CN105684997B - A kind of Stichopus japonicus driven based on propeller fishes for robot - Google Patents
A kind of Stichopus japonicus driven based on propeller fishes for robot Download PDFInfo
- Publication number
- CN105684997B CN105684997B CN201610079028.8A CN201610079028A CN105684997B CN 105684997 B CN105684997 B CN 105684997B CN 201610079028 A CN201610079028 A CN 201610079028A CN 105684997 B CN105684997 B CN 105684997B
- Authority
- CN
- China
- Prior art keywords
- paw
- stichopus japonicus
- propeller
- electric rotating
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- 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
-
- 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
A kind of Stichopus japonicus driven based on propeller fishes for robot, belongs to marine fishing apparatus field.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 to operating platform on ship；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；Internal assembly is provided with multiple motor, conveyer belt and paw etc., and this invention can realize the auxiliary of Stichopus japonicus under water and fish for.
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 and drive, band
Having machine vision to carry out, the one of position detection and the multiple degrees of freedom Stichopus japonicus catching robot that uses multiple motor to constitute is submersible catches
Drag for the equipment of Stichopus japonicus, belong to marine fishing apparatus field.
Background technology
Stichopus japonicus, belongs to Holothuroidea (Holothuroidea), is the ocean echinoderm living in seashore to 8000 meters, existing away from the present
The history of more than 600000000 year, 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
In.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,
It it is one of big treasure in the world eight.Stichopus japonicus is not only the food of preciousness, is also famous and precious medical material.Remember according in supplementary Amplifications of the Compendium of Materia Medica
Carrying: 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, prevents arteriosclerosis and antitumor etc. from acting on.Along with Stichopus japonicus is worth knowledge
Universal, Stichopus japonicus progresses into common people's dining table.
At present, China Stichopus japonicus is many manually cultivates.The Stichopus japonicus of artificial cultivation typically, in the sea water of depth of water 1.5-15 rice, is divided into pond
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 master of the Stichopus japonicus that sea is supported
Manually to go down to fish for.Due to Stichopus japonicus aestivation, therefore fishing for of Stichopus japonicus can only be to catch in the spring to catch with the autumn, regardless of whether the spring catches or the autumn
Catching, now sea water is the most terribly cold, and the health of the person of fishing for, in subzero, is caused injury greatly by the water temperature that even spring catches.Therefore,
Fish for aspect Stichopus japonicus, in the urgent need to the equipment of a kind of automatization, alternative manually enter water and fish for, but lack such at present and set
Standby.
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 based on propeller drive Stichopus japonicus fish for robot, be by towing cable,
Upper cover, air bag, housing, propeller electric rotating machine, propeller, lower port, internal assembly and machine outer CCD composition, it is special
Levying and be: upper cover is arranged on the upper end of housing, towing cable is positioned at the centre of robot upper part, connects machine inner part, and passes through upper cover
Mesopore pass, be above extended down to operating platform on ship；Eight air bags are arranged on eight angles of hull outside, propeller electric rotating machine
Being arranged on the centre outside housing, propeller is arranged on the output flange of propeller electric rotating machine, and 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 by paw assembly, chassis, regulation cylinder, Stichopus japonicus basket, sprocket support, sprocket wheel, conveyer belt, bag
Button, Stichopus japonicus bag and sprocket motors composition, buckle on four internal faces being fixed on Stichopus japonicus basket with pertusate Stichopus japonicus bag by bag, with
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 wheel is 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
On sprocket support；Four regulation cylinders are distributed on four angles of Stichopus japonicus basket, and are arranged on the top on chassis, and paw assembly is installed
Lower section on chassis；
Described paw assembly is by plate-like electric rotating machine, paw rotating disk, transverse shifting tooth bar, guide rail, slide block, slide block
Plate, transverse gear, transverse mobile motor, paw electric rotating machine, paw support, guide rod, paw telescope motor, paw are flexible
Gear, paw folding motor, paw clasp nut, finger link rod, paw CCD, finger and paw base composition, described
The front end of paw support have opening, rear end to have mounting flange, inner side to have two support tooth bars；Described paw base be by
Skeleton, link rod install otic placode, link rod rotating shaft, motor installation otic placode, guide hole and folding motor flange composition；Plate-like electric rotating
The bottom of 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 rotating disk, and plate-like rotates
