CN105684997A - Trepang catching robot based on propeller driving - Google Patents
Trepang catching robot based on propeller driving Download PDFInfo
- Publication number
- CN105684997A CN105684997A CN201610079028.8A CN201610079028A CN105684997A CN 105684997 A CN105684997 A CN 105684997A CN 201610079028 A CN201610079028 A CN 201610079028A CN 105684997 A CN105684997 A CN 105684997A
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- Prior art keywords
- paw
- propeller
- stichopus japonicus
- electric rotating
- rotating machine
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K80/00—Harvesting oysters, mussels, sponges or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
- B63C7/16—Apparatus engaging vessels or objects
- B63C7/20—Apparatus engaging vessels or objects using grabs
Abstract
The invention discloses a trepang catching robot based on propeller driving and belongs to the field of marine fishing equipment. The trepang catching robot is composed of a tow, an upper cover, air bags, a shell, a propeller rotating motor, a propeller, a lower port, an inner assembly and outer-engine CCDs. The trepang catching robot is characterized in that the upper cover is installed at the upper end of the shell, and the tow is located in the middle of the upper portion of the robot and connected with components in an engine, penetrates out of a middle hole in the upper cover and upwards extends to an operation platform on board; the eight air bags are installed on the eight corners of the exterior of the shell, the propeller rotating motor is installed in the middle of the outer surface of the shell, the propeller is installed on an output flange of the propeller rotating motor, the four outer-engine CCDs are installed in the middle of the lower ends of the four faces of the shell, the lower port is formed in the lower portion of the shell, and the inner assembly is installed in the shell and provided with a plurality of motors, a conveyor belt, paws and the like. The trepang catching robot can achieve auxiliary underwater trepang catching.
Description
Technical field
The present invention relates to a kind of Stichopus japonicus driven based on propeller and fish for robot, specifically have employed propeller to drive, carry out a kind of submersible equipment fishing for Stichopus japonicus of position detection and the multiple degrees of freedom Stichopus japonicus catching robot that adopts multiple motor to constitute with machine vision, belong to marine fishing apparatus field。
Background technology
Stichopus japonicus, belongs to Holothuroidea (Holothuroidea), is the ocean echinoderm living in seashore to 8000 meters, and from the history of existing more than 600,000,000 year of the present, Stichopus japonicus is with seabed algae and plankton for food。Stichopus japonicus whole body covers with clavus, is widely distributed in each ocean, the world。China's Coastline of South China Sea kind is more, and there are about more than 20 kind Stichopus japonicuss can be edible, and the same Radix Ginseng of Stichopus japonicus, Nidus collocaliae, Fin Mustetus manazo are equally celebrated for their achievements, are one of big treasures in the world eight。Stichopus japonicus is not only the food of preciousness, is also famous and precious medical material。Recording according in supplementary Amplifications of the Compendium of Materia Medica: Stichopus japonicus, sweet-salty, the kidney invigorating, benefit marrow, take the photograph urine, flaccidity, its benefit warm in nature, foot enemy's ginseng, therefore named Stichopus japonicus are treated in tonifying YANG。Stichopus japonicus has raising memory, delays gonad old and feeble, it is prevented that arteriosclerosis and antitumor etc. act on。Along with Stichopus japonicus is worth the universal of knowledge, Stichopus japonicus progresses into common people's dining table。
At present, China Stichopus japonicus is many manually cultivates。The Stichopus japonicus of artificial cultivation is typically in the sea water of depth of water 1.5-15 rice, is divided into pond to support and sea is supported。It is shallower that the Stichopus japonicus depth of water is supported in pond, can be picked up by the method discharged water when results；And the results of the Stichopus japonicus that sea is supported are fished for mainly by manually going down。Due to Stichopus japonicus aestivation, therefore fishing for of Stichopus japonicus can only be catch in the spring to catch with the autumn, regardless of whether the spring catches or the autumn catches, now sea water is all terribly cold, and the health of the person of fishing for, in subzero, is caused great injury by the water temperature that even spring catches。Therefore, in Stichopus japonicus is fished for, in the urgent need to the equipment of a kind of automatization, alternative manually enter water and fish for, but lack this kind equipment at present。
