CN103535330A - Sinking-floating control device and multi-working-condition sea cucumber search fishing device capable of sinking and floating - Google Patents
Sinking-floating control device and multi-working-condition sea cucumber search fishing device capable of sinking and floating Download PDFInfo
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- CN103535330A CN103535330A CN201310539070.XA CN201310539070A CN103535330A CN 103535330 A CN103535330 A CN 103535330A CN 201310539070 A CN201310539070 A CN 201310539070A CN 103535330 A CN103535330 A CN 103535330A
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Abstract
Disclosed are a sinking-floating control device and a multi-working-condition sea cucumber search fishing device capable of sinking and floating. The multi-working-condition sea cucumber search fishing device capable of sinking and floating comprises open type buoys, a high pressure gas cylinder, control valves, a chassis framework, electric wheels, a driven wheel, a steering vertical shaft, a tail vane, a propeller, motors, a mechanical arm, a suction tube, a camera, warehouse and an umbilical cable. The top of each buoy is provided with the normally closed type control valve, and the bottom of the buoy is provided with a normally open opening; the high pressure gas cylinder is connected with a tee joint, one opening of the tee joint is normally closed, the other opening of the tee joint is firstly connected with the normally closed type control valve and then is connected with a high pressure air duct continuously; the other end of the high pressure air duct is communicated with the corresponding buoy. Every motor and the camera are all connected with the umbilical cable through wires. The suction tube is attached to the mechanical arm, and the front end of the mechanical arm is provided with the camera and a clamp. The multi-working-condition sea cucumber search fishing device capable of sinking and floating is multifunctional and has strong environmental suitability, can achieve the floating movement, searching and fishing by sinking to the bottom, and sea floor travelling of the fishing device; can adapt to multiple seabed environments of mud, sand, reef, rock and the like, and can suck and catching sea floor objects such as sea cucumbers quickly, stably and accurately both in still water and running water.
Description
Technical field
The present invention relates to water-bed fishing gear technical field, be specially a kind of sink-float control device and the multi-state sea cucumber search catching device that can rise and fall.
Background technology
The development and utilization of marine resources has extremely vast potential for future development, wherein seabed resources fish for and excavation is an emphasis and focus, in the urgent need to the automatic machinery of various highly effectives.In recent years along with the swift and violent expansion in sea cucumber market, the demand of sea cucumber fishing operation is also increasing, yet existing traditional sea cucumber fishing style relies on diver to carry out underwater operation completely, because the feature of sea cucumber life habit is limit, water temperature when sea cucumber is fished for and the depth of water are all extremely unfavorable to diver's health, to such an extent as to sea cucumber to fish for diver's work be the work of ' fighting to order mutually ' by being called in the industry, many sea cucumbers are fished for diver and all deeply hurt.Therefore, developing the automation of the highly effective that a kind of applicable sea cucumber fishes for and fish for machine, be not only the economic needs in market itself, is also the active demand of and even life safety protection healthy to diver.Yet, according to the inquiry repeatedly to existing technical literature data, to find, the automatic machinery of fishing for and excavating for seabed resources is studied seldom, and fishes for sea cucumber be closely related extremely rare especially.1) in patent documentation " sea cucumber catching device (CN202135597U) ", adopt the adjusting of rising and falling of piston reciprocating mode in enclosed cylinder, with a rotatable straight pipe type sea cucumber suction nozzle, catch sea cucumber, with realize the bottom by the mode that magnetic valve carries out regulating in real time by the past a plurality of outlet pipes water sprays all around of water pump simultaneously, walk and turn to, there is following significant shortcoming in this technology: the airtight of cylinder and piston is difficult to long-term assurance, as long as there is slow leakage to be just easy to cause losing buoyancy, sunk seabed; Secondly, the sea cucumber suction nozzle of Rotary straight pipe formula can only swing up and down cannot crooked flexibility not enough; Maximum defect is because this device is taked down water jet power propulsion method, be easy to blow afloat underwater sediment, thereby easily cause serious blurred vision, cannot differentiate sea cucumber, the attitude of this power propulsion method control is simultaneously very unstable, is unfavorable for aiming at sea cucumber and carries out accurately inhaling and catching.2) CCTV10 cover science and education channel < < I like that the < < iron claw seabed of inventing the > > column 2013-5-16 phase drags in > > program video, reported a suspending underwater robot, this robot has taked hermetic twin float to obtain main buoyancy, the all directions of utilizing a plurality of screws of horizontal and vertical direction to realize robot move and turn to, yet as what report in this program: Gai Xiang robot fishes in match the sea cucumber carrying out with diver, efficiency is also not so good as artificial.Cause the not high basic reason of sea cucumber catching rate of this robot to have following: robot is difficult to accurately aim at sea cucumber at the volley, even floated robot statokinetic of itself under floating state of taking screw to promote also cannot accurately be controlled, be difficult to the attitude that keeps highly stable, and the attitude jitter of robot body can cause inhaling mechanical arm and the larger shake of suction pipe generation of catching sea cucumber, thereby cannot inhale rapidly and accurately, catch sea cucumber.3) CCTV10 cover science and education channel < < tells about in the program video that > > column the 20130726th phase < < opens May Day and his " submarine dream " > >, reported the sea cucumber catching device of a imitative submarine type, the problem that these research and development exist is more, such as too huge heaviness, manufacturing cost is high, be in the personal safety of the people in submarine, ocean current promotes easily to cause hull attitude unstable, under the sea conditions of low visibility, be difficult to see sea cucumber by the observation window of submarine, be difficult to the arm etc. of accurately operating machine in muddy water.
