CN102757109B - Water surface autonomous walking mechanism - Google Patents
Water surface autonomous walking mechanism Download PDFInfo
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- CN102757109B CN102757109B CN 201210273730 CN201210273730A CN102757109B CN 102757109 B CN102757109 B CN 102757109B CN 201210273730 CN201210273730 CN 201210273730 CN 201210273730 A CN201210273730 A CN 201210273730A CN 102757109 B CN102757109 B CN 102757109B
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- pulley
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 41
- 230000007246 mechanism Effects 0.000 title claims abstract description 12
- 230000033001 locomotion Effects 0.000 claims abstract description 25
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 230000006698 induction Effects 0.000 claims description 2
- 150000001875 compounds Chemical class 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000000354 decomposition reaction Methods 0.000 abstract 1
- 230000006872 improvement Effects 0.000 description 12
- 230000000050 nutritive effect Effects 0.000 description 6
- 239000000126 substance Substances 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 239000000758 substrate Substances 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 3
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 2
- 230000033228 biological regulation Effects 0.000 description 2
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- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
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- 241000894006 Bacteria Species 0.000 description 1
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- 241000628997 Flos Species 0.000 description 1
- IOVCWXUNBOPUCH-UHFFFAOYSA-M Nitrite anion Chemical compound [O-]N=O IOVCWXUNBOPUCH-UHFFFAOYSA-M 0.000 description 1
- OAICVXFJPJFONN-UHFFFAOYSA-N Phosphorus Chemical compound [P] OAICVXFJPJFONN-UHFFFAOYSA-N 0.000 description 1
- XKMRRTOUMJRJIA-UHFFFAOYSA-N ammonia nh3 Chemical compound N.N XKMRRTOUMJRJIA-UHFFFAOYSA-N 0.000 description 1
- 238000009360 aquaculture Methods 0.000 description 1
- 244000144974 aquaculture Species 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 238000001311 chemical methods and process Methods 0.000 description 1
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- 231100001261 hazardous Toxicity 0.000 description 1
- 229910000037 hydrogen sulfide Inorganic materials 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 230000000813 microbial effect Effects 0.000 description 1
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- 244000005700 microbiome Species 0.000 description 1
- 229910052757 nitrogen Inorganic materials 0.000 description 1
- 230000001473 noxious effect Effects 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
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- 238000010672 photosynthesis Methods 0.000 description 1
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- 230000001360 synchronised effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
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Abstract
一种水面自主行走机构，它包括支架筒，支架筒内装有电机，电机输出轴上依次装有运动分解装置、支撑板和牵引带轮，牵引带轮的牵引槽内装有牵引绳，牵引绳两端由内向外分别依次穿过导向块和活动限位块上段，导向块和活动限位块下段穿有圆杆，导向块和活动限位块之间的圆杆上装有压缩弹簧，牵引绳两端的导向块分别固定装在支架杆两端，圆杆穿过支架杆内腔孔；发明通过利用带轮传动将电机提供的转动转化为可控的直线运动，不需要人力控制就可实现太阳能水质改良机在水面的运动，整个结构简单可靠，易于操作，实现了复合运动下的位置控制，有利于太阳能水质改良机的推广利用。
A self-propelled walking mechanism on the water surface, which includes a bracket tube, a motor is installed in the bracket tube, a motion decomposition device, a support plate and a traction pulley are sequentially installed on the output shaft of the motor, a traction rope is installed in the traction groove of the traction pulley, and the traction rope has two The end passes through the guide block and the upper part of the movable limit block in turn from the inside to the outside. The guide block and the lower part of the movable limit block are pierced with round rods. The guide blocks at the ends are respectively fixed on both ends of the support rod, and the round rod passes through the inner cavity hole of the support rod; the invention converts the rotation provided by the motor into a controllable linear motion by using the pulley drive, and the solar water quality can be realized without manpower control. The movement of the improving machine on the water surface has a simple and reliable structure, and is easy to operate, realizing the position control under compound motion, which is beneficial to the popularization and utilization of the solar water quality improving machine.
