阅读说明：本技术 一种船式污水杂物打捞设备 (Ship type sewage sundry fishing equipment ) 是由 张海君 于 2021-08-23 设计创作，主要内容包括：本发明公开了一种船式污水杂物打捞设备,包括移动装置、沥水装置、平移装置和抓取装置安装在机架上,移动装置通过外接电机运转带动动力叶轮进行转动以推动移动装置上的气垫进行移动,待本装置移动至杂物捞取位后,平移装置内部机械组运转带动抓取装置向前以及向下移动,待抓取装置移动至一定距离后,抓取装置内部机械组运转带动抓取装置上的三个抓盘进行收缩夹紧杂物,待抓取到杂物后,平移装置内部机械组运转带动抓取装置移动至沥水装置上的杂物储存箱上并将其放入其中。(The invention discloses ship type sewage and sundries salvaging equipment which comprises a moving device, a draining device, a translation device and a gripping device, wherein the moving device is arranged on a rack, the moving device drives a power impeller to rotate through the operation of an external motor so as to push an air cushion on the moving device to move, after the device moves to a sundries salvaging position, a mechanical group in the translation device drives the gripping device to move forwards and downwards, after the gripping device moves to a certain distance, the mechanical group in the gripping device drives three gripping discs on the gripping device to contract to clamp sundries, and after the sundries are grabbed, the mechanical group in the translation device drives the gripping device to move to a sundries storage box on the draining device and place the sundries storage box in the draining device.)

1. The utility model provides a ship formula sewage debris salvage equipment which characterized in that: including mobile device (1), drain device (2), translation device 3 and grabbing device (4), its characterized in that:

the mobile device (1) comprises a support plate (108);

the draining device (2) comprises a supporting connecting plate (201);

the translation device 3 comprises a translation hydraulic oil cylinder (301), a rack (318) and an oil cylinder protective plate (319);

the gripping device (4) comprises a folding connecting plate (401);

support connection board (201) fixed mounting on backup pad (108), translation hydraulic cylinder (301) pass support connection board (201) and carry out fixed connection with the side surface of support connection board (201), rack (318) fixed mounting on driven slider (317), rack (318) and the driven spur gear in right side (316) form gear engagement, hydro-cylinder backplate (319) fixed mounting on the upside surface of support connection board (201), folding connection board (401) carry out fixed connection with the tip of rack (318).

2. The boat-type sewage impurity fishing equipment according to claim 1, characterized in that: the moving device (1) further comprises an air cushion (101), an air pump supporting plate (102), an air inlet impeller (103), a power impeller protecting cover (104), an impeller driven shaft (105), a power impeller (106) and an impeller belt (107), wherein the air cushion (101) is divided into two groups, the air pump supporting plate (102) is fixedly installed on the air cushion (101), the air inlet impeller (103) is rotatably installed on the air pump supporting plate (102), the power impeller protecting cover (104) is fixedly installed at the side end of the air pump supporting plate (102), the impeller driven shaft (105) is rotatably installed on the power impeller protecting cover (104), the power impeller (106) is rotatably installed on the impeller driven shaft (105), and the air pump supporting plate (102), the air inlet impeller (103), the power impeller protecting cover (104), the impeller driven shaft (105) and the power impeller (106) are divided into two groups, respectively fixed mounting on two sets of air cushions (101), impeller belt (107) carry out the belt drive meshing with two sets of power impeller safety cover (104), the both ends lower surface and two sets of air pump backup pads (102) of backup pad (108) carry out fixed connection.

