A telescopic robot arm

Abstract

The utility model discloses a telescopic robot arm, include: first mounting panel, first mounting panel lower surface both ends are fixed with the connection frame, and two groups of connection frame are respectively rotationally installed with first hydraulic rod and clamping jaw, and two groups of first hydraulic rod are opposite setting, and the piston rod rotationally installed of first hydraulic rod is on the outer surface of push -pull link, and push -pull link fixed mounting is on the outer surface upper end of clamping jaw, so that two groups of first hydraulic rod can be through the push -pull link drive two groups of clamping jaw synchronous to the center place and draw together and catch, and the upper surface rotationally installed of first mounting panel has telescopic mechanism. The design of telescopic mechanism makes it can catch the sea surface rubbish and also can catch and clean the sea bottom rubbish, helps to keep the good water quality and water body circulation of marine ranch, maintains the suitable breeding environment, avoids the accumulation of the sea bottom rubbish, and helps the long -term sustainable development of marine ranch ecology.

Description

Technical Field

[0001] This utility model relates to the field of marine ranch cleaning technology, specifically a retractable robotic arm. Background Technology

[0002] "Marine ranching" refers to the planned and purposeful release of marine resources such as fish, shrimp, shellfish, and algae into a certain sea area using large-scale fishery facilities and a systematic management system, taking advantage of the natural marine ecological environment.

[0003] For example, the national authorized patent announcement number CN118128009A discloses a marine ranch waste collection device, which relates to the field of marine ranch waste collection. It includes a small paddlewheel, with a fixed frame fixedly connected to the top of the paddlewheel, and a wireless transceiver fixedly connected to the left side of the top of the fixed frame. This marine ranch waste collection device first uses a pre-treatment mechanism to cut the pre-collected floating waste, reducing its area and seawater resistance, while also preventing blockage when it enters the subsequent collection net opening. Then, a backflow prevention mechanism guides the cut floating waste into the collection net in an orderly manner, further chopping the flowing floating waste. Two sets of collection nets then collect and store the floating waste in a large capacity. Finally, a stabilization mechanism provides air-reducing and stabilizing measures for the collection net filled with floating waste, improving the safety of the collection device during the movement of the collection net.

[0004] However, the aforementioned marine ranch garbage collection devices can only collect and clean up garbage floating on the ocean surface, but cannot retrieve garbage from the seabed. This will continue to threaten the habitats of organisms in the seabed ecosystem, affecting the maintenance of marine biodiversity, and there is still room for improvement. Utility Model Content

[0005] The purpose of this invention is to provide a retractable robotic arm to solve the problem mentioned in the background art that it can only collect and clean up garbage floating on the ocean surface, but cannot retrieve garbage from the seabed, which would damage the marine ecosystem of marine ranches.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A retractable robotic arm includes: a first mounting plate, with connecting frames fixedly mounted at both ends of the lower surface of the first mounting plate; a first hydraulic rod and a gripper are rotatably mounted in each of the two sets of connecting frames; the two sets of first hydraulic rods are arranged opposite to each other; the piston rod of the first hydraulic rod is rotatably mounted on the outer surface of a push-pull rod; the push-pull rod is fixedly mounted on the upper part of the outer surface of the gripper; thereby enabling the two sets of first hydraulic rods to push the push-pull rod to drive the two sets of grippers to move synchronously toward the center for grasping; and a telescopic mechanism is rotatably mounted on the upper surface of the first mounting plate.

[0008] Preferably, a second hydraulic rod is fixedly installed on the lower surface of the first mounting plate, a pressure plate is fixedly installed on the lower surface of the piston rod of the second hydraulic rod, a communication port is opened on the lower surface of the pressure plate, an acrylic plate is fixedly installed in the communication port of the pressure plate, and a camera is fixedly installed on the upper surface of the acrylic plate.

[0009] Preferably, the clamping plate is V-shaped, so that when it is pushed by the second hydraulic rod, it can drive the clamping teeth at both ends to slide into the claw teeth of the clamping jaws, so that the clamping teeth of the clamping plate and the claw teeth of the clamping jaws are staggered.

[0010] Preferably, the telescopic mechanism includes two sets of guide frames, which are fixedly installed at both ends of the upper surface of the first mounting plate. A scissor lift is provided between the two sets of guide frames. One end of the lower surface of the scissor lift is rotatably installed inside one end of the two sets of guide frames, while the other end of the lower surface of the scissor lift slides inside the other end of the two sets of guide frames and is rotatably connected to the piston rod of the third hydraulic rod. The third hydraulic rod is fixedly installed on the upper surface of the first mounting plate.

