CN201633019U - Beacon deposit eliminating mechanical hand - Google Patents
Beacon deposit eliminating mechanical hand Download PDFInfo
- Publication number
- CN201633019U CN201633019U CN2010200225002U CN201020022500U CN201633019U CN 201633019 U CN201633019 U CN 201633019U CN 2010200225002 U CN2010200225002 U CN 2010200225002U CN 201020022500 U CN201020022500 U CN 201020022500U CN 201633019 U CN201633019 U CN 201633019U
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Abstract
The utility model discloses a beacon deposit eliminating mechanical hand, which comprises an upright, a movable large arm, a movable small arm, a fixed grab and movable grab, wherein the upright is arranged on a ship; the middle part of the movable large arm is articulated on the upright; the near end of the movable large arm is articulated with a piston rod of a first cylinder; the far end of the movable large arm is articulated with a connecting plate; the upper end of the movable small arm is articulated with the connecting plate; the lower end of the movable small arm is articulated with the driving end of the fixed grab; the middle part of the movable small arm is articulated with a piston rod of a second cylinder; the second cylinder is articulated on the movable large arm; the driven end of the fixed grab is opposite to the driven end of the movable grab; the driving end of the movable grab is articulated with a piston rod of a third cylinder; the middle part of the fixed grab is articulated with the middle part of the movable grab; and the first cylinder, the second cylinder and the third cylinder are connected with a control console. The mechanical hand can realize the complete set of actions of grabbing weeds and deposits, transferring the weeds and the deposits and discarding the weeds and the deposits, thereby greatly improving the working efficiency and relieving the labor intensity of workers; moreover, the mechanical hand also has the advantages of safe and reliable operation, simple structure and convenient manufacturing.
Description
Technical field
The utility model relates to a kind of manipulator, the weeds around particularly a kind of light tender that is used to remove on the transportation river course and the manipulator of deposit.
Background technology
In the scale removal process of navigation channel, the weeds that removing is centered around around the light tender mainly contain dual mode: the firstth, based on manually, by workmen on the steamer, stand in the forward position, deck, hand-held apparatus, to be centered around the weeds hook at positions such as light tender rope from light tender, this kind mode is pure manually-operated, needs the staff or stands in forward position, big boat deck, and hand-held simple hook-shaped apparatus carries out the cleaning of weeds and deposit, perhaps the staff directly carries out the foreign material removing on light tender, because itself is kept in motion steamer, particularly at the scene under the big environment of water strong wind, operating personnel have certain danger, owing to be manual operations, so hand labor intensity is bigger, weeding ratio is lower, winter water-cooled situation under, workman's working environment is very arduous, is unfavorable for carrying out of whole navigation channel work.Second is exactly by easy mechanical device: cooperate one by hoist engine and stretch out rotatable cantilever, add fixed pulley, two hooks of individual steel are arranged foremost at steel wire rope.Its course of action is manually hook to be thrown to weeds, starts the hoist engine power supply then, makes hoist engine work, drags weeds.There is safety problem equally in this kind mode, and when dragging, weeds can not be removed fully, has residually, and effect is very undesirable, and power supply wet environment work on the water, the danger in case electric leakage may meet accident.
The utility model content
At above-mentioned the deficiencies in the prior art, the technical problems to be solved in the utility model provides and a kind ofly safe and reliablely, simple to operate realizes that the navigation channel weeds a garden and other deposit automated mechanical hand.
For solving the problems of the technologies described above, the utility model adopts following technical scheme:
A kind of navigation mark deposit is removed manipulator, it comprises that one installs column aboard ship, one movable big arm, one movable forearm, one fixedly hand grab with a movable hand and grab, be hinged on the described column in the middle of the big arm of described activity, the near-end of the big arm of described activity and the piston rod of first cylinder are hinged, far-end and a plate of the big arm of described activity are hinged, the upper end of described movable forearm and described connecting plate are hinged, the drive end that the lower end of described movable forearm and described fixedly hand are grabbed is hinged, the piston rod of the centre of described movable forearm and second cylinder is hinged, described second cylinder is hinged on the big arm of described activity, the driven end that described fixedly hand is grabbed is relative with the driven end that described movable hand is grabbed, the drive end that described movable hand is grabbed and the piston rod of the 3rd cylinder are hinged, the centre that centre that described fixedly hand is grabbed and described movable hand are grabbed is hinged, described first cylinder, second cylinder, the 3rd cylinder all is connected with console.