Description
Technical field
The invention belongs to the fishery machinery technical field, specifically just relate to a kind of for the mechanism of sun power water quality improvement machine in the autonomous walking of the water surface.
Background technology
Discover, nutritive substances such as the nitrogen that drops in the water body, phosphorus, except 20%～30% was absorbed by hydrobiont, remaining all entered in the water body environment, wherein about 60～70% deposits in the bed mud.On the one hand, the existence of large amount of organic in the water body bed mud not only causes the bed mud deposition, also can produce ammonia nitrogen, nitrite, methane, hydrogen sulfide etc. and go back the ortho states material, causes water quality deterioration, badly influences water environment safety.On the other hand, the water body bed mud also is nutrition library, and a large amount of nutritive salt that the water body primary productivity needs are from bed mud, and reasonably discharging and utilizing the rich nutritive material in the bed mud is the important channel of improving bottom environment, improving the water body productivity.
At present, domestic and international treatment process to the water body bed mud mainly contains mechanical desilting, microorganism improvement, chemicals adjustment etc.The machinery desilting mainly is the mud that utilizes removing water bottom such as waterpower fish pond excavator group, and this method can't be accomplished the recycling to nutritive substance in the bed mud; Though microbial process has improved the recycling of rich nutritive material in the bed mud, because uncontrollable microbial growth condition, its effect can't be stablized; Though the chemical process instant effect causes chemical residues easily, the problem of existence is a lot, can't tackle the problem at its root.
In order to realize the modified of water body bed mud and improvement, people's a kind of sun power substrate regulation and control machine commonly used comes the water body bed mud is improved cleaning, sun power substrate improvement machine is to utilize the floc sludge lifting of sun power to be discharged into the water body upper strata, utilize oxygen that sun power photosynthesis produces, basicity etc. to improve bacterium vigor in the floss mud, reach and reduce bed mud deposition and hazardous and noxious substances generation, and for algal grown provides nutritive salt, improve the effect of aquaculture water primary productoin force level and material transformation efficiency.Existing sun power substrate improvement machine can only be done simple commute formula translational motion at the water surface, can't satisfy the cleaning work of water surface situation complicated and changeable.
Summary of the invention
Travel mechanism at existing sun power substrate regulation and control machine can only be done simple commute formula translational motion at the water surface, the invention provides a kind of for the mechanism of sun power water quality improvement machine in the autonomous walking of the water surface, it can realize sun power water quality improvement machine straight line and circumferential motion at the water surface, satisfies the waters cleaning improvement work of bed mud everywhere.
Technical scheme
In order to realize above-mentioned technical purpose, the present invention designs the autonomous travel mechanism of a kind of water surface, it is characterized in that: it comprises rack tube, motor is housed in the rack tube, motor is controlled by the controller, the motion decomposer is housed on the motor output shaft successively, back up pad and traction belt wheel, in the traction grooved of traction belt wheel traction rope is housed, the traction rope two ends are passed orienting lug epimere and movable limited block epimere from inside to outside respectively successively, orienting lug hypomere and movable limited block hypomere are installed with round bar, on the round bar between orienting lug and the movable limited block compression spring is housed, the orienting lug at traction rope two ends is installed on the cradling piece two ends respectively, and round bar passes the cradling piece lumen orifice;
Described motion decomposer comprises torsion spring, torsion spring is contained on the motor output shaft, on the motor output shaft of torsion spring top follow-up pulley is housed, be positioned at the follow-up pulley correspondence position on the round bar friction plate fixedly is housed, round bar can be with movable limited block, be pulled the moving translational motion of doing of rope band together, the cradling piece position of friction plate correspondence is to keep away the position mouth, and is gapped between friction plate and follow-up pulley;
Described cradling piece is fixed on the back up pad, is contained on the rack tube near switch, has the hole on the follow-up pulley near the switch correspondence, passes the hole near switch.
On the traction rope of the described movable limited block outside limited block is housed.
Further, adorn crown cap on the described back up pad.
Further, described hole be 0～5mm near inductive switching portion gap.
Further, the gap is 5mm between described friction plate and the follow-up pulley.