[0011] Preferably, when the scissor lift can be pulled or pushed by the third hydraulic piston rod, since the piston rod is rotatably connected to the other end of the lower surface of the scissor lift, the extension and retraction of the piston rod will apply a pulling or pushing force to this end of the scissor lift. Since the lower surface of the scissor lift is a relatively fixed point that is rotatably installed in the guide frame, the entire scissor lift will be pulled open and closed under the pulling of the piston rod, and its overall length will change, thereby realizing the extension and retraction movement.

[0012] Preferably, a second mounting plate is rotatably mounted on the upper surface of the scissor lift, which can be mounted on the lower surface of the moving block of the cross slide to grab and clean up garbage in the marine ranch.

[0013] Compared with the prior art, the beneficial effects of this utility model are:

[0014] 1. This device, designed with grippers, a first hydraulic rod, a push-pull rod, a second hydraulic rod, a pressure plate, a camera, and a telescopic mechanism, can be installed on ships or surface cleaning equipment when cleaning debris in marine ranches. Workers can then observe the seabed through cameras positioned between the grippers. If seabed debris is detected, the telescopic mechanism can be activated to extend the grippers into the seabed and surround the debris. Then, two sets of first hydraulic rods can be activated to push two sets of push-pull rods, causing the two sets of grippers to simultaneously move towards the center to grab the debris. If the grabbed debris is in block form, the second hydraulic rod can be activated to push and press it in place. The plate touches the top of the blocky waste, and the clamping plate is V-shaped. When it is pushed by the second hydraulic rod, it can drive the pressure teeth at both ends to slide into the claw teeth of the gripper. The pressure teeth of the clamping plate and the claw teeth slide alternately, so that the clamping plate can press against the top and the outside of the blocky waste. This can prevent it from being loosened by the waves during the lifting process, improve the stability of the waste grabbing and transportation process, and the device can be installed on ships or marine waste cleaning equipment. It has a high degree of flexibility, does not require the design of a new bearing platform, can utilize existing equipment resources, and reduce the cost and difficulty of equipment deployment.

[0015] It also enables the camera to use machine learning-based image recognition algorithms. After the camera identifies the garbage, it transmits the coordinates of the garbage to the control system via a signal line. The control system then converts this position information into control commands for the actuators of the telescopic mechanism, the first hydraulic rod, and the second hydraulic rod, thereby achieving automatic garbage grabbing.

[0016] 2. Through the design of the third hydraulic rod, guide frame, scissor lift, and second mounting plate, when grabbing seabed debris, the third hydraulic rod can be activated to pull one end of the scissor lift to slide within the guide frame. The other end of the scissor lift's lower surface is a relatively fixed point within the guide frame, which is rotated and installed. Therefore, under the pull of the piston rod, the entire scissor lift will be pulled open and closed, and its overall length will change, thereby achieving telescopic movement. This allows the scissor lift to push the gripper into the seabed to grab the debris. Furthermore, the scissor lift can be folded up when not in use to reduce space occupation, avoiding installation difficulties due to excessive size, while efficiently completing telescopic tasks. This greatly improves space utilization efficiency, leaving more space in other parts of the robotic arm for the installation of other functions or tools, ensuring the overall system's compactness and facilitating operation in the seabed environment. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the retractable robot arm of this utility model;

[0018] Figure 2This is a schematic diagram of the structure of the first hydraulic rod and the gripper of this utility model;

[0019] Figure 3 This is a schematic diagram of the structure of the clamping plate and the second hydraulic rod of this utility model;

[0020] Figure 4 This is a schematic diagram of the telescopic mechanism of this utility model;

[0021] Figure 5 This is a schematic diagram of the retractable robot arm of this utility model in its extended state.

[0022] In the diagram: 1. First mounting plate; 101. Connecting frame; 102. Gripper; 103. First hydraulic rod; 104. Push-pull rod; 105. Second hydraulic rod; 106. Pressure plate; 107. Acrylic plate; 108. Camera; 2. Telescopic mechanism; 201. Third hydraulic rod; 202. Guide frame; 203. Scissor lift; 204. Second mounting plate. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] like Figures 1-5 As shown, this embodiment provides a telescopic robot arm, including: a first mounting plate 1, with connecting frames 101 fixedly mounted at both ends of the lower surface of the first mounting plate 1, and a first hydraulic rod 103 and a gripper 102 rotatably mounted in the two sets of connecting frames 101 respectively. The two sets of first hydraulic rods 103 are arranged opposite to each other, and the piston rod of the first hydraulic rod 103 is rotatably mounted on the outer surface of the push-pull rod 104. The push-pull rod 104 is fixedly mounted on the upper part of the outer surface of the gripper 102, so that the two sets of first hydraulic rods 103 can push the push-pull rod 104 to drive the two sets of grippers 102 to move towards the center synchronously for grasping. A telescopic mechanism 2 is rotatably mounted on the upper surface of the first mounting plate 1.