Motor can drive paw rotating disk and the object rotation being arranged in paw rotating disk；Guide rails assembling is in paw rotating disk lower end
Between, slide block is arranged on guide rail, and the installed above of slide block has slide block upper plate, and slide block upper plate is provided with transverse mobile motor, horizontal
Being provided with transverse gear on the output shaft of mobile motor, transverse gear meshes together with transverse shifting tooth bar, transverse shifting tooth
Bar is parallel to guide rails assembling in paw rotating disk, under the drive of transverse mobile motor, and slide block and the parts being arranged on slide block
Can be 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 paw electric rotating machine
Front end, under the drive of paw electric rotating machine paw support rotate；Paw internal stent is provided with two guide rods, paw base
It is arranged on guide rod by guide hole nesting, is arranged on the folding motor method of paw base with the paw folding motor of leading screw output shaft
Lan Shang, paw clasp nut is arranged on the leading screw of paw folding motor, and finger link rod one end is arranged on paw clasp nut,
The other end links together with one end of finger, and the middle part of finger is arranged in the link rod rotating shaft of paw base, so at hands
Under the action of pawl folding motor, driving paw clasp nut to move, the finger link rod on paw clasp nut drives one end of finger,
Under the leverage with the link rod rotating shaft of paw base as fulcrum, finger realizes open and close movement；Two paw telescope motor are installed
Motor at paw base is installed on otic placode, and the paw gear that stretches is arranged on the output shaft of paw telescope motor, paw expansion teeth
Wheel is meshed with the support tooth bar on paw support, under the rotation of paw telescope motor, drives paw base to move, it is achieved hands
Refer to stretches out and retracts；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, and the both sides of conveyer belt are provided with chain,
These chains and sprocket engagement transmission, conveyer belt is distributed isolated gate and conveyer belt gap at intervals, the opening direction court of cover bar
To the direction of motion of conveyer belt, it is arranged on the inner side of conveyer belt.
Described regulation 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, and spring housing is contained on nested type piston rod, and piston is arranged on nested type piston
The top of bar, in the inside of cylinder body；Valve is arranged on the upper end of cylinder body, and compressed gas enters cylinder body by valve, promotes piston
Outer shifting, it is achieved the increasing of gas in cylinder body, nested type piston rod nested type under the impetus of piston shortens；When in cylinder body
When gas is discharged by valve, under the action of the spring, can promote and move on piston, it is achieved the minimizing of gas in cylinder body, thus adjust
Save 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.
Described propeller electric rotating machine, sprocket motors, plate-like electric rotating machine, transverse mobile motor, paw electric rotating machine, hands
Motor in pawl 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, and operator can
By the situation of the outer CCD observer robot bottom of machine, and controlled the movement of whole robot by the motion of propeller, work as spiral shell
When the mouth of rotation oar 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 water
During the end, the upper shifting of robot can be realized；When the propeller lateral rotation of robot opposite sides is to horizontal level, machine can be realized
The transverse shifting of device people；When robot motion time, propeller towards when also changing, the attitude of robot can be realized
Conversion and curvilinear motion, thus by the control to four propellers, it is achieved fish for robot attitude comprehensive, complete in water
Motion；
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 offseted by buoyancy of water with it, thus reduce what propeller drove
Power；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, under the effect of plate-like electric rotating machine, can realize the rotation that paw assembly is overall；At transverse shifting
Under the drive of motor, can realize paw motion in paw rotating disk radially, these two motors achieve the pole of paw position and sit
Mark formula is moved；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, isolated gate and the interval in conveyer belt space
Arrange, when conveyer belt space moves to below paw, provide working place for finger pickup Stichopus japonicus；When finger has picked up sea
During ginseng, conveyer belt rotates, and isolated gate moves to the lower section of finger, and attitude during now finger regulation pickup Stichopus japonicus, by Stichopus japonicus
Put on isolated gate being perpendicular to the attitude of conveyer belt direction of advance, now conveyer belt, under the effect of conveyer belt cover bar,
Being brought up by Stichopus japonicus, when conveyer belt moves to Stichopus japonicus basket top with Stichopus japonicus, under gravity, Stichopus japonicus skids off cover bar,
Drop in Stichopus japonicus bag；At the end of fishing for, conveyer belt, make isolated gate be positioned at the lower section of paw, robot is played protection
Effect, 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 to buckle, Stichopus japonicus bag is taken out together with the Stichopus japonicus of the inside.
