阅读说明：本技术 一种船用机械臂止荡机构 (Marine mechanical arm oscillation stopping mechanism ) 是由 盛红光 于 2021-10-20 设计创作，主要内容包括：本发明公开了一种船用机械臂止荡机构,包括固定底座,所述固定底座的顶端固定连接有主机械臂,所述主机械臂的上端处设置有调节机构,所述调节机构的顶端的左右内侧壁之间转动连接有一根旋转轴,所述旋转轴上固定套设有一个转动套筒,所述转动套筒的一侧侧壁上固定连接有一根抓取机械臂,所述调节机构的左右两侧的内部均开设有一个控制腔,两个所述控制腔的底端处均开设有一个缓冲腔。本发明结构简单,操作方便,使机械臂在摆动时始终受到一个与其摆动方向相反的力,从而让机械臂摆动的幅度减小,还能延长机械臂一次摆动的时间,使机械臂自身在摆动时产生的损伤减小,从而起到了止荡效果。(The invention discloses a marine mechanical arm oscillation stopping mechanism which comprises a fixed base, wherein a main mechanical arm is fixedly connected to the top end of the fixed base, an adjusting mechanism is arranged at the upper end of the main mechanical arm, a rotating shaft is rotatably connected between the left inner side wall and the right inner side wall of the top end of the adjusting mechanism, a rotating sleeve is fixedly sleeved on the rotating shaft, a grabbing mechanical arm is fixedly connected to the side wall of one side of the rotating sleeve, a control cavity is respectively formed in the inner parts of the left side and the right side of the adjusting mechanism, and a buffer cavity is respectively formed in the bottom ends of the two control cavities. The invention has simple structure and convenient operation, and leads the mechanical arm to be always subjected to a force opposite to the swinging direction of the mechanical arm when swinging, thereby reducing the swinging amplitude of the mechanical arm, prolonging the time of one-time swinging of the mechanical arm, reducing the damage generated when the mechanical arm swings, and playing the role of preventing swinging.)

1. The marine mechanical arm oscillation stopping mechanism comprises a fixed base (1) and is characterized in that a main mechanical arm (2) is fixedly connected to the top end of the fixed base (1), an adjusting mechanism (4) is arranged at the upper end of the main mechanical arm (2), a rotating shaft (5) is rotatably connected between the left inner side wall and the right inner side wall of the top end of the adjusting mechanism (4), a rotating sleeve (6) is fixedly sleeved on the rotating shaft (5), a grabbing mechanical arm (3) is fixedly connected to the side wall of one side of the rotating sleeve (6), control cavities (24) are respectively formed in the left side and the right side of the adjusting mechanism (4), a buffer cavity (13) is respectively formed at the bottom ends of the two control cavities (24), the two buffer cavities (13) are connected through a connecting channel (20), and buffer solutions are filled in the two buffer cavities (13), the two ends of the rotating shaft (5) penetrate through the side walls of the two corresponding control cavities (24) respectively and extend into the rotating shaft to be arranged, the left end and the right end of the two rotating shafts (5) are fixedly connected with a conical gear II (21), one side of the two conical gear II (21) is provided with a conical gear I (14) meshed with the conical gear II, the bottom end of each conical gear I (14) is fixedly connected with an annular connecting rod (16), the side walls of the left side and the right side of the annular connecting rod (16) are fixedly connected with a fixing rod (17), the other ends of the two fixing rods (17) are fixedly connected with the left inner side wall and the right inner side wall of the corresponding buffer cavity (13) respectively, the two conical gear I (14) are provided with an adjusting through groove (15) penetrating through the conical gear I, and the adjusting through groove (15) is matched with the corresponding annular connecting rod (16), the buffer device is characterized in that an adjusting rod (9) is slidably connected in the adjusting through groove (15), a moving block (18) is fixedly connected to the left side wall and the right side wall of the adjusting rod (9), an adjusting clamping groove (25) corresponding to the moving block (18) is formed in the left inner side wall and the right inner side wall of the adjusting through groove (15) and the annular connecting rod (16), a piston plate (19) is arranged in the buffer cavity (13), the piston plate (19) floats on the buffer solution, and the top end of the piston plate (19) is attached to the bottom end of the corresponding adjusting rod (9) respectively.