[0025] The first mounting plate 1 has a second hydraulic rod 105 fixedly mounted on its lower surface. The piston rod of the second hydraulic rod 105 has a pressure plate 106 fixedly mounted on its lower surface. The pressure plate 106 has a communication port on its lower surface. An acrylic plate 107 is fixedly mounted inside the communication port of the pressure plate 106. A camera 108 is fixedly mounted on the upper surface of the acrylic plate 107.

[0026] The clamping plate 106 is shaped like the number eight, so that when it is pushed by the second hydraulic rod 105, it can drive the clamping teeth at both ends to slide into the claw teeth of the gripper 102, so that the clamping teeth of the clamping plate 106 and the claw teeth of the gripper 102 are interlaced.

[0027] By incorporating the design of grippers 102, first hydraulic rods 103, push-pull rods 104, second hydraulic rods 105, clamping plates 106, cameras 108, and telescopic mechanism 2, this device can be installed on ships or surface cleaning equipment when cleaning garbage in marine ranches. Workers can then observe the seabed through the cameras 108 positioned between the grippers 102. If seabed garbage is observed, the telescopic mechanism 2 can be activated to extend the grippers 102 into the seabed and surround the garbage. Then, the two sets of first hydraulic rods 103 can be activated to push the two sets of push-pull rods 104, causing the two sets of grippers 102 to simultaneously move towards the center for gripping. If the gripped garbage is in block form, the second hydraulic rod can be activated... The pressure bar 105 pushes the pressure plate 106 to contact the upper end of the blocky waste. The pressure plate 106 is V-shaped, so when it is pushed by the second hydraulic rod 105, it can drive the pressure teeth at both ends to slide into the claw teeth of the gripper 102. The pressure teeth of the pressure plate 106 and the claw teeth of the gripper 102 slide alternately, so that the pressure plate 106 can press and fit on the upper end and the outer periphery of the blocky waste. This can prevent it from being loosened by the waves during the lifting process, improve the stability of the waste grabbing and transportation process, and the device can be installed on ships or marine waste cleaning equipment. It has a high degree of flexibility, does not require the design of a new bearing platform, can utilize existing equipment resources, and reduces the cost and difficulty of equipment deployment.

[0028] The camera 108 is equipped with a machine learning-based image recognition algorithm. After the camera 108 identifies the garbage, it transmits the coordinates of the garbage to the control system via a signal line. The control system converts this position information into control commands for the actuators of the telescopic mechanism 2, the first hydraulic rod 103, and the second hydraulic rod 105 to automatically grab the garbage.

[0029] like Figure 5 As shown, the telescopic mechanism 2 includes two sets of guide frames 202, which are fixedly installed at both ends of the upper surface of the first mounting plate 1. A scissor lift 203 is provided between the two sets of guide frames 202. One end of the lower surface of the scissor lift 203 is rotatably installed inside one end of the two sets of guide frames 202, while the other end of the lower surface of the scissor lift 203 slides inside the other end of the two sets of guide frames 202 and is rotatably connected to the piston rod of the third hydraulic rod 201. The third hydraulic rod 201 is fixedly installed on the upper surface of the first mounting plate 1.

[0030] When the scissor lift 203 is pulled or pushed by the piston rod of the third hydraulic rod 201, since the piston rod is rotatably connected to the other end of the lower surface of the scissor lift 203, the extension and retraction of the piston rod will apply a pulling or pushing force to this end of the scissor lift 203. Since one end of the lower surface of the scissor lift 203 is a relatively fixed point that is rotatably installed in the guide frame 202, the scissor lift 203 as a whole will be pulled open and closed under the pull of the piston rod, and its overall length will change, thereby realizing the extension and retraction movement.

[0031] The upper surface of the scissor lift 203 is rotatably mounted with a second mounting plate 204, which can be mounted on the lower surface of the moving block of the cross slide to grab and clean up the garbage in the marine ranch.

[0032] Through the design of the third hydraulic rod 201, guide frame 202, scissor lift 203, and second mounting plate 204, when grabbing seabed debris, the third hydraulic rod 201 can be activated to pull one end of the scissor lift 203 to slide within the guide frame 202. The other end of the lower surface of the scissor lift 203 is a relatively fixed point for rotational installation within the guide frame 202. Therefore, under the pull of the piston rod, the entire scissor lift 203 will be pulled open and closed, and its overall length will change, thereby realizing telescopic movement. This allows the scissor lift 203 to push the gripper 102 into the seabed to grab the debris. Furthermore, when not in use, the scissor lift 203 can be folded up to reduce space occupation, avoiding installation difficulties due to excessive size, while efficiently completing the telescopic task, thus greatly improving space utilization efficiency. More space is left in other parts of the robotic arm for the installation of other functions or tools, ensuring the overall system's compactness and facilitating operation in the seabed environment.