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, spiral shell
Rotation oar 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, and 81, paw assembly, 82, chassis, 83, regulation cylinder,
84, Stichopus japonicus basket, 85, sprocket support, 86, sprocket wheel, 87, conveyer belt, 88, bag buckle, 89, Stichopus japonicus bag, 810, sprocket wheel electricity
Machine；
Accompanying drawing 3 is the structural representation of 81 paw assemblies, in figure, and 811, plate-like electric rotating machine, 812, paw rotating disk；
Accompanying drawing 4 is another view of the structural representation of 81 paw assemblies, in figure, 811, plate-like electric rotating machine, 812,
Paw rotating disk, 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 stretches
Motor, 8113, paw stretch gear, 8114, paw folding motor, 8115, paw clasp nut, 8116, finger link rod,
8117, paw CCD, 8118, finger, 8119, paw base；
Accompanying drawing 5 is the structural representation of 8110 paw supports, in figure, 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, 871, chain, 872, isolated gate, 873, cover bar, 874,
Conveyer belt space；
Accompanying drawing 8 is the structural representation of 83 regulation 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, is by 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 machine outer CCD9 composition, it is characterised in that: upper cover 2 is pacified
Being contained in the upper end of housing 4, towing cable 1 is positioned at the centre of robot upper part, connects machine inner part, and is worn by the mesopore of upper cover 2
Go out, be above extended down to operating platform on ship；Eight air bags 3 are arranged on eight angles outside housing 4, and propeller electric rotating machine 5 is pacified
Being contained in the centre outside housing 4, propeller 6 is arranged on the output flange of propeller electric rotating machine 5, four outer CCD9 of machine
Being 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 housing 4
Inside；
Described internal assembly 8 is by paw assembly 81, chassis 82, regulation cylinder 83, Stichopus japonicus basket 84, sprocket support 85, chain
Wheel 86, conveyer belt 87, bag buckle 88, Stichopus japonicus bag 89 and sprocket motors 810 composition, carry pertusate Stichopus japonicus bag 89 by bag
Button 88 is fixed on four internal faces of Stichopus japonicus basket 84, to hold the Stichopus japonicus fished for；Sprocket support 85 is fixed with Stichopus japonicus basket 84
Also nested type is arranged on housing 4 inside of robot together；12 sprocket wheels 86 are arranged on sprocket support 85, sprocket wheel 86
On conveyer belt 87 is installed, sprocket wheel 86 drives by sprocket motors 810, and eight sprocket motors 810 are arranged on sprocket support 85；
Four regulation cylinders 83 are distributed on four angles of Stichopus japonicus basket 84, and are arranged on the top on chassis 82, and paw assembly 81 is installed
Lower section on chassis 82；
Described paw assembly 81 is by plate-like electric rotating machine 811, paw rotating disk 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 stretch gear 8113, paw folding motor 8114, paw
Clasp nut 8115, finger link rod 8116, paw CCD8117, finger 8118 and paw base 8119 composition, described
The front end of paw support 8110 has opening, rear end to have mounting flange 81101, and inner side has two support tooth bars 81102；Institute
State paw base 8119 be by skeleton 81191, link rod install otic placode 81192, link rod rotating shaft 81193, motor install otic placode 81194,
Guide hole 81195 and folding motor flange 81196 form；It is characterized in that: in the bottom of plate-like electric rotating machine 811 is arranged on
The bottom on the chassis 82 of portion's assembly 8, the front end of plate-like electric rotating machine 811 is provided with paw rotating disk 812, plate-like electric rotating machine
811 can drive paw rotating disk 812 and the object rotation being arranged in paw rotating disk 812；Guide rail 814 is arranged on paw rotation
The centre of rotating disk 812 lower end, slide block 815 is arranged on guide rail 814, and the installed above of slide block 815 has slide block upper plate 816,
Transverse mobile motor 818 is installed on slide block upper plate 816, the output shaft of transverse mobile motor 818 is provided with transverse gear 817,
Transverse gear 817 meshes together with transverse shifting tooth bar 813, and transverse shifting tooth bar 813 is parallel to guide rail 814 and is arranged on hands
In pawl rotating disk 812, under the drive of transverse mobile motor 818, slide block 815 and be arranged on the parts on slide block 815 can edge
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, under the drive of paw electric rotating machine 819, paw support 8110 rotates；Paw support 8110