Preferably, also comprise a big arm connecting rod and a forearm connecting rod, described connecting plate is a set square, the far-end of the big arm of described activity and the upper end of described movable forearm are all hinged with first end of described set square, the two ends of described big arm connecting rod are hinged on respectively on second end of described column and described set square, and the two ends of described forearm connecting rod are hinged on respectively on the 3rd end of described set square and the drive end that described fixedly hand is grabbed.
Preferably, also be provided with a whirligig on the described column, described whirligig is connected with described console.
Technique scheme has following beneficial effect: this navigation mark deposit is removed manipulator in use, the staff only needs to control first cylinder, second cylinder, the action of the 3rd cylinder by console in driving cabin, movable big arm, movable forearm are moved up and down, make fixedly hand grab and movable say to grab to open close up extracting, the removing that can realize to the navigation mark deposit, realized that the navigation channel weeds a garden and other deposit automation, improve operating efficiency greatly, alleviated intensity of workers.This manipulator also has safe and reliable, simple in structure, the easy to make advantage that operates.
Above-mentioned explanation only is the general introduction of technical solutions of the utility model, for can clearer understanding technological means of the present utility model, and can be implemented according to the content of specification, below with preferred embodiment of the present utility model and conjunction with figs. describe in detail as after.The specific embodiment of the present utility model is provided in detail by following examples and accompanying drawing thereof.
Description of drawings
Fig. 1 is the structural representation of the utility model embodiment.
Fig. 2 is the enlarged diagram at A place among Fig. 1.
The specific embodiment
Below in conjunction with accompanying drawing, preferred embodiment of the present utility model is described in detail.
As shown in Figure 1, 2, this navigation mark deposit remove mechanical hand comprise one be installed in the movable forearm of column 5 on the hull 1, a movable big arm 3, one 4, fixedly hand grab 7 and one movable hand and grab 8.Be hinged on the column 5 in the middle of the movable big arm 3, the near-end 31 of movable big arm 3 and the piston rod of first cylinder 33 are hinged, and the far-end 32 of movable big arm 3 is with hinged as the set square 6 of connecting plate, and the far-end 32 of movable big arm 3 is hinged on first end 61 of set square 6.The upper end 41 of movable forearm 4 is hinged with first end 61 of set square 6, and the lower end 42 of movable forearm 4 and fixing hand grab that 7 drive end 71 is hinged, and the piston rod of the centre of movable forearm 4 and second cylinder 43 is hinged, and second cylinder 43 is hinged on the movable arm 3 greatly.
Also be provided with big arm connecting rod 11 between column 5 and the set square 6, the two ends of big arm connecting rod 11 are hinged on respectively on second end 62 of column 5 and set square 6.Set square 6 and also be provided with a forearm connecting rod 12 between fixedly hand grabs 7, the two ends of forearm connecting rod 12 be hinged on respectively the 3rd end 63 of set square 6 and fixedly hand grab on 7 the drive end 71.
Fixedly hand is grabbed 7 driven end 72 and movable hand to grab 8 driven end 82 relative, and it is hinged that movable hand is grabbed the piston rod of 8 drive end 81 and the 3rd cylinder 83, and fixedly hand is grabbed 7 centre and movable hand to grab 8 centre hinged.First cylinder 33, second cylinder 43 and the 3rd cylinder 83 all be installed in hull 1 on console 2 be connected.Also be provided with a whirligig on the column 5, this whirligig is provided with parts such as CD-ROM drive motor 51 and reductor, and CD-ROM drive motor 51 is connected with console 2.
This navigation mark deposit is removed manipulator in use, the staff only needs in driving cabin by console 2 controls first cylinder 33, second cylinder 43, the 3rd cylinder 83 and CD-ROM drive motor 51 actions, 33 actions of first cylinder can move up and down by drive activity forearm 4, second cylinder 43 can drive fixedly that hand grabs 7, movable hand is grabbed 8 and moved up and down, the 3rd cylinder 83 can realize that fixedly hand grabs 7, movable hand is grabbed opening, closing up between 8, can the drive activity big arm 3 of CD-ROM drive motor 51 rotates, and above-mentioned action the whole series combine and can realize extracting, removing to the navigation mark deposit.