2. The marine mechanical arm oscillation preventing mechanism according to claim 1, wherein the top ends of the two adjusting rods (9) extend through the upper inner wall of the corresponding control cavity (24) to the outside of the adjusting mechanism (4), threads are arranged at the joint of the two adjusting rods (9) and the upper inner wall of the control cavity (24), two electromagnets (11) are fixedly connected to both sides of the top end of the adjusting mechanism (4), one fixing block (10) is fixedly connected to the side wall of one electromagnet (11), the other end of the fixing block (10) is fixedly connected to a fixing ring (12) with a shape corresponding to that of the adjusting rod (9), the top end of the adjusting rod (9) close to the fixing ring (12) is arranged through the fixing ring (12), and the outer wall of the adjusting rod (9) is attached to the inner wall of the fixing ring (12), the fixing ring (12) and the fixing block (10) are made of conductive materials, and the fixing ring (12) is made of materials with large resistance.

3. The marine mechanical arm oscillation preventing mechanism according to claim 2, wherein a second electromagnet is fixedly connected to left and right side walls of the grabbing mechanical arm (3), the two second electromagnets are connected with a power supply, a fixed shaft (22) is fixedly connected between the front and rear side walls of the connecting channel (20), a control rotating wheel (23) is rotatably sleeved on the fixed shaft (22), a current exchanger is arranged on the control rotating wheel (23), the current exchanger is connected with the power supply, and an output end of the control rotating wheel (23) is connected with a bottom end of an adjusting rod (9) of the extension adjusting mechanism (4).

4. The marine mechanical arm oscillation stopping mechanism according to claim 3, wherein the two electromagnets (11) are connected through a wire, and the winding directions of the coils on the two electromagnets (11) are the same.

5. The marine mechanical arm oscillation stopping mechanism according to claim 4, wherein a conductive rod (7) is fixedly connected to the top end of the grabbing mechanical arm (3), and the front end and the rear end of the conductive rod (7) are connected with a power supply through conducting wires.

6. The marine mechanical arm oscillation stopping mechanism as claimed in claim 1, wherein two torsion springs (8) are sleeved on the rotating shaft (5), and two ends of the two torsion springs (8) are fixedly connected to the left end and the right end of the rotating sleeve (6) and the left inner side wall and the right inner side wall of the adjusting mechanism (4), respectively.

Technical Field

The invention relates to the field of mechanical arms, in particular to a swing stopping mechanism for a marine mechanical arm.

Background

The ship is when going on water, the hull can produce and rock, and the wave of the surface of water also can make the ship fluctuation about indefinite, the arm that leads to on the ship can rock along with rocking of ship, thereby lead to the arm to receive the damage, can make other equipment collisions on arm and the ship simultaneously, produce the secondary damage, current processing method is mostly through the rigid shock that reduces the arm of fixing, but the rigid fixed power that can't weaken the arm and receive, make arm self still can receive great damage, consequently, need a mechanism that only rocks for the arm to reduce the arm and receive the damage.

Disclosure of Invention

The invention aims to solve the defects in the prior art, such as: the vibration of the mechanical arm is reduced through rigid fixation, but the mechanical arm cannot be weakened through rigid fixation, so that the mechanical arm can still be greatly damaged, and the marine mechanical arm swing stopping mechanism is provided.