Beneficial effect
The present invention is converted into controlled translational motion by the rotation that utilizes the belt wheel transmission that motor is provided, do not need manpower control just can realize that sun power water quality improvement machine is in the motion of the water surface, entire structure is simple and reliable, easy handling, realize the position control under the compound motion, be conducive to the utilization and extention of sun power water quality improvement machine.
Description of drawings
Accompanying drawing 1 is structural representation of the present invention.
Accompanying drawing 2 is blast structural representations of the present invention.
Accompanying drawing 3 is front views of the present invention.
Accompanying drawing 4 is that B of the present invention is to sectional view.
Accompanying drawing 5 is spacing control principle figure of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the present invention will be further described.
As accompanying drawing 1,2, shown in 3 and 4, the autonomous travel mechanism of a kind of water surface, it comprises rack tube 1, motor 2 is housed in the rack tube 1, motor 2 controlled device 3 controls, on motor 2 output shafts motion decomposer 4 is housed successively, back up pad 5 and traction belt wheel 6, in the traction grooved of traction belt wheel 6 traction rope 7 is housed, orienting lug 8 is passed at traction rope 7 two ends from inside to outside respectively successively, 8 epimeres ' and movable limited block 9,9 ' epimere, orienting lug 8,8 ' hypomere and movable limited block 9,9, hypomere is installed with round bar 10, orienting lug 8,8 and movable limited block 9,9, between round bar 10 on compression spring 11 is housed, the orienting lug 8 at traction rope 7 two ends, 8, be installed on cradling piece 12 two ends respectively, round bar 10 passes cradling piece 12 lumen orifice;
Described motion decomposer 4 comprises torsion spring 401, torsion spring 401 is contained on motor 2 output shafts, on motor 2 output shafts of torsion spring 401 tops follow-up pulley 402 is housed, be positioned at follow-up pulley 402 correspondence positions on the round bar 10 friction plate 403 fixedly is housed, round bar 10 can be pulled rope 7 drives with movable limited block 9,9 ' and do translational motion, cradling piece 12 positions of friction plate 403 correspondences are to keep away the position mouth, and 402 of friction plate 403 and follow-up pulleys are gapped;
Described cradling piece 12 is fixed on the back up pad 5, is contained on the rack tube 1 near switch 13, has the hole on the follow-up pulley 402 near switch 13 correspondences, passes the hole near switch 13, and described movable limited block 9 and 9 is equipped with limited block 15 and 15 ' on the traction rope of the outside, wherein:
Described hole be 0～5mm near switch 13 induction part gaps.
The gap is 5mm between described friction plate 403 and the follow-up pulley 402.
As shown in Figure 5, when having the gap between friction plate 403 and the follow-up pulley 402, follow-up pulley 402 is not ordered about by friction plate 403, follow-up pulley 402 is under the effect of torsion spring 401, be synchronized with the movement with rack tube 1, be directly installed on the rack tube 1 near switch 13, follow-up pulley 402 with near switch 13 no relative movement, Triggerless is exported;
When the present invention moves to left side limited block 15 on the traction rope 7, limited block 15 reacts on movable limited block 9, makes 403 to promote follow-up pulleys 402 relative movement take place, and leaves the perforate position near switch 13, sends triggering signal output.
The present invention is converted into controlled translational motion by the rotation that utilizes the belt wheel transmission that motor is provided, do not need manpower control just can realize that sun power water quality improvement machine is in the motion of the water surface, entire structure is simple and reliable, easy handling, realize the position control under the compound motion, be conducive to the utilization and extention of sun power water quality improvement machine.