This manipulator converts mechanical energy to potential energy by air compressor; the compressed air that 0.5MPa-0.8MPa is promptly arranged; then by various directional control valves; choke valve; gas circuit element such as safety protection switch and pneumatic apparatus are combined into a closed control loop, add that two group of four connecting rod frame for movement such as movable big arm, movable forearm, big arm connecting rod, forearm connecting rod and whirligig form the entire exercise that abandons weeds and deposit after a whole set of grasps weeds and deposit and shifts weeds and deposit position.Phenomenons such as oil leaking pollution electric leakage can not appear, in full pneumatic control; Can effectively improve the safety coefficient of wet environment on the ship; And all executive components are self-lubricating mechanism, need not lubricating fluids such as apply oil; Directly be discharged into after the air utilization in the air, pollution-free, colorless and odorless, harmless.
This manipulator is realized the extracting work in the 2500mm scope because arm can be finished actions such as telescopic lifting extracting, and the operator does not need to leave driving cabin or steamer, only needs to handle control lever, can finish all weeding a garden and deposit work.This manipulator has adopted the gas circuit control mode, can prolong the control piper of gas circuit, control panel is placed in the driving cabin of steamer, and so, the operator can finish weeds and deposit removing work in driving cabin.This robot manipulator structure is simple, and is easy to make, and assembly is made up of two groups of four-bar mechanisms and four groups of lever principles.But gas circuit control proper extension command range, and control safety, non-environmental-pollution.Running noises is little, can any influence not arranged to surrounding environment.
More than a kind of navigation mark deposit that the utility model embodiment is provided remove manipulator and be described in detail; for one of ordinary skill in the art; thought according to the utility model embodiment; part in specific embodiments and applications all can change; therefore this description should not be construed as restriction of the present utility model, and all any changes of being made according to the utility model design philosophy are all within protection domain of the present utility model.
Claims (3)
1. a navigation mark deposit is removed manipulator, it is characterized in that: it comprises that one installs column aboard ship, one movable big arm, one movable forearm, one fixedly hand grab with a movable hand and grab, be hinged on the described column in the middle of the big arm of described activity, the near-end of the big arm of described activity and the piston rod of first cylinder are hinged, far-end and a plate of the big arm of described activity are hinged, the upper end of described movable forearm and described connecting plate are hinged, the drive end that the lower end of described movable forearm and described fixedly hand are grabbed is hinged, the piston rod of the centre of described movable forearm and second cylinder is hinged, described second cylinder is hinged on the big arm of described activity, the driven end that described fixedly hand is grabbed is relative with the driven end that described movable hand is grabbed, the drive end that described movable hand is grabbed and the piston rod of the 3rd cylinder are hinged, the centre that centre that described fixedly hand is grabbed and described movable hand are grabbed is hinged, described first cylinder, second cylinder, the 3rd cylinder all is connected with console.
2. navigation mark deposit according to claim 1 is removed manipulator, it is characterized in that: also comprise a big arm connecting rod and a forearm connecting rod, described connecting plate is a set square, the far-end of the big arm of described activity and the upper end of described movable forearm are all hinged with first end of described set square, the two ends of described big arm connecting rod are hinged on respectively on second end of described column and described set square, and the two ends of described forearm connecting rod are hinged on respectively on the 3rd end of described set square and the drive end that described fixedly hand is grabbed.