Summary of the invention
For above-mentioned deficiency, the invention provides a kind of Stichopus japonicus driven based on propeller and fish for robot。
The present invention is achieved by the following technical solutions: a kind of Stichopus japonicus driven based on propeller fishes for robot, it is made up of towing cable, upper cover, air bag, housing, propeller electric rotating machine, propeller, lower port, internal assembly and the outer CCD of machine, it is characterized in that: upper cover is arranged on the upper end of housing, towing cable is positioned at the centre of robot upper part, connection machine inner part, and passed by the mesopore of upper cover, above it is extended down on ship operating platform；Eight air bags are arranged on eight angles of hull outside, propeller electric rotating machine is arranged on the centre outside housing, propeller is arranged on the output flange of propeller electric rotating machine, four outer CCD of machine are arranged on the centre of lower end, four faces of housing, lower port is arranged on the bottom of housing, and internal assembly is arranged on the inside of housing；
Described internal assembly is buckled by paw assembly, chassis, adjustment cylinder, Stichopus japonicus basket, sprocket support, sprocket wheel, conveyer belt, bag, Stichopus japonicus bag and sprocket motors form, buckle on four internal faces being fixed on Stichopus japonicus basket with pertusate Stichopus japonicus bag by bag, to hold the Stichopus japonicus fished for；Sprocket support and Stichopus japonicus basket are fixed together and nested type is arranged on the enclosure interior of robot；12 sprocket wheels are arranged on sprocket support, and sprocket wheel is provided with conveyer belt, and sprocket wheel drives by sprocket motors, and eight sprocket motors are arranged on sprocket support；Four regulate cylinder and are distributed on four angles of Stichopus japonicus basket, and are arranged on the top on chassis, and paw assembly is arranged on the lower section on chassis；
Described paw assembly is made up of plate-like electric rotating machine, paw rotation dish, transverse shifting tooth bar, guide rail, slide block, slide block upper plate, transverse gear, transverse mobile motor, paw electric rotating machine, paw support, guide rod, paw telescope motor, the flexible gear of paw, paw folding motor, paw clasp nut, finger link rod, paw CCD, finger and paw base, there is opening the front end of described paw support, rear end has mounting flange, inner side to have two support tooth bars；Described paw base is installed otic placode, link rod rotating shaft, motor installation otic placode, guide hole and folding motor flange by skeleton, link rod and is formed；The bottom of plate-like electric rotating machine is arranged on the bottom on the chassis of internal assembly, and the front end of plate-like electric rotating machine is provided with paw rotation dish, and plate-like electric rotating machine can drive paw rotation dish and the object rotation being arranged on paw rotation dish；Guide rails assembling is in the centre of paw rotation dish lower end, slide block is arranged on guide rail, the installed above of slide block has slide block upper plate, slide block upper plate is provided with transverse mobile motor, being provided with transverse gear on the output shaft of transverse mobile motor, transverse gear and transverse shifting tooth bar mesh together, and transverse shifting tooth bar is parallel to guide rails assembling on paw rotation dish, under the drive of transverse mobile motor, slide block and be arranged on the parts on slide block can along guide rail transverse shifting；The rear end of paw electric rotating machine is arranged on slide block upper plate, and paw support is arranged on the front end of paw electric rotating machine, and under the drive of paw electric rotating machine, paw support rotates；Paw internal stent is provided with two guide rods, paw base is arranged on guide rod by guide hole nesting, paw folding motor with leading screw output shaft is arranged on the folding motor flange of paw base, paw clasp nut is arranged on the leading screw of paw folding motor, finger link