3. The boat-type sewage impurity fishing equipment according to claim 1, characterized in that: the draining device (2) further comprises an oil cylinder fixing plate (202), a hydraulic oil cylinder (203), a push plate (204), a sliding block connecting plate (205), a sliding block (206), a draining shaft (207), a draining plate connecting plate (208), a draining plate (209) and a sundries storage box (210), wherein the oil cylinder fixing plate (202) is fixedly arranged on the inner side of the supporting connecting plate (201), the hydraulic oil cylinder (203) is fixedly arranged on the oil cylinder fixing plate (202), the push plate (204) is fixedly arranged at the upper end of the hydraulic oil cylinder (203), the sliding block connecting plate (205) is fixedly connected with the push plate (204), the sliding block (206) is fixedly connected with the sliding block connecting plate (205), the sliding block (206) is in sliding fit with the supporting connecting plate (201), the draining shaft (207) is rotatably arranged on the sliding block connecting plate (205), the draining board connecting plate (208) is rotatably arranged on the draining shaft (207), the draining board (209) is fixedly connected with the draining board connecting plate (208), and the sundries storage box (210) is fixedly arranged on the side surface of the sliding block connecting plate (205).

4. The boat-type sewage impurity fishing equipment according to claim 1, characterized in that: the translation device (3) further comprises a translation transmission bin (302), a motor (303), a driving pulley (304), a pulley driven shaft (305), a driven pulley (306), a belt (307), a driven spur gear (308), a driven shaft (309), a right driven spur gear (310), a right driven helical gear (311), a worm (312), a driven helical gear (313), a turbine driven shaft (314), a turbine (315), a right driven spur gear (316) and a driven slider (317), wherein the translation transmission bin (302) is fixedly connected with the end of the translation hydraulic oil cylinder (301), the motor (303) is fixedly installed in a lower shaft hole of the translation transmission bin (302), the driving pulley (304) is rotatably installed on the motor (303), the pulley driven shaft (305) is rotatably installed in an upper shaft hole of the translation transmission bin (302), driven pulley (306) rotate and install on belt pulley driven shaft (305), driven spur gear (308) rotate and install on belt pulley driven shaft (305), driven shaft (309) rotate and install in the right side shaft hole of translation transmission storehouse (302), right driven spur gear (310) rotate and install on driven shaft (309), right driven helical gear (311) rotate and install the left side that is located right driven spur gear (310) on driven shaft (309), worm (312) rotate and install in the middle shaft hole of translation transmission storehouse (302), driven helical gear (313) rotate and install on worm (312), driven helical gear (313) form gear engagement with right helical gear driven (311), turbine driven shaft (314) rotate and install in the downside left shaft hole of translation transmission storehouse (302), the worm wheel (315) rotate and install on turbine driven shaft (314), turbine (315) and worm (312) form gear engagement, driven spur gear (316) of right side rotate and install and be located the right side of turbine (315) on turbine driven shaft (314), driven slider (317) and the inboard of translation gear box (302) form sliding fit.