In order to achieve the purpose, the invention adopts the following technical scheme:

a marine mechanical arm oscillation stopping mechanism comprises a fixed base, wherein a main mechanical arm is fixedly connected to the top end of the fixed base, an adjusting mechanism is arranged at the upper end of the main mechanical arm, a rotating shaft is rotatably connected between the left inner side wall and the right inner side wall of the top end of the adjusting mechanism, a rotating sleeve is fixedly sleeved on the rotating shaft, a grabbing mechanical arm is fixedly connected to one side wall of the rotating sleeve, a control cavity is respectively formed in the left side wall and the right side wall of the adjusting mechanism, a buffer cavity is respectively formed in the bottom end of each control cavity, the two buffer cavities are connected through a connecting channel, buffer solutions are respectively filled in the two buffer cavities, two ends of the rotating shaft respectively penetrate through the side walls of the two corresponding control cavities and extend into the rotating shaft, and a conical gear II is fixedly connected to the left end and the right end of each rotating shaft, one side of each of the two conical gears II is provided with a conical gear I which is meshed with the conical gear II, the bottom end of each conical gear I is fixedly connected with an annular connecting rod, the side walls of the left side and the right side of each annular connecting rod are fixedly connected with a fixed rod, the other end of each fixed rod is respectively fixedly connected with the left inner side wall and the right inner side wall of the corresponding buffer cavity, each conical gear I is provided with an adjusting through groove which penetrates through the conical gear I, the adjusting through groove is matched with the corresponding annular connecting rod, an adjusting rod is slidably connected in the adjusting through groove, the left side wall and the right side wall of each adjusting rod are respectively and fixedly connected with a movable block, the adjusting through groove and the left inner side wall and the right inner side wall of each annular connecting rod are respectively provided with an adjusting clamping groove corresponding to the movable blocks, and each buffer cavity is also provided with a piston plate, the two piston plates float above the buffer solution, and the top ends of the two piston plates are respectively attached to the bottom ends of the corresponding adjusting rods.

Preferably, two the last inner wall that the top of adjusting the pole runs through corresponding control chamber stretches adjustment mechanism's outside setting, two the department of being connected of adjusting the pole and the last inner wall in control chamber is provided with the screw thread, the equal fixedly connected with electro-magnet of both sides department on adjustment mechanism's top, one of them fixedly connected with fixed block on the lateral wall of electro-magnet, shape and the solid fixed ring that adjusts the pole corresponding of other end fixedly connected with of fixed block are close to solid fixed ring the top of adjusting the pole is passed solid fixed ring and is set up, and this outer wall of adjusting the pole pastes the setting with solid fixed ring's inner wall mutually, gu fixed ring makes with the equal conducting material of fixed block, and gu fixed ring adopts the great material of resistance to make.

Preferably, also fixedly connected with an electro-magnet two on the left and right sides lateral wall of snatching the arm, two electro-magnet two is connected with the power, a fixed axle of fixedly connected with between the front and back lateral wall of interface channel, it is equipped with a control runner to rotate the cover on the fixed axle, be provided with the current exchanger on the control runner, the current exchanger is connected with the power, the output of control runner is connected with the bottom that stretches out adjustment mechanism's regulation pole.

Preferably, the two electromagnets are connected through a wire, and the winding directions of the coils on the two electromagnets are the same.

Preferably, a conductive rod is fixedly connected to the top end of the grabbing mechanical arm, and the front end and the rear end of the conductive rod are connected with a power supply through wires.

Preferably, the rotating shaft is sleeved with two torsion springs, and two ends of the two torsion springs are respectively and fixedly connected to the left end and the right end of the rotating sleeve and the left inner side wall and the right inner side wall of the adjusting mechanism.

Compared with the prior art, the invention has the beneficial effects that: through the buffer oil, carry out the buffering for the first time to the arm, reduce the shock of arm, then utilize the effect of the power that uses between the electro-magnet, and the effect of the power between magnetic field and the electrified conductor, make the arm receive a power rather than swing opposite direction all the time when the swing, thereby let the wobbling range of arm reduce, can also prolong the time of arm swing, the damage that makes the arm itself produce when the swing reduces, thereby further only has played and has swung the effect.