rod one end is arranged on paw clasp nut, one end of the other end and finger links together, the middle part of finger is arranged in the link rod rotating shaft of paw base, so under the action of paw folding motor, paw clasp nut is driven to move, finger link rod on paw clasp nut drives one end of finger, under the leverage being fulcrum with the link rod rotating shaft of paw base, paw realizes open and close movement；Two paw telescope motor are arranged on the motor installation otic placode of paw base, the flexible gear of paw is arranged on the output shaft of paw telescope motor, the flexible gear of paw is meshed with the support tooth bar on paw support, under the rotation of paw telescope motor, paw base is driven to move, it is achieved stretching out and retraction of paw；Two paw CCD are arranged on paw support, with the situation of spotter finger ends。
Described conveyer belt is made up of chain, isolated gate, cover bar and conveyer belt space, the both sides of conveyer belt are provided with chain, these chains and sprocket engagement transmission, conveyer belt is distributed at intervals isolated gate and conveyer belt gap, the opening direction of cover bar, towards the direction of motion of conveyer belt, is arranged on the inner side of conveyer belt。
Described adjustment cylinder is made up of cylinder mounting seat, nested type piston rod, spring, piston, cylinder body and valve, nested type piston rod is arranged in cylinder mounting seat, spring housing is contained on nested type piston rod, and piston is arranged on the top of nested type piston rod, in the inside of cylinder body；Valve is arranged on the upper end of cylinder body, and compression gas enters cylinder body by valve, promotes and moves outside piston, it is achieved the increasing of gas in cylinder body, nested type piston rod is nested type shortening under the impetus of piston；When the gas in cylinder body is discharged by valve, under the action of the spring, can promote and piston moves, it is achieved the minimizing of gas in cylinder body, thus regulating the buoyancy of water suffered by whole robot。There is gap the lower end of cylinder body, and water can enter into the bottom of piston。
Motor in described propeller electric rotating machine, sprocket motors, plate-like electric rotating machine, transverse mobile motor, paw electric rotating machine, paw telescope motor, paw folding motor and propeller is waterproof machine。
This invention have the beneficial effect that first, this is fished for robot and is connected with the operator on ship by towing cable, operator can pass through the situation of the outer CCD observer robot bottom of machine, and the movement of whole robot is controlled by the motion of propeller, when the mouth of propeller is both facing to the water surface, under the promotion of propeller, it is achieved the dive of robot；When the outlet of propeller is both facing to the bottom, it may be achieved the upper shifting of robot；When the propeller lateral rotation of robot opposite sides is to horizontal level, it may be achieved the transverse shifting of robot；When robot motion time, propeller towards, when also changing, posture changing and the curvilinear motion of robot being realized, thereby through the control to four propellers, it is achieved fish for robot attitude motion comprehensive, complete in water；
Eight air bags being arranged on hull outside play an important role in the work of robot, the buoyancy that on the one hand air bag produces can the weight of balanced robot, make the deadweight of robot be subject to buoyancy of water with it and offset, thus reducing the power of propeller driving；On the other hand, air bag is arranged on eight angles of housing, can effectively alleviate the collision of robot and other objects, it is achieved the purpose of protection robot；
The paw assembly of robot is under the effect of plate-like electric rotating machine, it may be achieved the rotation that paw assembly is overall；Under the drive of transverse mobile motor, it may be achieved paw is the motion of radial direction on paw rotation dish, these two motors achieve the polar coordinates type motion of paw position；Paw electric rotating machine achieves the own rotation of paw；Paw telescope motor achieves reach and the retraction of finger；Above-mentioned motor achieves the four-degree-of-freedom motion of paw。