5. The boat-type sewage impurity fishing equipment according to claim 1, characterized in that: the grabbing device (4) further comprises a folding connecting plate (401), a connecting plate (402), a motor fixing plate (403), a servo motor (404), a driving straight gear (405), a shaft supporting plate (406), a right driven shaft (407), a left driven helical gear (408), a right driven helical gear (409), a middle driven shaft (410), a middle driven helical gear (411), a middle driven straight gear (412), a connecting slider (413), a driven rack (414), a rack connecting plate (415), a spring supporting rod (416), a spring (417), a connecting rod driven plate (418), a limiting plate (419), a connecting rod driven shaft (420), a driving connecting rod (421), an auxiliary rod shaft connecting plate (422), an auxiliary rod driven shaft (423), a connecting shaft (424), an auxiliary rod (425), a claw disc connecting shaft (426) and a claw disc (427), wherein the connecting plate (402) is fixedly connected with the lower surface of the folding connecting plate (401), motor fixing plate (403) fixed mounting on connecting plate (402), servo motor (404) fixed mounting on motor fixing plate (403), driving spur gear (405) rotate and install on servo motor (404), axle supporting plate (406) fixed mounting on connecting plate (402) lie in the right side of motor fixing plate (403), right driven shaft (407) rotate and install in the left side shaft hole of axle supporting plate (406), left driven helical gear (408) rotate and install on right driven shaft (407), left driven helical gear (408) and driving spur gear (405) form gear engagement, right driven helical gear (409) rotate and install on right driven shaft (407) lie in the right side of left driven helical gear (408), middle driven shaft (410) rotate and install in the right side shaft hole of axle supporting plate (406), the middle driven helical gear (411) is rotatably arranged on a middle driven shaft (410), the middle driven helical gear (411) is in gear engagement with a folding connecting plate (401) 9, the middle driven spur gear (412) is rotatably arranged on the middle driven shaft (410) and is positioned on the left side of the middle driven helical gear (411), a driven rack (414) is fixedly arranged at the side end of a connecting slide block (413), the driven rack (414) is in gear engagement with the middle driven spur gear (412), a rack connecting plate (415) is fixedly arranged at the end part of the driven rack (414), two ends of a spring supporting rod (416) are respectively rotatably arranged on a shaft supporting plate (406) and the rack connecting plate (415), and a spring (417) penetrates through the spring supporting rod (416) to form spring fit with the shaft supporting plate (406) and the rack connecting plate (415), the connecting rod driven plate (418) is fixedly arranged on the rack connecting plate (415), the limiting plate (419) is fixedly connected with the lower end of the spring holding rod (416), the connecting rod driven shaft (420) is rotatably arranged on the connecting rod driven plate (418), the driving connecting rod (421) is rotatably arranged on the connecting rod driven shaft (420), two sets of auxiliary rod shaft connecting plates (422) are respectively and fixedly arranged on the left side and the right side of the middle part of the connecting plate (402), the auxiliary rod driven shaft (423) is rotatably arranged on two sets of auxiliary rod shaft connecting plates (422), the connecting shaft (424) is rotatably arranged in a lower shaft hole of the driving connecting rod (421), a middle shaft hole of the auxiliary rod (425) is rotatably arranged on the auxiliary rod driven shaft (423), a lower shaft hole of the auxiliary rod (425) is rotatably arranged on the connecting shaft (424), and the auxiliary rod (425) and the driving connecting rod (421) form connecting rod matching, the claw disk connecting shaft (426) is rotatably arranged in an upper side shaft hole of the auxiliary rod (425), and the claw disk (427) is rotatably arranged on the claw disk connecting shaft (426).

6. The boat-type sewage impurity fishing equipment according to claim 1, characterized in that: the belt (307) forms a belt drive fit with the drive pulley (304) and the driven pulley (306).

7. The boat-type sewage impurity fishing equipment according to claim 1, characterized in that: the right driven spur gear (310) is in gear engagement with the driven spur gear 308.

8. The boat-type sewage impurity fishing equipment according to claim 1, characterized in that: the connecting slider (413) is in sliding fit with the shaft support plate 406.

Technical Field

The invention relates to the field of salvage, in particular to ship type sewage sundry salvage equipment.

Background

In many chemical enterprises, cause the debris accumulation of effluent water sump very easily after sewage discharges, and artifical salvage wastes time and energy, and bacterial growing in the effluent water sump can cause very big threat to operating personnel, in order to solve this kind of problem, application number CN201820296401.X discloses a ship formula sewage debris salvage equipment, but the device simple structure just can not independently remove and carry out the accuracy to debris and salvage.

Disclosure of Invention

Aiming at the technical problem, the ship type sewage sundry fishing equipment comprises a moving device, a draining device, a translation device and a grabbing device;

the mobile device comprises a supporting plate. The draining device comprises a supporting connecting plate. The translation device comprises a translation hydraulic oil cylinder, a rack and an oil cylinder guard plate. The gripping device comprises a folding connecting plate.

The supporting and connecting plate is fixedly arranged on the supporting plate, the translation hydraulic oil cylinder penetrates through the supporting and connecting plate and is fixedly connected with the side surface of the supporting and connecting plate, the rack is fixedly arranged on the driven sliding block, the rack and the right driven straight gear form gear engagement, the oil cylinder protecting plate is fixedly arranged on the upper side surface of the supporting and connecting plate, and the folding connecting plate is fixedly connected with the end part of the rack.