Internally installed have two guide rods 8111, and paw base 8119 is arranged on guide rod 8111 by guide hole 81195 nesting, with silk
The paw folding motor 8114 of thick stick output shaft is arranged on the folding motor flange 81196 of paw base 8119, paw folding spiral shell
Female 8115 are arranged on the leading screw of paw folding motor 8114, and finger link rod 8116 one end is arranged on paw clasp nut 8115
On, the other end links together with one end of finger 8118, and the middle part of finger 8118 is arranged on the connection of paw base 8119
In bar rotating shaft 81193, so under the action of paw folding motor 8114, paw clasp nut 8115 is driven to move, paw
Finger link rod 8116 on clasp nut 8115 drives one end of finger 8118, in the link rod rotating shaft 81193 with paw base 8119
For under the leverage of fulcrum, finger realizes open and close movement；Two paw telescope motor 8112 are arranged on paw base 8119
Motor is installed on otic placode 81194, and the paw gear 8113 that stretches is arranged on the output shaft of paw telescope motor 8112, and paw is stretched
Contracting gear 8113 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 finger；Two paw CCD8117 are arranged on paw support 8119
On, 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, transmits
Both sides with 87 are provided with chain 871, and 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 transmission
With the inner side of 87.
Described regulation cylinder 83 be by cylinder mounting seat 831, nested type piston rod 832, spring 833, piston 834,
Cylinder body 835 and valve 836 form, and nested type piston rod 832 is arranged in cylinder mounting seat 831, and spring 833 is set with
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；Gas
Mouth 836 is arranged on the upper end of cylinder body 835, and compressed gas enters cylinder body 835 by valve 836, promotes the outer shifting of piston 834,
Realizing increasing of gas in cylinder body 835, nested type piston rod 832 nested type under the impetus of piston 834 shortens；Work as cylinder
When gas in body 835 is discharged by valve 836, under the effect of spring 833, can promote and move on piston 834, it is achieved cylinder
The tailing off of air in body 835, thus regulate the buoyancy of water suffered by whole robot.There are space, water in the lower end of cylinder body 835
The bottom of piston 834 can be entered into.
Described propeller electric rotating machine 5, sprocket motors 810, plate-like electric rotating machine 811, transverse mobile motor 818, paw
Motor in 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 sea will be carried
Ginseng bag 89 is placed in Stichopus japonicus basket 84, then installs bag and buckles 88, covers upper cover 2.Robot is put in water, at spiral
Under the promotion of oar 6, it is achieved robot motion in water, found by the outer CCD9 of machine simultaneously and have the place of Stichopus japonicus.Work as discovery
During Stichopus japonicus, driven machine people sinks to above Stichopus japonicus, at this moment controls plate-like electric rotating machine 811 and transverse mobile motor 818,
Mobile paw position, conveyer belt 87 moves, and makes conveyer belt space 874 be positioned at the lower section of paw, now drives paw telescope motor
8112, the position of regulation finger 8118, when finger 8118 is close to Stichopus japonicus, controls paw folding motor 8114 and pick up Stichopus japonicus,
Then finger 8118 is retracted, and conveyer belt 87 moves, and moves to below paw by isolated gate 872, now controls paw electric rotating
Machine 819, controls the direction of Stichopus japonicus, and when Stichopus japonicus is vertical with conveyer belt 87 direction of motion, finger 8118 is opened, and is put into by Stichopus japonicus
On the isolated gate 872 of conveyer belt 87, now conveyer belt 87 moves, and under the effect of cover bar 873, is taken away by Stichopus japonicus.Hands
Refer to next Stichopus japonicus of 8118 subsequent pick-ups；When the cover bar 873 with Stichopus japonicus moves to the top of Stichopus japonicus basket 84, at gravity
Under effect, Stichopus japonicus skids off cover bar 873, calls in Stichopus japonicus bag 89.At the end of fishing for, sprocket motors 810 drives conveyer belt
87 motions, make isolated gate 872 be positioned at the lower section of paw, shield robot, and now lucky conveyer belt space 874
It is positioned at the top of Stichopus japonicus basket 84.When robot floats to the water surface, and operator open upper cover 2, remove bag and buckle 88, by Stichopus japonicus bag
89 take out together with the Stichopus japonicus of the inside, complete a circulation fished for.The same day fish for end after, install robot lower end
Mouth 7, to protect robot.