The application that the structure of conveyer belt fishes for robot for Stichopus japonicus plays an important role, and the interval in isolated gate and conveyer belt space is arranged, when conveyer belt space moves to below paw, picks up Stichopus japonicus for finger and provides working place；When finger has picked up Stichopus japonicus, conveyer belt rotates, and isolated gate moves to the lower section of finger, and now finger regulates attitude when picking up Stichopus japonicus, Stichopus japonicus is put on isolated gate with the attitude being perpendicular to conveyer belt direction of advance, now conveyer belt, under the effect of conveyer belt cover bar, brings up Stichopus japonicus, when conveyer belt moves to Stichopus japonicus basket top with Stichopus japonicus, under gravity, Stichopus japonicus skids off cover bar, drops in Stichopus japonicus bag；When fishing for end, conveyer belt, make isolated gate be positioned at the lower section of paw; robot is shielded, and now conveyer belt space is positioned at the top of Stichopus japonicus basket just, when robot floats to the water surface; operator open upper cover, remove bag and buckle, and are taken out together with the Stichopus japonicus of the inside by Stichopus japonicus bag。
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of the present invention, in figure, and 1, towing cable, 2, upper cover, 3, air bag, 4, housing, 5, propeller electric rotating machine, 6, propeller, 7, lower port, 8, internal assembly, 9, the outer CCD of machine；
Accompanying drawing 2 is the structural representation of 8 internal assemblies, in figure, 81, paw assembly, 82, chassis, 83, regulate cylinder, 84, Stichopus japonicus basket, 85, sprocket support, 86, sprocket wheel, 87, conveyer belt, 88, bag buckle, 89, Stichopus japonicus bag, 810, sprocket motors；
Accompanying drawing 3 is the structural representation of 81 paw assemblies, in figure, and 811, plate-like electric rotating machine, 812, paw rotation dish；
Accompanying drawing 4 is another view of the structural representation of 81 paw assemblies, in figure, 811, plate-like electric rotating machine, 812, paw rotation dish, 813, transverse shifting tooth bar, 814, guide rail, 815, slide block, 816, slide block upper plate, 817, transverse gear, 818, transverse mobile motor, 819, paw electric rotating machine, 8110, paw support, 8111, guide rod, 8112, paw telescope motor, 8113, paw stretches gear, 8114, paw folding motor, 8115, paw clasp nut, 8116, finger link rod, 8117, paw CCD, 8118, hands refers to, 8119, paw base；
Accompanying drawing 5 is the structural representation of 8110 paw supports, in figure, and 81101 mounting flanges, 81102, support tooth bar；
Accompanying drawing 6 is the structural representation of 8119 paw bases, in figure, 81191, skeleton, 81192, link rod otic placode is installed, 81193, link rod rotating shaft, 81194, motor otic placode is installed, 81195, guide hole, 81196, folding motor flange；
Accompanying drawing 7 is the structural representation of 87 conveyer belts, in figure, and 871, chain, 872, isolated gate, 873, cover bar, 874, conveyer belt space；
Accompanying drawing 8 is the structural representation of 83 adjustment cylinders, in figure, and 831, cylinder mounting seat, 832, nested type piston rod, 833, spring, 834, piston, 835, cylinder body, 836, valve, wherein 835 cylinder bodies have carried out cutting。
Detailed description of the invention
A kind of Stichopus japonicus driven based on propeller fishes for robot, it is made up of towing cable 1, upper cover 2, air bag 3, housing 4, propeller electric rotating machine 5, propeller 6, lower port 7, internal assembly 8 and the outer CCD9 of machine, it is characterized in that: upper cover 2 is arranged on the upper end of housing 4, towing cable 1 is positioned at the centre of robot upper part, connection machine inner part, and passed by the mesopore of upper cover 2, above it is extended down on ship operating platform；Eight air bags 3 are arranged on eight angles outside housing 4, propeller electric rotating machine 5 is arranged on the centre outside housing 4, propeller 6 is arranged on the output flange of propeller electric rotating machine 5, four outer CCD9 of machine are arranged on the centre of lower end, 4 four faces of housing, lower port 7 is arranged on the bottom of housing 4, and internal assembly 8 is arranged on the inside of housing 4；