The moving device also comprises an air cushion, an air pump supporting plate, an air inlet impeller, a power impeller protecting cover, an impeller driven shaft, a power impeller and an impeller belt, the air cushions are provided with two groups, the air pump supporting plate is fixedly arranged on the air cushions, the air inlet impeller is rotatably arranged on the air pump supporting plate, the power impeller protective cover is fixedly arranged at the side end of the air pump supporting plate, the impeller driven shaft is rotatably arranged on the power impeller protective cover, the power impeller is rotatably arranged on the impeller driven shaft, two groups of the air pump supporting plate, the air inlet impeller, the power impeller protecting cover, the impeller driven shaft and the power impeller are respectively and fixedly arranged on the two groups of air cushions, the impeller belt and the two groups of power impeller protection covers are in belt transmission engagement, and the lower surfaces of the two ends of the supporting plates are fixedly connected with the two groups of air pump supporting plates.

The draining device further comprises an oil cylinder fixing plate, a hydraulic oil cylinder, a push plate, a slider connecting plate, a slider, a draining shaft, a draining plate connecting plate, a draining plate and a sundry storage box, wherein the oil cylinder fixing plate is fixedly arranged on the inner side of the supporting connecting plate, the hydraulic oil cylinder is fixedly arranged on the oil cylinder fixing plate, the push plate is fixedly arranged at the upper end of the hydraulic oil cylinder, the slider connecting plate is fixedly connected with the push plate, the slider is fixedly connected with the slider connecting plate, the slider and the supporting connecting plate form sliding fit, the draining shaft is rotatably arranged on the slider connecting plate, the draining plate connecting plate is rotatably arranged on the draining shaft, the draining plate is fixedly connected with the draining plate connecting plate, and the sundry storage box is fixedly arranged on the side surface of the slider connecting plate.

The translation device further comprises a translation transmission bin, a motor, a driving belt pulley, a belt pulley driven shaft, a driven belt pulley, a belt, a driven straight gear, a driven shaft, a right driven straight gear, a right driven helical gear, a worm, a driven helical gear, a turbine driven shaft, a turbine, a right driven straight gear and a driven slider, wherein the translation transmission bin is fixedly connected with the end of the translation hydraulic cylinder, the motor is fixedly arranged in the lower shaft hole of the translation transmission bin, the driving belt pulley is rotatably arranged on the motor, the belt pulley driven shaft is rotatably arranged in the upper shaft hole of the translation transmission bin, the driven belt pulley is rotatably arranged on the belt pulley driven shaft, the driven straight gear is rotatably arranged on the belt pulley driven shaft, the driven shaft is rotatably arranged in the right shaft hole of the translation transmission bin, the right driven straight gear is rotatably arranged on the driven shaft, the driven helical gear of right side rotate and install the left side that is located the driven straight-tooth gear of right side on the driven shaft, the worm rotate and install in the middle shaft hole in translation transmission storehouse, driven helical gear rotate and install on the worm, driven helical gear and the driven helical gear of right side form gear engagement, the turbine driven shaft rotate and install in the downside left shaft hole in translation transmission storehouse, the turbine rotate and install on the turbine driven shaft, turbine and worm form gear engagement, the driven straight-tooth gear of right side rotate and install the right side that is located the turbine on the turbine driven shaft, the inboard of driven slider and translation transmission storehouse form sliding fit.