Drawings

Fig. 1 is a schematic overall three-dimensional structure diagram of a marine mechanical arm oscillation stopping mechanism provided by the invention;

fig. 2 is a schematic external three-dimensional structure view of an adjusting mechanism of a marine mechanical arm oscillation stopping mechanism according to the present invention;

fig. 3 is a schematic partial perspective view of an adjusting mechanism of a marine mechanical arm oscillation stopping mechanism according to the present invention;

fig. 4 is a schematic transmission perspective structure diagram of an adjusting mechanism of a marine mechanical arm oscillation stopping mechanism according to the present invention;

fig. 5 is a schematic perspective view of a connecting channel of a marine mechanical arm oscillation stopping mechanism according to the present invention;

fig. 6 is a schematic perspective view of a control wheel of a marine mechanical arm oscillation stopping mechanism according to the present invention;

fig. 7 is a schematic cross-sectional structural view of an adjusting mechanism of a marine mechanical arm oscillation stopping mechanism according to the present invention.

In the figure: the device comprises a fixed base 1, a main mechanical arm 2, a grabbing mechanical arm 3, an adjusting mechanism 4, a rotating shaft 5, a rotating sleeve 6, a conducting rod 7, a torsion spring 8, an adjusting rod 9, a fixing block 10, an electromagnet 11, a fixing ring 12, a buffering cavity 13, a conical gear I14, a conical gear I15 adjusting through groove 16, an annular connecting rod 17, a fixing rod 18, a moving block 19, a piston plate 20, a connecting channel 20, a conical gear II 21, a fixing shaft 22, a control rotating wheel 21, a control cavity 24 and an adjusting clamping groove 25.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Referring to fig. 1-7, a marine mechanical arm oscillation stopping mechanism comprises a fixed base 1, a main mechanical arm 2 is fixedly connected to the top end of the fixed base 1, an adjusting mechanism 4 is arranged at the upper end of the main mechanical arm 2, a rotating shaft 5 is rotatably connected between the left inner side wall and the right inner side wall of the top end of the adjusting mechanism 4, a rotating sleeve 6 is fixedly sleeved on the rotating shaft 5, two torsion springs 8 are sleeved on the rotating shaft 5, two ends of each torsion spring 8 are respectively and fixedly connected to the left end and the right end of the rotating sleeve 6 and the left inner side wall and the right inner side wall of the adjusting mechanism 4, a grabbing mechanical arm 3 is fixedly connected to one side wall of the rotating sleeve 6, when a ship runs, the ship body can shake, and the waves on the water surface can also make the grabbing mechanical arm 3 oscillate along with the shaking of the ship and damage the grabbing mechanical arm 3, when the grabbing mechanical arm 3 swings, the torsion spring 8 is deformed, so that the torsion spring 8 generates a force opposite to the swinging direction of the grabbing mechanical arm 3, the oscillation amplitude of the grabbing mechanical arm is reduced, the control cavities 24 are respectively formed in the left side and the right side of the adjusting mechanism 4, the buffer cavities 13 are respectively formed at the bottom ends of the two control cavities 24, the two buffer cavities 13 are connected through the connecting channel 20, when the grabbing mechanical arm 3 swings, the rotating sleeve 6 and the rotating shaft 5 rotate along with the rotating sleeve, the rotating shaft 5 drives the conical gear II 21 to rotate when rotating, the conical gear II 21 rotates the conical gear I14 meshed with the conical gear II, the rotating directions of the two conical gear II 21 are the same, the directions of tooth grooves are opposite, so that the rotating directions of the two conical gear I14 are opposite, and the two annular connecting rods 16 rotate along with the rotation of the conical gear I14, the adjusting rod 9 is rotated along with the adjusting rod 9, threads are arranged on the adjusting rod 9, so that the adjusting rod 9 can also move up and down when rotating, the adjusting rod 9 moving downwards can extrude the piston plate 19 to move downwards, so that buffer solution flows in the buffer cavities 13 to buffer the grabbing mechanical arm 3 to a certain extent, the buffer solution is filled in each of the two buffer cavities 13, two ends of the rotating shaft 5 respectively penetrate through the side walls of the two corresponding control cavities 24 to extend into the corresponding control cavities, two conical gears 21 are fixedly connected to the left and right ends of the two rotating shafts 5, one side of each of the two conical gears 21 is provided with a conical gear 14 meshed with the conical gear, the bottom end of each conical gear 14 is fixedly connected with an annular connecting rod 16, the side walls of the left and right sides of each annular connecting rod 16 are fixedly connected with a fixing