3. navigation mark deposit according to claim 1 is removed manipulator, and it is characterized in that: also be provided with a whirligig on the described column, described whirligig is connected with described console.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010200225002U CN201633019U (en) | 2010-01-13 | 2010-01-13 | Beacon deposit eliminating mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010200225002U CN201633019U (en) | 2010-01-13 | 2010-01-13 | Beacon deposit eliminating mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201633019U true CN201633019U (en) | 2010-11-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010200225002U Expired - Fee Related CN201633019U (en) | 2010-01-13 | 2010-01-13 | Beacon deposit eliminating mechanical hand |
Country Status (1)
| Country | Link |
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| CN (1) | CN201633019U (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102862813A (en) * | 2012-09-21 | 2013-01-09 | 常州市立威刀具有限公司 | Loading and unloading device capable of automatic clamping |
| CN103032038A (en) * | 2013-01-04 | 2013-04-10 | 张成功 | Operation robot for drilling platform |
| CN103170971A (en) * | 2013-03-20 | 2013-06-26 | 大连奥托自动化设备有限公司 | Catching-picking device mechanism |
| CN103612266A (en) * | 2013-10-31 | 2014-03-05 | 国家电网公司 | Mechanical arm for high-voltage electrified work |
| CN103967063A (en) * | 2014-05-10 | 2014-08-06 | 临颍县颍机机械制造有限公司 | Agricultural straw grabbing machine with foldable arm assembly |
| CN104440919A (en) * | 2014-10-15 | 2015-03-25 | 青岛华海环保工业有限公司 | Mechanical hand capable of automatically grasping oil containment boom floating barrel and work method thereof |
| CN104890825A (en) * | 2015-05-27 | 2015-09-09 | 重庆大学 | Detecting and accumulation discharging method of accumulation amount of sundry fastened on mooring rope |
| CN106914884A (en) * | 2017-04-14 | 2017-07-04 | 苏州标杆知识产权运营有限公司 | A kind of manipulator that may be mounted on fork truck |
| CN107187548A (en) * | 2017-07-12 | 2017-09-22 | 长江重庆航运工程勘察设计院 | Channel buoy cable takeup thing remove device |
| CN107329446A (en) * | 2017-07-12 | 2017-11-07 | 长江重庆航运工程勘察设计院 | A kind of channel buoy cable takeup thing monitor processing method |
| CN108340358A (en) * | 2018-04-25 | 2018-07-31 | 北方民族大学 | A kind of mechanical gripper device |
| CN108789386A (en) * | 2018-05-31 | 2018-11-13 | 华南农业大学 | The manipulator of doublejointed composite structure and flexible parallel connection grasping mechanism based on monocular vision |
| CN109397280A (en) * | 2018-11-09 | 2019-03-01 | 张家港江苏科技大学产业技术研究院 | A kind of boat-carrying mechanical arm and its application method |
-
2010
- 2010-01-13 CN CN2010200225002U patent/CN201633019U/en not_active Expired - Fee Related
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102862813A (en) * | 2012-09-21 | 2013-01-09 | 常州市立威刀具有限公司 | Loading and unloading device capable of automatic clamping |
| CN103032038A (en) * | 2013-01-04 | 2013-04-10 | 张成功 | Operation robot for drilling platform |
| CN103032038B (en) * | 2013-01-04 | 2014-11-19 | 张成功 | Operation robot for drilling platform |
| CN103170971A (en) * | 2013-03-20 | 2013-06-26 | 大连奥托自动化设备有限公司 | Catching-picking device mechanism |
| CN103612266A (en) * | 2013-10-31 | 2014-03-05 | 国家电网公司 | Mechanical arm for high-voltage electrified work |
| CN103612266B (en) * | 2013-10-31 | 2015-08-26 | 国家电网公司 | High-voltage hot-line work mechanical arm |
| CN103967063A (en) * | 2014-05-10 | 2014-08-06 | 临颍县颍机机械制造有限公司 | Agricultural straw grabbing machine with foldable arm assembly |
| CN104440919B (en) * | 2014-10-15 | 2016-02-24 | 青岛华海环保工业有限公司 | A kind of manipulator and method of work thereof that automatically can grasp oil fence floating drum |
| CN104440919A (en) * | 2014-10-15 | 2015-03-25 | 青岛华海环保工业有限公司 | Mechanical hand capable of automatically grasping oil containment boom floating barrel and work method thereof |
| CN104890825A (en) * | 2015-05-27 | 2015-09-09 | 重庆大学 | Detecting and accumulation discharging method of accumulation amount of sundry fastened on mooring rope |
| CN106914884A (en) * | 2017-04-14 | 2017-07-04 | 苏州标杆知识产权运营有限公司 | A kind of manipulator that may be mounted on fork truck |
| CN107187548A (en) * | 2017-07-12 | 2017-09-22 | 长江重庆航运工程勘察设计院 | Channel buoy cable takeup thing remove device |
| CN107329446A (en) * | 2017-07-12 | 2017-11-07 | 长江重庆航运工程勘察设计院 | A kind of channel buoy cable takeup thing monitor processing method |
| CN108340358A (en) * | 2018-04-25 | 2018-07-31 | 北方民族大学 | A kind of mechanical gripper device |
| CN108789386A (en) * | 2018-05-31 | 2018-11-13 | 华南农业大学 | The manipulator of doublejointed composite structure and flexible parallel connection grasping mechanism based on monocular vision |
| CN109397280A (en) * | 2018-11-09 | 2019-03-01 | 张家港江苏科技大学产业技术研究院 | A kind of boat-carrying mechanical arm and its application method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20101117 Termination date: 20110113 |