The gripping device also comprises a folding connecting plate, a motor fixing plate, a servo motor, a driving straight gear, a shaft supporting plate, a right driven shaft, a left driven helical gear, a right driven helical gear, a middle driven shaft, a middle driven helical gear, a middle driven straight gear, a connecting slider, a driven rack, a rack connecting plate, a spring holding rod, a spring, a connecting rod driven plate, a limiting plate, a connecting rod driven shaft, a driving connecting rod, an auxiliary rod shaft connecting plate, an auxiliary rod driven shaft, a connecting shaft, an auxiliary rod, a claw disc connecting shaft and a claw disc, wherein the connecting plate is fixedly connected with the lower surface of the folding connecting plate, the motor fixing plate is fixedly arranged on the connecting plate, the servo motor is fixedly arranged on the motor fixing plate, the driving straight gear is rotatably arranged on the servo motor, the shaft supporting plate is fixedly arranged on the connecting plate and positioned on the right side of the motor fixing plate, the right driven shaft is rotatably arranged in a left shaft hole of the shaft supporting plate, the left driven helical gear is rotatably arranged on the right driven shaft, the left driven helical gear and the driving straight gear form gear engagement, the right driven helical gear is rotatably arranged on the right driven shaft and positioned at the right side of the left driven helical gear, the middle driven shaft is rotatably arranged in a right shaft hole of the shaft supporting plate, the middle driven helical gear is rotatably arranged on the middle driven shaft, the middle driven helical gear and the folding connecting plate 9 form gear engagement, the middle driven straight gear is rotatably arranged on the middle driven shaft and positioned at the left side of the middle driven helical gear, the driven rack is fixedly arranged at the side end of the connecting slide block, the driven rack and the middle driven straight gear form gear engagement, and the rack connecting plate is fixedly arranged at the end part of the driven rack, the two ends of the spring holding rod are respectively and rotatably arranged on the shaft supporting plate and the rack connecting plate, the spring penetrates through the spring holding rod to form spring fit with the shaft supporting plate and the rack connecting plate, the connecting rod driven plate is fixedly arranged on the rack connecting plate, the limiting plate is fixedly connected with the lower end of the spring holding rod, the connecting rod driven shaft is rotatably arranged on the connecting rod driven plate, the driving connecting rod is rotatably arranged on the connecting rod driven shaft, the auxiliary rod shaft connecting plates are respectively and fixedly arranged on the left side and the right side of the middle part of the connecting plate, the auxiliary rod driven shafts are rotatably arranged on the two groups of auxiliary rod shaft connecting plates, the connecting shaft is rotatably arranged in a lower side shaft hole of the driving connecting rod, a middle part shaft hole of the auxiliary rod is rotatably arranged on the auxiliary rod driven shaft, the lower side of the auxiliary rod is rotatably arranged on the connecting shaft, and the auxiliary rod and the driving connecting rod form connecting rod fit, the claw disk connecting shaft is rotatably arranged in the shaft hole at the upper side of the auxiliary rod, and the claw disk is rotatably arranged on the claw disk connecting shaft.

Furthermore, the belt is in belt transmission fit with the driving belt pulley and the driven belt pulley.

Furthermore, the right driven spur gear and the driven spur gear form gear meshing.

Further, the connecting sliding block is in sliding fit with the shaft support plate.

Compared with the prior art, the invention has the beneficial effects that:

(1) the invention can adapt to sewage environment and move and approach the sundries in the environment.

(2) The invention can automatically salvage the sundries entering the grabbing range.

(3) The invention can automatically place the salvaged sundries in the sundries storage box and drain the water.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic structural diagram of a mobile device according to the present invention.

FIG. 3 is a schematic view of the structure of the draining device of the present invention.

FIG. 4 is a schematic view of the internal structure of the translation device according to the present invention.

Fig. 5 is a schematic view of the internal structure assembly of the translation device of the present invention.

Fig. 6 is a schematic view of the internal assembly structure of the gripping device of the present invention.

Fig. 7 is a schematic structural view of the grasping apparatus according to the present invention.

