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A platform for research: civil engineering, architecture and urbanism
Modularized underwater mechanical arm for ocean solid plastic garbage cleaning and working method
The invention relates to the technical field of arm-carrying unmanned underwater vehicles, in particular to a modularized underwater mechanical arm for ocean solid plastic garbage cleaning, which comprises a shoulder joint structure with a first rotating direction; the elbow joint structure is arranged at one end of the shoulder joint structure, the elbow joint structure and the shoulder joint structure are arranged in parallel or perpendicular to each other, and when the elbow joint structure and the shoulder joint structure are arranged perpendicular to each other, the elbow joint structure has a second rotating direction; the end effector is arranged at the end, away from the shoulder joint structure, of the elbow joint structure and comprises an end driving mechanism, a transmission mechanism, a paw connecting piece and a paw, the transmission mechanism is connected with the end driving mechanism, the paw connecting piece is connected with the transmission mechanism, the paw is arranged on the paw connecting piece, the end driving mechanism drives the transmission mechanism to rotate, and the end driving mechanism drives the transmission mechanism to rotate. And the gripper is driven to open or close. The modular design structure improves the utilization efficiency of each structure, and mass production and one-time research and development investment can be realized.
本发明涉及载臂无人潜航器技术领域，具体涉及一种海洋固体塑料垃圾清理的模块化水下机械臂，包括：肩关节结构，肩关节结构具有第一转动方向；肘关节结构，设于肩关节结构的一端，肘关节结构与肩关节结构平行设置或垂直设置，肘关节结构与肩关节垂直设置时，肘关节结构具有第二转动方向；末端执行器，设于肘关节结构远离肩关节结构的一端，末端执行器包括末端驱动机构和传动机构、手爪连接件、以及手爪，传动机构与末端驱动机构连接，手爪连接件与传动机构连接，手爪设于手爪连接件上，末端驱动机构驱动传动机构转动，并带动手爪做打开或闭合动作。模块化设计的结构，提高了每个结构的利用效率，可以量产，一次性研发投入。
Modularized underwater mechanical arm for ocean solid plastic garbage cleaning and working method
The invention relates to the technical field of arm-carrying unmanned underwater vehicles, in particular to a modularized underwater mechanical arm for ocean solid plastic garbage cleaning, which comprises a shoulder joint structure with a first rotating direction; the elbow joint structure is arranged at one end of the shoulder joint structure, the elbow joint structure and the shoulder joint structure are arranged in parallel or perpendicular to each other, and when the elbow joint structure and the shoulder joint structure are arranged perpendicular to each other, the elbow joint structure has a second rotating direction; the end effector is arranged at the end, away from the shoulder joint structure, of the elbow joint structure and comprises an end driving mechanism, a transmission mechanism, a paw connecting piece and a paw, the transmission mechanism is connected with the end driving mechanism, the paw connecting piece is connected with the transmission mechanism, the paw is arranged on the paw connecting piece, the end driving mechanism drives the transmission mechanism to rotate, and the end driving mechanism drives the transmission mechanism to rotate. And the gripper is driven to open or close. The modular design structure improves the utilization efficiency of each structure, and mass production and one-time research and development investment can be realized.
本发明涉及载臂无人潜航器技术领域，具体涉及一种海洋固体塑料垃圾清理的模块化水下机械臂，包括：肩关节结构，肩关节结构具有第一转动方向；肘关节结构，设于肩关节结构的一端，肘关节结构与肩关节结构平行设置或垂直设置，肘关节结构与肩关节垂直设置时，肘关节结构具有第二转动方向；末端执行器，设于肘关节结构远离肩关节结构的一端，末端执行器包括末端驱动机构和传动机构、手爪连接件、以及手爪，传动机构与末端驱动机构连接，手爪连接件与传动机构连接，手爪设于手爪连接件上，末端驱动机构驱动传动机构转动，并带动手爪做打开或闭合动作。模块化设计的结构，提高了每个结构的利用效率，可以量产，一次性研发投入。
Modularized underwater mechanical arm for ocean solid plastic garbage cleaning and working method
海洋固体塑料垃圾清理的模块化水下机械臂、工作方法
TANG QIRONG (author) / LIU HAOYU (author) / ZHENG LONGPO (author) / YU MIN (author) / LIU MINGHAO (author) / ZHANG WENKAI (author)
2024-03-12
Patent
Electronic Resource
Chinese
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