Described internal assembly 8 by paw assembly 81, chassis 82, regulate cylinder 83, Stichopus japonicus basket 84, sprocket support 85, sprocket wheel 86, conveyer belt 87, bag buckle 88, Stichopus japonicus bag 89 and sprocket motors 810 form, buckle 88 with pertusate Stichopus japonicus bag 89 by bag and be fixed on four internal faces of Stichopus japonicus basket 84, to hold the Stichopus japonicus fished for；Sprocket support 85 and Stichopus japonicus basket 84 are fixed together and nested type is arranged on inside the housing 4 of robot；12 sprocket wheels 86 are arranged on sprocket support 85, and sprocket wheel 86 is provided with conveyer belt 87, and sprocket wheel 86 drives by sprocket motors 810, and eight sprocket motors 810 are arranged on sprocket support 85；Four regulate cylinder 83 and are distributed on four angles of Stichopus japonicus basket 84, and are arranged on the top on chassis 82, and paw assembly 81 is arranged on the lower section on chassis 82；
Described paw assembly 81 is by plate-like electric rotating machine 811, paw rotation dish 812, transverse shifting tooth bar 813, guide rail 814, slide block 815, slide block upper plate 816, transverse gear 817, transverse mobile motor 818, paw electric rotating machine 819, paw support 8110, guide rod 8111, paw telescope motor 8112, paw stretches gear 8113, paw folding motor 8114, paw clasp nut 8115, finger link rod 8116, paw CCD8117, finger 8118 and paw base 8119 composition, there is opening the front end of described paw support 8110, there is mounting flange 81101 rear end, inner side has two support tooth bars 81102；Described paw base 8119 is installed otic placode 81192, link rod rotating shaft 81193, motor installation otic placode 81194, guide hole 81195 and folding motor flange 81196 by skeleton 81191, link rod and is formed；It is characterized in that: the bottom of plate-like electric rotating machine 811 is arranged on the bottom on the chassis 82 of internal assembly 8, the front end of plate-like electric rotating machine 811 is provided with paw rotation dish 812, and plate-like electric rotating machine 811 can drive paw rotation dish 812 and the object rotation being arranged on paw rotation dish 812；Guide rail 814 is arranged on the centre of paw rotation dish 812 lower end, slide block 815 is arranged on guide rail 814, the installed above of slide block 815 has slide block upper plate 816, slide block upper plate 816 is provided with transverse mobile motor 818, the output shaft of transverse mobile motor 818 is provided with transverse gear 817, transverse gear 817 and transverse shifting tooth bar 813 mesh together, transverse shifting tooth bar 813 is parallel to guide rail 814 and is arranged on paw rotation dish 812, under the drive of transverse mobile motor 818, slide block 815 and be arranged on the parts on slide block 815 can along guide rail 814 transverse shifting；The rear end of paw electric rotating machine 819 is arranged on slide block upper plate 816, and paw support 8110 is arranged on the front end of paw electric rotating machine 819, and under the drive of paw electric rotating machine 819, paw support 8110 rotates；Paw support 8110 is internally installed two guide rods 8111, paw base 8119 is arranged on guide rod 8111 by guide hole 81195 nesting, paw folding motor 8114 with leading screw output shaft is arranged on the folding motor flange 81196 of paw base 8119, paw clasp nut 8115 is arranged on the leading screw of paw folding motor 8114, finger link rod 8116 one end is arranged on paw clasp nut 8115, one end of the other end and finger 8118 links together, the middle part of finger 8118 is arranged in the link rod rotating shaft 81193 of paw base 8119, so under the action of paw folding motor 8114, paw clasp nut 8115 is driven to move, finger link rod 8116 on paw clasp nut 8115 drives one end of finger 8118, under the leverage being fulcrum with the link rod rotating shaft 81193 of paw base 8119, paw realizes open and close movement；Two paw telescope motor 8112 are arranged on the motor installation otic placode 81194 of paw base 8119, the flexible gear 8113 of paw is arranged on the output shaft of paw telescope motor 8112, the flexible gear 8113 of paw is meshed with the support tooth bar 81102 on paw support 8110, under the rotation of paw telescope motor 8112, paw base 8119 is driven to move, it is achieved stretching out and retraction of paw；Two paw CCD8117 are arranged on paw support 8119, to observe the situation of finger 8118 end。
Described conveyer belt 87 is made up of chain 871, isolated gate 872, cover bar 873 and conveyer belt space 874, the both sides of conveyer belt 87 are provided with chain 871, these chains 871 and sprocket wheel 86 engaged transmission, conveyer belt 87 is distributed at intervals isolated gate 872 and conveyer belt gap 874, the opening direction of cover bar 873, towards the direction of motion of conveyer belt 87, is arranged on the inner side of conveyer belt 87。