In the figure: 1-a mobile device; 2-a draining device; 3-a translation device; 4-a gripping device; 101-air cushion; 102-air pump support plate; 103-an air inlet impeller; 104-power impeller shield; 105-impeller driven shaft; 106-a powered impeller; 107-impeller belt; 108-a support plate; 201-supporting the connecting plate; 202-oil cylinder fixing plate; 203-a hydraulic oil cylinder; 204-push plate; 205-slider connection plate; 206-a slider; 207-draining shaft; 208-a draining board connecting board; 209-draining board; 210-sundry storage boxes; 301-a translational hydraulic ram; 302-translation drive bin; 303-a motor; 304-a drive pulley; 305-pulley driven shaft; 306-a driven pulley; 307-a belt; 308-a driven spur gear; 309-driven shaft; 310-right driven spur gear; 311-right driven bevel gear; 312-a worm; 313-driven bevel gear; 314-turbine driven shaft; 315-a turbine; 316-right driven spur gear; 317-driven slide block; 318-rack; 319-cylinder guard board; 401-folding the connecting plate; 402-a connecting plate; 403-motor fixing plate; 404-a servo motor; 405-a spur gear drive; 406-an axle support plate; 407-right driven shaft; 408-left driven bevel gear; 409-right driven bevel gear; 410-intermediate driven shaft; 411-intermediate driven bevel gear; 412-intermediate driven spur gear; 413-connecting slider; 414-driven rack; 415-a rack bar linkage plate; 416-a spring rest; 417-a spring; 418-connecting rod driven plate; 419-limiting plate; 420-connecting rod driven shaft; 421-active link; 422-auxiliary rod shaft connecting plate; 423-secondary lever driven shaft; 424-connecting shaft; 425-a secondary rod; 426-claw disk connecting shaft; 427-claw disk.

Detailed Description

The present invention will be further described with reference to specific examples, which are illustrative of the invention and are not to be construed as limiting the invention.

Example (b): a boat-type sewage impurity fishing device as shown in figures 1, 2, 3, 4, 5, 6 and 7.

A ship type sewage sundry salvage device comprises a moving device 1, a draining device 2, a translation device 3 and a grabbing device 4.

The mobile device 1 comprises a support plate 108. The draining device 2 comprises a support connection plate 201. Translation device 3 includes translation hydraulic cylinder 301, rack 318, and cylinder guard 319. The gripping means 4 comprise a folded web 401.

The supporting connecting plate 201 is fixedly installed on the supporting plate 108, the translational hydraulic oil cylinder 301 penetrates through the supporting connecting plate 201 and is fixedly connected with the side surface of the supporting connecting plate 201, the rack 318 is fixedly installed on the driven sliding block 317, the rack 318 and the right driven straight gear 316 form gear engagement, the oil cylinder protecting plate 319 is fixedly installed on the upper side surface of the supporting connecting plate 201, and the folding connecting plate 401 is fixedly connected with the end portion of the rack 318.

The mobile device 1 further comprises an air cushion 101, an air pump support plate 102, an air inlet impeller 103, a power impeller protective cover 104, an impeller driven shaft 105, a power impeller 106 and an impeller belt 107, the air pump 101 has two sets, air pump support plate 102 is fixedly installed on air pump 101, air inlet impeller 103 is rotatably installed on air pump support plate 102, power impeller protective cover 104 is fixedly installed at the side end of air pump support plate 102, impeller driven shaft 105 is rotatably installed on power impeller protective cover 104, power impeller 106 is rotatably installed on impeller driven shaft 105, air pump support plate 102, air inlet impeller 103, power impeller protective cover 104, there are two sets of impeller driven shaft 105 and power impeller 106, respectively, fixedly installed on two sets of air pumps 101, impeller belt 107 is in belt transmission engagement with two sets of power impeller protective covers 104, and the lower surfaces of the two ends of support plate 108 are fixedly connected with two sets of air pump support plates 102.