The sink-float control device design of underwater has significant impact to the mobility of underwater and stability, mainly contains at present following several sink-float control technology: 1) lifting that realizes body is moved in the past compound compression of air in two cavitys of passing through of submarine formula; 2) screw draining propelling device, relies on screw to produce the lifting that vertical motive force realizes body; 3) piston type sink-float control device (method being adopted as patent documentation " sea cucumber catching device (CN202135597U) ", " microminiature underwater robot submerging and surfacing device (CN1836972A) ", " a kind of sink-float device (CN202429333U) ", " remote-controlled water craft (CN2356939Y) " etc.); 4) balloon type sink-float control device (the internal airbag method being adopted as patent " liftable elevator chamber (CN203199161U) "); 5) open floating drum technology of often using in the operation such as salvage a sunken ship etc.Although these technical methods respectively have feature and advantage, also all there are many limitation, be not too suitable for being directly used in the sink-float of catching device under water and control.Such as: the reciprocal compressibility of air of submarine formula, technology processing request is high, and equipment is complicated and heavy, also needs lot of energy simultaneously; Propeller plant power consumption is also larger, and this mode is lower to the stability control ability of body statokinetic simultaneously, is difficult to guarantee the accuracy and efficiency of sea cucumber fishing operation; The air-tightness of piston type sink-float control device is difficult to guarantee, also larger to the consumption of power; Balloon type sink-float control method, has relatively high expectations to the material of air bag, and after dilation repeatedly ageing failure very easily; Although the open floating drum technology of often using in raising of a wreck operation is as far back as just often being adopted decades ago, but too coarse, cannot accurately control, more can not in one action stroke, provide the multiple conversions of ascending and descending condition, be unsuitable for being directly used in the sink-float control of catching device.Patent " a kind of underwater robot drift along controlling organization (CN101323362B) " all has close part with submarine air compressing sink-float control technology and raising of a wreck floating drum technology in theory, and by being added to water valve, the control of rising and falling of the method for intake valve and air bleeding valve, but there is open defect in this patent in the structural design of Sinkage control mechanism, this mechanism is by parting seal chamber and variable volume chamber in a housing, compressed gas cylinder is set in annular seal space, the method that compressed gas cylinder head and the tail arrange respectively air inlet and the gas outlet control of rising and falling, there is following shortcoming in this structural design: the manufacture of housing and the manufacture of gas cylinder are all very difficult, the manufacture that compressed gas cylinder especially will be set in annular seal space requires technical difficulty very large, the voltage endurance capability of this annular seal space is not high, submerged depth is very limited, and because the volume of compressed gas cylinder is subject to the restriction of annular seal space size, thereby can greatly limit its available sink-float conversion times.
Summary of the invention
The present invention is directed to above shortcoming of the prior art, the habit of concrete specification requirement, sea conditions and sea cucumber in fishing for according to sea cucumber, provides a kind of sea cucumber search catching device multi-state condition, that can rise and fall and control that adapts to simultaneously.
The object of the invention is to overcome deficiency of the prior art, a kind of sink-float control device and the multi-state sea cucumber search catching device that can rise and fall is provided, enable to solve the following difficult problem facing in sea cucumber catching device research and development: whenever the water body in ocean all exists and flow more or less, current are regular or irregular, how there iing stormy waves, there is ocean current, under the not high complex environment of visibility, realize the pose stabilization control of catching device body and fishing manipulator, distinguish rapidly and accurately and capture the article such as sea cucumber simultaneously, and the complete equipment of final research and development is easy to manufacture, low cost, control and easy maintenance, the several key points that address this problem.For these difficult problems, design of the present invention is: by externally installing the modes such as gas cylinder and magnetic valve additional, improve dexterously tradition for the floating drum control technology of raising of a wreck operation, make it accurately controlled and repeated multiple timesly for catching device provides positive buoyancy and negative buoyancy force, especially by the providing of negative buoyancy force, a whole set of catching device is obtained firmly sink to the bottom, the ability of attitude stabilization; Secondly, by the above-mentioned control device that drifts along, realizing on the basis firmly sinking to the bottom, the flexible bending of camera being housed and inhaling the controllable mechanical arm (long 6 meters of left and right) of catching device by end, realize near the front and back in seabed and tracking down and arresting (especially during low visibility, be close to the observation in seabed and just can distinguish sea cucumber), by slightly the turning to again and again of steering control device, realize the comprehensive arrest at 0 degree degree angle, angle to 360 around of catching device landing site again; After every circle has been tracked down and arrested, the mode moving by walking or the suspension of seabed running gear is again (when having megalith or gully to stop, or when seabed walking can cause seawater muddy, movement that suspend is necessary) move to next place and work on, thus realize the traversal searching to seabed, whole workspace.