rod 17, and the other ends of the two fixing rods 17 are respectively fixedly connected with the left and right inner side walls of the corresponding buffer cavities 13, an adjusting through groove 15 penetrating the bevel gears is formed in each bevel gear 14, the adjusting through groove 15 is matched with a corresponding annular connecting rod 16, an adjusting rod 9 is connected in the adjusting through groove 15 in a sliding mode, a moving block 18 is fixedly connected to each of the left side wall and the right side wall of the adjusting rod 9, an adjusting clamping groove 25 corresponding to the moving block 18 is formed in each of the adjusting through groove 15 and the left inner side wall and the right inner side wall of the annular connecting rod 16, a piston plate 19 is further arranged in each of two buffer cavities 13, the two piston plates 19 float above a buffer solution, the top ends of the two piston plates 19 are respectively attached to the bottom ends of the corresponding adjusting rods 9, the top ends of the two adjusting rods 9 penetrate through the upper inner wall of the corresponding control cavity 24 and extend to the outer portion of the adjusting mechanism 4, threads are arranged at the connecting portions of the two adjusting rods 9 and the upper inner wall of the control cavity 24, and an electromagnet 11 is fixedly connected to the two sides of the top end of the adjusting mechanism 4, one fixing block 10 is fixedly connected to the side wall of one electromagnet 11, the other end of the fixing block 10 is fixedly connected with a fixing ring 12 with the shape corresponding to that of the adjusting rod 9, the top end of the adjusting rod 9 close to the fixing ring 12 penetrates through the fixing ring 12, the outer wall of the adjusting rod 9 is attached to the inner wall of the fixing ring 12, the fixing ring 12 and the fixing block 10 are made of conductive materials, the fixing ring 12 is made of a material with relatively large resistance, two electromagnets are also fixedly connected to the left side wall and the right side wall of the grabbing mechanical arm 3 and connected with a power supply, a fixing shaft 22 is fixedly connected between the front side wall and the rear side wall of the connecting channel 20, a control rotating wheel 23 is rotatably sleeved on the fixing shaft 22, a current exchanger is arranged on the control rotating wheel 23 and connected with the power supply, and the output end of the control rotating wheel 23 is connected with the bottom end of the adjusting rod 9 extending out of the adjusting mechanism 4, the two electromagnets 11 are connected through a wire, the winding directions of coils on the two electromagnets 11 are the same, the top end of the grabbing mechanical arm 3 is fixedly connected with a conductive rod 7, the front end and the rear end of the conductive rod 7 are respectively connected with a power supply through wires, when buffer solution circulates in the two buffer cavities 13, the control rotating wheel 23 in the connecting channel 20 is impacted, the control rotating wheel 23 rotates, the flowing direction of the buffer solution is changed along with the change of the swinging direction of the grabbing mechanical arm 3, the rotating direction of the control rotating wheel 23 is also changed, so that the direction of current guided to the two electromagnets 11 from the power supply is changed by the control current exchanger, when the grabbing mechanical arm 3 swings outwards, the two electromagnets 11 are opposite to the magnetic poles of the two electromagnets fixed on the grabbing mechanical arm 3 and attract each other, and when the grabbing mechanical arm 3 swings inwards, the current is reversed, the two electromagnets 11 and the second electromagnet have the same magnetic pole, so that the two electromagnets are mutually repelled, the grabbing mechanical arm 3 is always subjected to a force opposite to the swinging direction thereof when swinging, the swinging amplitude of the grabbing mechanical arm 3 can be further reduced, the swinging stopping effect is achieved, the time of one-time swinging of the grabbing mechanical arm 3 can be prolonged, the damage to the grabbing mechanical arm 3 caused by the swinging of the grabbing mechanical arm 3 is reduced, in addition, a magnetic field exists between the two electromagnets 11, the electrified conducting rod 7 is subjected to the force action in the magnetic field, when the grabbing mechanical arm 3 swings outwards, the conducting rod 7 is subjected to an inward force, when the grabbing mechanical arm 3 swings inwards, the current of the electromagnets 11 is reversed, the direction of the magnetic field is also reversed, the current direction of the conducting rod 7 is unchanged, therefore, the force applied to the conducting rod 7 and the grabbing mechanical arm 3 are subjected to a force opposite to the swinging direction, further reducing the swing amplitude of the grabbing mechanical arm and improving the swing stopping effect of the device.