The described cylinder 83 that regulates is made up of cylinder mounting seat 831, nested type piston rod 832, spring 833, piston 834, cylinder body 835 and valve 836, nested type piston rod 832 is arranged in cylinder mounting seat 831, spring 833 is sleeved on nested type piston rod 832, piston 834 is arranged on the top of nested type piston rod 832, in the inside of cylinder body 835；Valve 836 is arranged on the upper end of cylinder body 835, and compression gas enters cylinder body 835 by valve 836, promotes that piston 834 is outer to be moved, it is achieved the increasing of gas in cylinder body 835, nested type piston rod 832 nested type under the impetus of piston 834 shortens；When the gas in cylinder body 835 is discharged by valve 836, under the effect of spring 833, can promote and piston 834 moves, it is achieved the tailing off of air in cylinder body 835, thus regulating the buoyancy of water suffered by whole robot。There is space the lower end of cylinder body 835, and water can enter into the bottom of piston 834。
Motor in described propeller electric rotating machine 5, sprocket motors 810, plate-like electric rotating machine 811, transverse mobile motor 818, paw electric rotating machine 819, paw telescope motor 8112, paw folding motor 8114 and propeller 6 is waterproof machine。
When this machine man-hour, remove robot lower port 7, open upper cover 2, remove bag and buckle 88, pertusate for band Stichopus japonicus bag 89 is placed in Stichopus japonicus basket 84, then install bag and buckle 88, cover upper cover 2。Robot is put in water, under the promotion of propeller 6, it is achieved robot motion in water, find, by the outer CCD9 of machine, the place having Stichopus japonicus simultaneously。When finding Stichopus japonicus, driven machine people sinks to above Stichopus japonicus, at this moment plate-like electric rotating machine 811 and transverse mobile motor 818 are controlled, mobile paw position, conveyer belt 87 moves, conveyer belt space 874 is made to be positioned at the lower section of paw, now drive paw telescope motor 8112, regulate the position of finger 8118, when finger 8118 is close to Stichopus japonicus, control paw folding motor 8114 and pick up Stichopus japonicus, then finger 8118 is retracted, conveyer belt 87 moves, isolated gate 872 is moved to below paw, now control paw electric rotating machine 819, control the direction of Stichopus japonicus, when Stichopus japonicus is vertical with conveyer belt 87 direction of motion, finger 8118 is opened, Stichopus japonicus is put on the isolated gate 872 of conveyer belt 87, now conveyer belt 87 moves, under the effect of cover bar 873, Stichopus japonicus is taken away。Finger 8118 next Stichopus japonicus of subsequent pick-up；When the cover bar 873 with Stichopus japonicus moves to the top of Stichopus japonicus basket 84, under gravity, Stichopus japonicus skids off cover bar 873, calls in Stichopus japonicus bag 89。When fishing for end, sprocket motors 810 drives conveyer belt 87 to move, and makes isolated gate 872 be positioned at the lower section of paw, robot is shielded, and now conveyer belt space 874 is positioned at the top of Stichopus japonicus basket 84 just。When robot floats to the water surface, operator open upper cover 2, remove bag and buckle 88, are taken out together with the Stichopus japonicus of the inside by Stichopus japonicus bag 89, complete a circulation fished for。The same day fish for end after, install robot lower port 7, to protect robot。
For the ordinary skill in the art, according to the teachings of the present invention, when without departing from principles of the invention with spirit, change, amendment, replacement and modification that embodiment is carried out still fall within protection scope of the present invention。
Claims (5)
1. the Stichopus japonicus driven based on propeller fishes for robot, it is made up of towing cable, upper cover, air bag, housing, propeller electric rotating machine, propeller, lower port, internal assembly and the outer CCD of machine, it is characterized in that: upper cover is arranged on the upper end of housing, towing cable is positioned at the centre of robot upper part, connection machine inner part, and passed by the mesopore of upper cover, above it is extended down on ship operating platform；Eight air bags are arranged on eight angles of hull outside, propeller electric rotating machine is arranged on the centre outside housing, propeller is arranged on the output flange of