For the ordinary skill in the art, according to the teachings of the present invention, without departing from the principle of the present invention and spirit
In the case of, change that embodiment is carried out, revise, replace and within modification still falls within protection scope of the present invention.
Claims (5)
1. based on propeller drive Stichopus japonicus fish for a robot, be by towing cable, upper cover, air bag, housing, propeller electric rotating machine,
Propeller, lower port, internal assembly and machine outer CCD composition, it is characterised in that: upper cover is arranged on the upper end of housing,
Towing cable is positioned at the centre of robot upper part, connects machine inner part, and is passed by the mesopore of upper cover, is above extended down on ship operation flat
Platform；Eight air bags are arranged on eight angles of hull outside, and propeller electric rotating machine is arranged on the centre outside housing, spiral
Oar is arranged on the output flange of propeller electric rotating machine, and 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 by paw assembly, the end
Dish, regulation cylinder, Stichopus japonicus basket, sprocket support, sprocket wheel, conveyer belt, bag are buckled, Stichopus japonicus bag and sprocket motors composition, band
Pertusate Stichopus japonicus bag is buckled on four internal faces being fixed on Stichopus japonicus basket, to hold the Stichopus japonicus fished for by bag；Sprocket support and sea
Ginseng basket is fixed together and nested type is arranged on the enclosure interior of robot；12 sprocket wheels are arranged on sprocket support, sprocket wheel
On conveyer belt is installed, sprocket wheel by sprocket motors drive, eight sprocket motors are arranged on sprocket support；Four regulation cylinders
Being distributed on four angles of Stichopus japonicus basket, and be arranged on the top on chassis, paw assembly is arranged on the lower section on chassis.
A kind of Stichopus japonicus driven based on propeller fishes for robot, it is characterised in that: paw assembly is by dish
Shape electric rotating machine, paw rotating disk, transverse shifting tooth bar, guide rail, slide block, slide block upper plate, transverse gear, transverse shifting
Motor, paw electric rotating machine, paw support, guide rod, paw telescope motor, paw stretch gear, paw folding motor,
Paw clasp nut, finger link rod, paw CCD, finger and paw base composition, the front end of described paw support
Opening, rear end is had to have mounting flange, inner side to have two support tooth bars；Described paw base is to be installed by skeleton, link rod
Otic placode, link rod rotating shaft, motor install otic placode, guide hole and folding motor flange composition；
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 hands
Pawl rotating disk, plate-like electric rotating machine can drive paw rotating disk and the object rotation being arranged in paw rotating disk；Guide rails assembling
In the centre of paw rotating disk lower end, slide block is arranged on guide rail, and the installed above of slide block has slide block upper plate, on slide block upper plate
Transverse mobile motor is installed, the output shaft of transverse mobile motor is provided with transverse gear, transverse gear and transverse shifting tooth
Bar meshes together, and transverse shifting tooth bar is parallel to guide rails assembling in paw rotating disk, under the drive of transverse mobile motor,
Slide block and the parts being arranged on slide block can be along guide rail transverse shiftings；The rear end of paw electric rotating machine is arranged on slide block upper plate,
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 support
Internally installed have two guide rods, and paw base is arranged on guide rod by guide hole nesting, with the paw folding of leading screw output shaft
Motor is arranged on the folding motor flange of paw base, and paw clasp nut is arranged on the leading screw of paw folding motor, hands
Referring to that link rod one end is arranged on paw clasp nut, the other end links together with one end of finger, the middle part peace of finger
It is contained in the link rod rotating shaft of paw base, so under the action of paw folding motor, drives paw clasp nut to move, hands
Finger link rod on pawl clasp nut drives one end of finger, in the leverage with the link rod rotating shaft of paw base as fulcrum
Under, finger realizes open and close movement；Two paw telescope motor are arranged on the motor installation otic placode of paw base, and paw stretches
Gear is arranged on the output shaft of paw telescope motor, and the paw gear that stretches 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 finger；Two paw CCD peaces
It is contained on paw support, with the situation of spotter finger ends.