Claims (4)
1. autonomous travel mechanism of the water surface, it is characterized in that: it comprises rack tube (1), motor (2) is housed in the rack tube (1), the controlled device of motor (2) (3) control, on motor (2) output shaft motion decomposer (4) is housed successively, back up pad (5) and traction belt wheel (6), in the traction grooved of traction belt wheel (6) traction rope (7) is housed, orienting lug (8 is passed at traction rope (7) two ends from inside to outside respectively successively, 8 ') epimere and movable limited block (9,9 ') epimere, orienting lug (8,8 ') hypomere and movable limited block (9,9 ') hypomere is installed with round bar (10), orienting lug (8,8 ') and movable limited block (9,9 ') round bar between is equipped with compression spring (11 on (10), 11 '), the orienting lug (8 at traction rope (7) two ends, 8 ') be installed on cradling piece (12) two ends respectively, round bar (10) passes cradling piece (12) lumen orifice;
Described motion decomposer (4) comprises torsion spring (401), torsion spring (401) is contained on motor (2) output shaft, on motor (2) output shaft of torsion spring (401) top follow-up pulley (402) is housed, be positioned at follow-up pulley (402) correspondence position on the round bar (10) friction plate (403) fixedly is housed, round bar (10) can be pulled rope (7) drive with movable limited block (9,9 ') and do translational motion, cradling piece (12) position that friction plate (403) is corresponding is to keep away the position mouth, and is gapped between friction plate (403) and follow-up pulley (402);
Described cradling piece (12) is fixed on the back up pad (5), is contained on the rack tube (1) near switch (13), has the hole on the follow-up pulley (402) near switch (13) correspondence, passes the hole near switch (13).
On described movable limited block (9, the 9 ') outside traction rope (7) limited block (15,15 ') is housed.
2. the autonomous travel mechanism of a kind of water surface as claimed in claim 1 is characterized in that: the last dress of described back up pad (5) crown cap (14).
3. the autonomous travel mechanism of a kind of water surface as claimed in claim 1 is characterized in that: described hole be 0～5mm near switch (13) induction part gap.
4. the autonomous travel mechanism of a kind of water surface as claimed in claim 1, it is characterized in that: the gap is 5mm between described friction plate (403) and the follow-up pulley (402).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210273730 CN102757109B (en) | 2012-08-02 | 2012-08-02 | Water surface autonomous walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201210273730 CN102757109B (en) | 2012-08-02 | 2012-08-02 | Water surface autonomous walking mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN102757109A CN102757109A (en) | 2012-10-31 |
| CN102757109B true CN102757109B (en) | 2013-08-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201210273730 Expired - Fee Related CN102757109B (en) | 2012-08-02 | 2012-08-02 | Water surface autonomous walking mechanism |
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| CN (1) | CN102757109B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103979624B (en) * | 2014-06-01 | 2015-04-08 | 中国水产科学研究院渔业机械仪器研究所 | Mechanical water quality improvement device |
| CN105438746B (en) * | 2015-11-26 | 2018-02-16 | 中国水产科学研究院渔业机械仪器研究所 | A kind of mobile device for solar energy movement aerator |
| CN107672608B (en) * | 2017-11-09 | 2024-02-23 | 上海能正渔业科技开发有限公司 | Cableway traction round trip device |
| CN107697078B (en) * | 2017-11-09 | 2024-04-19 | 上海能正渔业科技开发有限公司 | Cableway traction manure-water separation device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101817395A (en) * | 2010-01-15 | 2010-09-01 | 清华大学 | Remote-control electric overwater walking robot |
| CN102219032A (en) * | 2011-06-07 | 2011-10-19 | 中国人民解放军理工大学工程兵工程学院 | Soft-shell spherical robot |
| CN202054714U (en) * | 2011-04-07 | 2011-11-30 | 中国水产科学研究院渔业机械仪器研究所 | Bottom sludge stirring machine for pond |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPWO2008044431A1 (en) * | 2006-10-06 | 2010-02-04 | 株式会社パワーテック | Fluid activation piece and fluid activation device using the same |
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2012
- 2012-08-02 CN CN 201210273730 patent/CN102757109B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101817395A (en) * | 2010-01-15 | 2010-09-01 | 清华大学 | Remote-control electric overwater walking robot |
| CN202054714U (en) * | 2011-04-07 | 2011-11-30 | 中国水产科学研究院渔业机械仪器研究所 | Bottom sludge stirring machine for pond |
| CN102219032A (en) * | 2011-06-07 | 2011-10-19 | 中国人民解放军理工大学工程兵工程学院 | Soft-shell spherical robot |
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| CN102757109A (en) | 2012-10-31 |
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