propeller electric rotating machine, four outer CCD of machine are arranged on the centre of lower end, four faces of housing, lower port is arranged on the bottom of housing, and internal assembly is arranged on the inside of housing；Described internal assembly is buckled by paw assembly, chassis, adjustment cylinder, Stichopus japonicus basket, sprocket support, sprocket wheel, conveyer belt, bag, Stichopus japonicus bag and sprocket motors form, buckle on four internal faces being fixed on Stichopus japonicus basket with pertusate Stichopus japonicus bag by bag, to hold the Stichopus japonicus fished for；Sprocket support and Stichopus japonicus basket are fixed together and nested type is arranged on the enclosure interior of robot；12 sprocket wheels are arranged on sprocket support, and sprocket wheel is provided with conveyer belt, and sprocket wheel drives by sprocket motors, and eight sprocket motors are arranged on sprocket support；Four regulate cylinder and are distributed on four angles of Stichopus japonicus basket, and are arranged on the top on chassis, and paw assembly is arranged on the lower section on chassis。
2. a kind of Stichopus japonicus driven based on propeller fishes for robot as claimed in claim 1, it is characterized in that: paw assembly is by plate-like electric rotating machine, paw rotation dish, transverse shifting tooth bar, guide rail, slide block, slide block upper plate, transverse gear, transverse mobile motor, paw electric rotating machine, paw support, guide rod, paw telescope motor, paw stretches gear, paw folding motor, paw clasp nut, finger link rod, paw CCD, finger and paw base composition, there is opening the front end of described paw support, there is mounting flange rear end, inner side has two support tooth bars；Described paw base is installed otic placode, link rod rotating shaft, motor installation otic placode, guide hole and folding motor flange by skeleton, link rod and is formed；
The bottom of plate-like electric rotating machine is arranged on the bottom on the chassis of internal assembly, and the front end of plate-like electric rotating machine is provided with paw rotation dish, and plate-like electric rotating machine can drive paw rotation dish and the object rotation being arranged on paw rotation dish；Guide rails assembling is in the centre of paw rotation dish lower end, slide block is arranged on guide rail, the installed above of slide block has slide block upper plate, slide block upper plate is provided with transverse mobile motor, being provided with transverse gear on the output shaft of transverse mobile motor, transverse gear and transverse shifting tooth bar mesh together, and transverse shifting tooth bar is parallel to guide rails assembling on paw rotation dish, under the drive of transverse mobile motor, slide block and be arranged on the parts on slide block can along guide rail transverse shifting；The rear end of paw electric rotating machine is arranged on slide block upper plate, and paw support is arranged on the front end of paw electric rotating machine, and under the drive of paw electric rotating machine, paw support rotates；Paw internal stent is provided with two guide rods, paw base is arranged on guide rod by guide hole nesting, paw folding motor with leading screw output shaft is arranged on the folding motor flange of paw base, paw clasp nut is arranged on the leading screw of paw folding motor, finger link rod one end is arranged on paw clasp nut, one end of the other end and finger links together, the middle part of finger is arranged in the link rod rotating shaft of paw base, so under the action of paw folding motor, paw clasp nut is driven to move, finger link rod on paw clasp nut drives one end of finger, under the leverage being fulcrum with the link rod rotating shaft of paw base, paw realizes open and close movement；Two paw telescope motor are arranged on the motor installation otic placode of paw base, the flexible gear of paw is arranged on the output shaft of paw telescope motor, the flexible gear of paw is meshed with the support tooth bar on paw support, under the rotation of paw telescope motor, paw base is driven to move, it is achieved stretching out and retraction of paw；Two paw CCD are arranged on paw support, with the situation of spotter finger ends。
3. a kind of Stichopus japonicus driven based on propeller fishes for robot as claimed in claim 1, it is characterized in that: described conveyer belt is made up of chain, isolated gate, cover bar and conveyer belt space, the both sides of conveyer belt are provided with chain, these chains and sprocket engagement transmission, conveyer belt is distributed at intervals isolated gate and conveyer belt gap, the opening of cover bar, towards the direction of motion of conveyer belt, is arranged on the inner side of conveyer belt。