A kind of Stichopus japonicus driven based on propeller fishes for robot, it is characterised in that: described conveyer belt is
Being 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 chain
Wheel engaged transmission, conveyer belt is distributed isolated gate and conveyer belt gap at intervals, and the opening of cover bar is towards the motion of conveyer belt
Direction, is arranged on the inner side of conveyer belt.
A kind of Stichopus japonicus driven based on propeller fishes for robot, it is characterised in that: described regulation gas
Cylinder is made up of cylinder mounting seat, nested type piston rod, spring, piston, cylinder body and valve, and nested type piston rod is pacified
Being contained 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,
The inside of cylinder body；Valve is arranged on the upper end of cylinder body, and compressed 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 nested type under the impetus of piston shortens；When the gas in cylinder body passes through
When valve is discharged, under the action of the spring, can promote and move on piston, it is achieved the minimizing of gas in cylinder body, thus regulate whole
Buoyancy of water suffered by robot, there is gap the lower end of cylinder body, and water can enter into the bottom of piston.
A kind of Stichopus japonicus driven based on propeller fishes for robot, it is characterised in that: described spiral shell
Rotation oar electric rotating machine, sprocket motors, plate-like electric rotating machine, transverse mobile motor, paw electric rotating machine, paw telescope motor,
Motor in 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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105684997A CN105684997A (en) | 2016-06-22 |
| CN105684997B true CN105684997B (en) | 2016-10-12 |
Family
ID=56221974
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610079028.8A Expired - Fee Related CN105684997B (en) | 2016-02-04 | 2016-02-04 | A kind of Stichopus japonicus driven based on propeller fishes for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105684997B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107897137B (en) * | 2017-11-24 | 2021-07-06 | 哈尔滨工业大学 | Open-frame type omnibearing sea cucumber catching 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 |
| CN113100185B (en) * | 2021-04-28 | 2023-01-17 | 山东理工大学 | Sea cucumber fishing device |
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 |
-
2016
- 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105684997A (en) | 2016-06-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105598973B (en) | A kind of many lower limbs fixing based on foothold drive Stichopus japonicus to fish for robot | |
| CN105684997B (en) | A kind of Stichopus japonicus driven based on propeller fishes for robot | |
| CN107897137B (en) | Open-frame type omnibearing sea cucumber catching robot | |
| CN112644652A (en) | Self-propelled deep and far sea fishing ground platform | |
| CN103461290B (en) | Shellfish collecting machine | |
| WO2023221840A1 (en) | Catamaran workboat-based deep-sea aquaculture method | |
| CN203952177U (en) | Sub sea treasure is adopted device for catching | |
| CN107343659A (en) | A kind of processing of farm products high-efficiency and energy-saving type vegetable cleaning device | |
| KR20150095163A (en) | Apparatus for collecting Sea Cucumber | |
| CN112400779A (en) | Multifunctional ship | |
| CN106359198B (en) | A kind of boat-carrying cultivation cabin | |
| CN111165446A (en) | Semi-submersible type fishing robot for holothurian culture | |
| CN207201983U (en) | A kind of processing of farm products high-efficiency and energy-saving type vegetable cleaning device | |
| CN203105325U (en) | Electric-driven cage pulling device for buoyant raft cultivation | |
| CN202348704U (en) | Underwater submersible sewage absorbing machine | |
| CN107581128A (en) | Fish culture apparatus for deep sea | |
| CN108487204B (en) | A kind of hydraulic engineering branch marine salvage equipment | |
| CN110306508A (en) | One kind being used for water surface water hyacinth collection and treatment device | |
| JP3979746B2 (en) | Marine aquaculture equipment | |
| CN212787078U (en) | Novel aquaculture is with fishing device | |
| CN208509904U (en) | A kind of drag scraper formula shellfish harvester tool of submersible operation | |
| CN214241165U (en) | Self-propelled deep and far sea fishing ground platform | |
| CN208863168U (en) | A kind of efficient submerged plant harvesting device | |
| CN108719219B (en) | Aquaculture is with dead fish salvage equipment | |
| CN209498306U (en) | A kind of scallop catching device used for aquiculture |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161012 Termination date: 20220204 |