on the first conveyor belt 21.

[0033] The above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. It is obvious to those skilled in the art that this utility model is not limited to the details of the above exemplary embodiments, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and therefore, all changes falling within the meaning and scope of the equivalents of the claims are intended to be included within this utility model.

Claims

1. A fully automatic drift-catching device for drift-clearing boats, characterized in that, The device includes a hull and a drift-catching device mounted on the hull. The drift-catching device includes a robotic arm and a gripper assembly. The robotic arm includes a first connecting arm, a second connecting arm, and a third connecting arm that are rotatably connected in sequence. The end of the first connecting arm away from the second connecting arm is connected to the hull via a base, and the end of the third connecting arm away from the second connecting arm is connected to the gripper assembly. The line connecting the two ends of the first connecting arm is inclined relative to the vertical direction, and the end of the first connecting arm that is close to the base is rotatably connected to the first driver. The end of the first driver that is away from the first connecting arm is rotatably connected to the second connecting arm. The second connecting arm is rotatably connected to the second driver. The end of the second driver that is away from the second connecting arm is connected to the third connecting arm.

2. The fully automatic drift-catching device for a drift-clearing boat according to claim 1, characterized in that: The first link and the second link are rotatably connected to the ends of the second link and the third link respectively, which are close to each other. The ends of the first link and the second link away from the second link and the third link are rotatably connected to each other and simultaneously rotatably connected to the second driver. The first link, the second link, the third link and the second link together form a closed-loop four-bar structure.

3. The fully automatic drift-catching device for a drift-clearing boat according to claim 2, characterized in that: The second connecting arm is connected to the first bracket, and the end of the second driver away from the first and second links is connected to the second connecting arm through the first bracket.

4. The fully automatic drift-catching device for a drift-clearing boat according to claim 1, characterized in that: A rotating device is provided at the upper end of the base, and the first connecting arm is connected to the base through the rotating device.

5. The fully automatic drift-catching device for a drift-clearing boat according to claim 1, characterized in that: The gripper assembly includes two grippers and a second bracket connected to the two grippers, wherein the end of the second bracket away from the grippers is rotatably connected to a third connecting arm.

6. The fully automatic drift-catching device for a drift-clearing boat according to claim 1, characterized in that: The ship is equipped with a receiving bin, which includes a first conveyor belt located above the ship and a enclosure surrounding the first conveyor belt.

7. The fully automatic drift-catching device for a drift-clearing boat according to claim 6, characterized in that: A second conveyor belt is provided at the front end of the hull, and the second conveyor belt is rotatably connected to the hull; during operation, one end of the second conveyor belt extends below the water surface, and the other end is directly above the first conveyor belt.

Images