4. a kind of Stichopus japonicus driven based on propeller fishes for robot as claimed in claim 1, it is characterized in that: described adjustment cylinder is made up of cylinder mounting seat, nested type piston rod, spring, piston, cylinder body and valve, nested type piston rod is arranged in cylinder mounting seat, spring housing is contained on nested type piston rod, piston is arranged on the top of nested type piston rod, in the inside of cylinder body；Valve is arranged on the upper end of cylinder body, and compression gas enters cylinder body by valve, promotes and moves outside piston, it is achieved the increasing of gas in cylinder body, nested type piston rod is nested type shortening under the impetus of piston；When the gas in cylinder body is discharged by valve, under the action of the spring, can promote and piston moves, it is achieved the minimizing of gas in cylinder body, thus regulating the buoyancy of water suffered by whole robot, there is gap the lower end of cylinder body, and water can enter into the bottom of piston。
5. a kind of Stichopus japonicus driven based on propeller fishes for robot as claimed in claim 2 or claim 3, it is characterised in that: the motor in described propeller electric rotating machine, sprocket motors, plate-like electric rotating machine, transverse mobile motor, paw electric rotating machine, paw telescope motor, paw folding motor and propeller is waterproof machine。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610079028.8A CN105684997B (en) | 2016-02-04 | 2016-02-04 | A kind of Stichopus japonicus driven based on propeller fishes for robot |
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| CN201610079028.8A CN105684997B (en) | 2016-02-04 | 2016-02-04 | A kind of Stichopus japonicus driven based on propeller fishes for robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107897137A (en) * | 2017-11-24 | 2018-04-13 | 哈尔滨工业大学 | A kind of open-shelf comprehensive sea cucumber fishing robot |
| CN110978919A (en) * | 2019-12-18 | 2020-04-10 | 张继威 | Crawler-type marine organism fishing robot |
| CN113100185A (en) * | 2021-04-28 | 2021-07-13 | 山东理工大学 | Sea cucumber fishing device |
| CN114291230A (en) * | 2022-01-10 | 2022-04-08 | 房江湖(山东)科技集团有限公司 | Remote control underwater fishing robot |
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| GB2023234A (en) * | 1978-05-19 | 1979-12-28 | Osel Mantis Ltd | An underwater manipulator arm system |
| US4648782A (en) * | 1983-05-27 | 1987-03-10 | Kraft Brett W | Underwater manipulator system |
| CN203652095U (en) * | 2013-12-25 | 2014-06-18 | 浙江海洋学院 | Novel multifunctional underwater robot |
| CN203692234U (en) * | 2014-01-08 | 2014-07-09 | 武汉船舶设计研究所 | Trepang fishing submersible device |
| WO2015134391A1 (en) * | 2014-03-03 | 2015-09-11 | University Of Washington | Haptic virtual fixture tools |
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- 2016-02-04 CN CN201610079028.8A patent/CN105684997B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2023234A (en) * | 1978-05-19 | 1979-12-28 | Osel Mantis Ltd | An underwater manipulator arm system |
| US4648782A (en) * | 1983-05-27 | 1987-03-10 | Kraft Brett W | Underwater manipulator system |
| CN203652095U (en) * | 2013-12-25 | 2014-06-18 | 浙江海洋学院 | Novel multifunctional underwater robot |
| CN203692234U (en) * | 2014-01-08 | 2014-07-09 | 武汉船舶设计研究所 | Trepang fishing submersible device |
| WO2015134391A1 (en) * | 2014-03-03 | 2015-09-11 | University Of Washington | Haptic virtual fixture tools |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107897137A (en) * | 2017-11-24 | 2018-04-13 | 哈尔滨工业大学 | A kind of open-shelf comprehensive sea cucumber fishing robot |
| CN110978919A (en) * | 2019-12-18 | 2020-04-10 | 张继威 | Crawler-type marine organism fishing robot |
| CN110978919B (en) * | 2019-12-18 | 2023-07-14 | 威海多鱼海洋科技有限公司 | Crawler-type marine organism fishing robot |
| CN113100185A (en) * | 2021-04-28 | 2021-07-13 | 山东理工大学 | Sea cucumber fishing device |
| CN114291230A (en) * | 2022-01-10 | 2022-04-08 | 房江湖(山东)科技集团有限公司 | Remote control underwater fishing robot |
| CN114291230B (en) * | 2022-01-10 | 2024-04-09 | 通华大数据科技(烟台)有限公司 | Remotely controlled underwater salvaging robot |
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| CN105684997B (en) | 2016-10-12 |
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