In the invention, when a ship runs, the ship body can shake, and the waves on the water surface can also make the ship fluctuate up and down, so that the grabbing mechanical arm 3 vibrates along with the shaking of the ship to damage the grabbing mechanical arm 3, when the grabbing mechanical arm 3 swings, the torsion spring 8 can be deformed, so that the torsion spring 8 can generate a force opposite to the swinging direction of the grabbing mechanical arm 3, the vibration amplitude of the grabbing mechanical arm is reduced, and when the grabbing mechanical arm 3 swings, the rotating sleeve 6 and the rotating shaft 5 can rotate along with the rotation sleeve, the rotating shaft 5 can drive the bevel gear II 21 to rotate when rotating, the bevel gear II 21 can rotate the bevel gear I14 meshed with the bevel gear II when rotating, because the rotating directions of the two bevel gear II 21 are the same, and the directions of tooth grooves are opposite, the rotating directions of the two bevel gear I14 are opposite, meanwhile, the two annular connecting rods 16 rotate along with the rotation of the first bevel gear 14, so that the adjusting rod 9 also rotates along with the rotation of the first bevel gear, threads are arranged on the adjusting rod 9, therefore, the adjusting rod 9 also moves up and down when rotating, the adjusting rod 9 moving downwards extrudes the piston plate 19 to move downwards, so that a buffer solution flows in the buffer cavity 13, certain buffering is performed on the grabbing mechanical arm 3, when the buffer solution flows in the two buffer cavities 13, the control rotating wheel 23 in the connecting channel 20 is impacted, the control rotating wheel 23 rotates, the flowing direction of the buffer solution is changed along with the change of the swinging direction of the grabbing mechanical arm 3, the rotating direction of the control rotating wheel 23 is changed, so that the direction of current guided to the two electromagnets 11 from the power supply is changed by the control current exchanger, when the grabbing mechanical arm 3 swings outwards, the two electromagnets 11 are opposite to the magnetic poles of the second electromagnet fixed on the grabbing mechanical arm 3, the current is reversed when the grabbing mechanical arm 3 swings inwards, the two electromagnets 11 and the second electromagnet have the same magnetic pole, so that the two electromagnets are mutually repelled, the grabbing mechanical arm 3 is always subjected to a force opposite to the swinging direction of the grabbing mechanical arm 3 when swinging, the swinging amplitude of the grabbing mechanical arm 3 can be further reduced, the swinging stopping effect is achieved, the time of one-time swinging of the grabbing mechanical arm 3 can be prolonged, the damage to the grabbing mechanical arm 3 caused by swinging is reduced, in addition, a magnetic field exists between the two electromagnets 11, the electrified conducting rod 7 can be subjected to a force effect in the magnetic field, when the grabbing mechanical arm 3 swings outwards, the conducting rod 7 is subjected to an inward force, when the grabbing mechanical arm 3 swings inwards, the current of the electromagnets 11 is reversed, the direction of the magnetic field is also reversed, the current direction of the conducting rod 7 is unchanged, and therefore, the force received is also reversed, the conducting rod 7 and the grabbing mechanical arm 3 are subjected to a force opposite to the swinging direction of the conducting rod, the swinging amplitude of the grabbing mechanical arm is further reduced, and the swinging stopping effect of the device is improved again.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.