The draining device 2 also comprises an oil cylinder fixing plate 202, a hydraulic oil cylinder 203, a push plate 204, a slide block connecting plate 205, a slide block 206, a draining shaft 207, a draining plate connecting plate 208, a draining plate 209 and a sundries storage box 210, wherein the oil cylinder fixing plate 202 is fixedly arranged at the inner side of the supporting connecting plate 201, the hydraulic oil cylinder 203 is fixedly arranged on the oil cylinder fixing plate 202, the push plate 204 is fixedly arranged at the upper end of the hydraulic oil cylinder 203, the hydraulic oil cylinder 203 is a power source, when the hydraulic oil cylinder 203 runs, the push plate 204 is driven to move, the slider connecting plate 205 is fixedly connected with the push plate 204, the slider 206 is fixedly connected with the slider connecting plate 205, the slider 206 and the support connecting plate 201 form sliding fit, the draining shaft 207 is rotatably installed on the slider connecting plate 205, the draining plate connecting plate 208 is rotatably installed on the draining shaft 207, the draining plate 209 is fixedly connected with the draining plate connecting plate 208, and the sundries storage box 210 is fixedly installed on the side surface of the slider connecting plate 205.

The moving device 3 further comprises a translation transmission bin 302, a motor 303, a driving pulley 304, a pulley driven shaft 305, a driven pulley 306, a belt 307, a driven spur gear 308, a driven shaft 309, a right driven spur gear 310, a right driven helical gear 311, a worm 312, a driven helical gear 313, a turbine driven shaft 314, a turbine 315, a right driven spur gear 316 and a driven slider 317, wherein the translation transmission bin 302 is fixedly connected with the end part of the translation hydraulic oil cylinder 301, the motor 303 is fixedly arranged in a lower side shaft hole of the translation transmission bin 302, the driving pulley 304 is rotatably arranged on the motor 303, the motor 303 is a power source and drives the driving pulley 304 to rotate when the motor 303 rotates, the pulley driven shaft 305 is rotatably arranged in an upper side shaft hole of the translation transmission bin 302, the driven pulley 306 is rotatably arranged on the pulley driven shaft 305, the driven pulley 308 is rotatably arranged on the pulley driven shaft 305, when the driving pulley 304 rotates, the driving pulley 307 drives the driven pulley 306 and the driven spur gear 308 synchronously connected with the driving pulley to synchronously rotate, the driven shaft 309 is rotatably arranged in a right shaft hole of the translation transmission cabin 302, the right driven spur gear 310 is rotatably arranged on the driven shaft 309, the right driven helical gear 311 is rotatably arranged on the driven shaft 309 and is positioned at the left side of the right driven spur gear 310, when the driven spur gear 308 rotates, the right driven spur gear 310 and the right driven helical gear 311 synchronously connected with the driven shaft are driven to synchronously transmit, the worm 312 is rotatably arranged in a middle shaft hole of the translation transmission cabin 302, the driven helical gear 313 is rotatably arranged on the worm 312, the driven helical gear 313 and the right driven helical gear 311 form gear meshing, when the right driven helical gear 311 transmits, the worm 312 and the driven helical gear 313 are synchronously rotated, the turbine driven shaft 314 is rotatably arranged in a left shaft hole at the lower side of the translation transmission cabin 302, the worm wheel 315 is rotatably mounted on the worm wheel driven shaft 314, the worm wheel 315 is in gear engagement with the worm 312, the right driven spur gear 316 is rotatably mounted on the worm wheel driven shaft 314 and located on the right side of the worm wheel 315, when the worm 312 rotates, the worm wheel 315 is driven to rotate synchronously with the right driven spur gear 316 synchronously connected with the worm wheel 315, the driven slider 317 is in sliding fit with the inner side of the translation transmission bin 302, and when the right driven spur gear 316 rotates, the rack 318 is driven to move.