[0033] Based on the above technical solution, the working steps of this solution are summarized as follows: When cleaning up garbage in marine ranches, this device can be installed on a ship or on equipment used for cleaning up garbage on the sea surface. Then, staff can observe the seabed situation through cameras 108 installed between the grippers 102. If seabed garbage is observed, the third hydraulic rod 201 can be activated to pull one end of the scissor lift 203 to slide within the guide frame 202. The other end of the lower surface of the scissor lift 203 is a relatively fixed point that is rotated within the guide frame 202. Therefore, under the pull of the piston rod, the entire scissor lift 203 will be pulled open and closed, and its overall length will change, thus achieving telescopic movement. This allows the scissor lift 203 to push the grippers 102 into the seabed and surround the garbage. Then, two sets of first... Hydraulic rod 103 pushes two sets of push-pull rods 104, causing two sets of grippers 102 to move towards the center simultaneously for grabbing. If the grabbed debris is in block shape, the second hydraulic rod 105 can be activated to push the clamping plate 106 against the upper end of the block debris. The clamping plate 106 is V-shaped, so that when it is pushed by the second hydraulic rod 105, it can drive the pressure teeth at both ends to slide into the claw teeth of the gripper 102. The pressure teeth of the clamping plate 106 and the claw teeth of the gripper 102 slide alternately, so that the clamping plate 106 can press against the upper end and the outer periphery of the block debris, thereby preventing it from being loosened by the waves during the lifting process. Then, the third hydraulic rod 201 can be activated again to push the scissor lift 203 back, so that the scissor lift 203 can fold and drive the gripper 102 back to the sea surface, thus realizing the grabbing operation of seabed debris.

[0034] In summary, this retractable robotic arm can grab and clean up surface debris as well as seabed debris, which helps maintain good water quality and water circulation in marine ranches, maintains a suitable aquaculture environment, avoids the accumulation of seabed debris, and contributes to the long-term sustainable development of marine ranch ecosystems.

[0035] All parts not described in this utility model are the same as or can be implemented using existing technology. Although embodiments of this utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this utility model, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A retractable robotic arm, characterized in that, include: The first mounting plate (1) has connecting frames (101) fixedly installed at both ends of its lower surface. The two sets of connecting frames (101) are respectively rotatably installed with first hydraulic rods (103) and grippers (102). The two sets of first hydraulic rods (103) are arranged opposite to each other. The piston rod of the first hydraulic rod (103) is rotatably installed on the outer surface of the push-pull rod (104). The push-pull rod (104) is fixedly installed on the upper part of the outer surface of the gripper (102). This allows the two sets of first hydraulic rods (103) to push the push-pull rod (104) to drive the two sets of grippers (102) to move towards the center synchronously for gripping. The upper surface of the first mounting plate (1) is rotatably installed with a telescopic mechanism (2).

2. The retractable robotic arm according to claim 1, characterized in that: A second hydraulic rod (105) is fixedly installed on the lower surface of the first mounting plate (1). A pressure plate (106) is fixedly installed on the lower surface of the piston rod of the second hydraulic rod (105). A communication port is opened on the lower surface of the pressure plate (106). An acrylic plate (107) is fixedly installed in the communication port of the pressure plate (106). A camera (108) is fixedly installed on the upper surface of the acrylic plate (107).

3. The retractable robotic arm according to claim 2, characterized in that: The clamping plate (106) is V-shaped, so that when it is pushed by the second hydraulic rod (105), the clamping teeth at both ends can slide into the claw teeth of the gripper (102). The clamping teeth of the clamping plate (106) and the claw teeth of the gripper (102) are interleaved.

4. The retractable robotic arm according to claim 1, characterized in that: The telescopic mechanism (2) includes two sets of guide frames (202). The two sets of guide frames (202) are fixedly installed at both ends of the upper surface of the first mounting plate (1). A scissor lift (203) is provided between the two sets of guide frames (202). One end of the lower surface of the scissor lift (203) is rotatably installed inside one end of the two sets of guide frames (202). The other end of the lower surface of the scissor lift (203) slides inside the other end of the two sets of guide frames (202) and is rotatably connected to the piston rod of the third hydraulic rod (201). The third hydraulic rod (201) is fixedly installed on the upper surface of the first mounting plate (1).

5. A retractable robotic arm according to claim 4, characterized in that: When the scissor lift (203) is pulled or pushed by the piston rod of the third hydraulic rod (201), the whole structure will be pulled open and closed.

6. A retractable robotic arm according to claim 5, characterized in that: The upper surface of the scissor lift (203) is rotatably mounted with a second mounting plate (204).

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