The grabbing device 4 further comprises a folding connecting plate 401, a connecting plate 402, a motor fixing plate 403, a servo motor 404, a driving spur gear 405, a shaft supporting plate 406, a right driven shaft 407, a left driven helical gear 408, a right driven helical gear 409, an intermediate driven shaft 410, an intermediate driven helical gear 411, an intermediate driven spur gear 412, a connecting slider 413, a driven rack 414, a rack connecting plate 415, a spring rest 416, a spring 417, a link driven plate 418, a limit plate 419, a link driven shaft 420, a driving link 421, an auxiliary link shaft connecting plate 422, an auxiliary link driven shaft 423, a connecting shaft 424, an auxiliary link 425, a claw disc connecting shaft 426 and a claw disc 427, wherein the connecting plate 402 is fixedly connected with the lower surface of the folding connecting plate 401, the motor fixing plate is fixedly installed on the connecting plate 402, the servo motor 404 is fixedly installed on the motor fixing plate 403, the driving spur gear 405 is rotatably installed on the servo motor 404, a servo motor 404 is a power source, when the servo motor 404 rotates, the servo motor drives a driving spur gear 405 to rotate, a shaft support plate 406 is fixedly installed on the connecting plate 402 at the right side of a motor fixing plate 403, a right driven shaft 407 is rotatably installed in a left shaft hole of the shaft support plate 406, a left driven helical gear 408 is rotatably installed on a right driven shaft 407, the left driven helical gear 408 is in gear engagement with the driving spur gear 405, a right driven helical gear 409 is rotatably installed on the right driven shaft 407 at the right side of the left driven helical gear 408, when the driving spur gear 405 rotates, the left driven helical gear 408 and a right driven helical gear 409 synchronously connected with the driving spur gear are driven to rotate synchronously, an intermediate driven shaft 410 is rotatably installed in a right shaft hole of the shaft support plate 406, an intermediate driven helical gear 411 is rotatably installed on the intermediate driven shaft 410, and the intermediate driven helical gear 411 is in gear engagement with a folding connecting plate 4019, an intermediate driven spur gear 412 is rotatably mounted on the intermediate driven shaft 410 at the left side of the intermediate driven helical gear 411, the intermediate driven helical gear 411 and an intermediate driven spur gear 412 synchronously connected with the intermediate driven helical gear are driven to rotate synchronously when a right driven helical gear 409 rotates, a driven rack 414 is fixedly mounted at the side end of a connecting slider 413, the driven rack 414 and the intermediate driven spur gear 412 form gear engagement, the driven rack 414 is driven to move when the intermediate driven helical gear 412 rotates, a rack connecting plate 415 is fixedly mounted at the end of the driven rack 414, two ends of a spring support rod 416 are respectively rotatably mounted on a shaft supporting plate 406 and the rack connecting plate 415, a spring 417 penetrates through the spring support rod 416 to form spring fit with the shaft supporting plate 406 and the rack connecting plate 415, a link driven plate 418 is fixedly mounted on the rack connecting plate 415, and a limit plate 419 is fixedly connected with the lower end of the spring support rod 416, the connecting rod driven shaft 420 is rotatably installed on the connecting rod driven shaft 418, the driving connecting rod 421 is rotatably installed on the connecting rod driven shaft 420, two sets of auxiliary rod shaft connecting plates 422 are respectively and fixedly installed on the left side and the right side of the middle of the connecting plate 402, the auxiliary rod driven shaft 423 is rotatably installed on the two sets of auxiliary rod shaft connecting plates 422, the connecting shaft 424 is rotatably installed in a lower shaft hole of the driving connecting rod 421, a middle shaft hole of the auxiliary rod 425 is rotatably installed on the auxiliary rod driven shaft 423, a lower shaft hole of the auxiliary rod 425 is rotatably installed on the connecting shaft 424, the auxiliary rod 425 and the driving connecting rod 421 form a connecting rod fit, the auxiliary rod 425 is driven to perform connecting rod movement through the driving connecting rod 421 when the driven rack 414 moves, the claw disk connecting shaft 426 is rotatably installed in an upper shaft hole of the auxiliary rod 425, and the claw disk 427 is rotatably installed on the claw disk connecting shaft 426.

The belt 307 forms a belt drive engagement with the drive pulley 304 and the driven pulley 306. The right driven spur gear 310 is in gear engagement with the driven spur gear 308. The connection slider 413 is in sliding fit with the shaft support plate 406.