According to above-mentioned design, the present invention is achieved through the following technical solutions: the present invention forms sea cucumber search catching device jointly by the control device that rises and falls, seabed walking and transfer, suspension mobile controller, suction pipe, freight house, screw, extensible mechanical arm, chassis skeleton and camera, and by umbilical cable, is connected to supervising device waterborne and implements long-distance remote control and operate.
Drift along control device for realize catching device floating and under composedly.Its position is arranged on directly over the middle part of chassis skeleton, comprises two open floating drum, gas cylinder and control valves that are all communicated with up and down.Wherein, floating drum top is established normally closed solenoid valve, a bottom and is established a normal opening, gas cylinder is placed in the middle of two floating drums, gas cylinder bottleneck connecting tee, a mouth of threeway is normally closed, be used for inflating gas cylinder, another mouthful connects a normally closed solenoid valve, and the other end outlet of magnetic valve connects a high-pressure air pipe; The other end of high-pressure air pipe passes into floating drum inside from floating drum bottom opening, utilizes the easy means such as buckle to be fixed on floating drum inwall, also can carry out opening in any suitable location of floating drum, and this opening and high-pressure air pipe are connected.
Seabed walking and transfer are for realizing the bottom walking of catching device and turning to, be arranged in the rear and front end, below of chassis skeleton: the front lower of chassis skeleton is installed two electric wheels, the center, bottom, rear of chassis skeleton install one can left and right turn driven wheel; Driven wheel is connected with sleeve pipe with ball bearing by kingpin, and sleeve pipe is fixed on the skeleton of chassis; Middle part at kingpin is fixedly connected with gear, this gear and the gear engagement that turning to control motor being fixed on the skeleton of chassis.
Suspension mobile controller promotes and turns to for realizing the suspension of catching device, comprises screw, tail vane, turns to control motor.At the top of kingpin, be fixedly connected with hard riser as tail vane; Screw is placed in the dead ahead of tail vane, and this screw is arranged on the skeleton of chassis.The turning to of tail vane controlled by turning to and controlled motor and handle, by screw, tail vane with turn to the combination of controlling motor use to realize the promotion of catching device under suspended state and turn to; Turn to control motor to have control tail vane concurrently and turn to the function turning to driven pulley; The suspended state of catching device is mainly realized by sink-float control device.
Scalable mechanical arm is arranged on the center, front portion of chassis skeleton, extensible mechanical arm comprises forearm, middle arm and postbrachium, also can only establish forearm and postbrachium two joints, postbrachium is arranged on the center, front portion of chassis skeleton, and each joint all adopts the mode that can accurately rotate continuously to connect and power drive; Mechanical arm front end is installed camera and clamp; 6 meters of left and right of mechanical arm overall length, combination by each joint is controlled and is realized elastic near seabed, thereby realize, paste ground search, coordinate again the aggregate motion of front and back wheel and turn to control, thereby realize the thorough search of 0 degree to 360 degree angular region, in the time of search, by being attached to flexible drinking straw and the clamp on mechanical arm, the found article such as sea cucumber are captured in freight house; Suction pipe is attached on mechanical arm, and suction pipe end communicates with suction ginseng screw and freight house.
Freight house and front portion and middle part for providing the suction ginseng screw of suction force to be installed on chassis skeleton, be specially the lower rear of mechanical arm base; Freight house is designed with sealing, and openable freight house lid is installed simultaneously;
Above-mentioned all magnetic valves, motor and camera are all connected with umbilical cable by wire, and umbilical cable is connected to and is located at water surface ships and light boats or ground supervising device waterborne.It is a plurality of cursory to connect at the front end (i.e. one end of close catching device) of umbilical cable, makes the front end of umbilical cable keep connecing suberect state, thereby avoids the miscellaneous part of umbilical cable and catching device to be wound around.
Can on mechanical arm He on catching device body, establish several cameras more, to improve search observation ability, and understand better and the attitude of device body in water of controlling fishing.
Supervising device waterborne comprises the startup controller of each magnetic valve and motor and the real-time display screen of playing camera image.
For avoiding catching device accidentally to topple and cause escape of gas in floating drum in operation and motion process, also the normal opening of floating drum bottom can be changed into by normally open type magnetic valve and controlling; In addition, can also establish respectively two normally closed solenoid valves in front and back or the left and right sides of floating drum, for the emergent of buoyancy control under the special situation of toppling, remedy;
For avoiding air in gas cylinder and floating drum to be consumed by transition because of reasons such as careless manipulation, leakages, cause catching device not have sufficient air that buoyancy is provided, also can screw be installed at the center position of catching device, by this screw, being provided should acute floating power.
The maximum functional air pressure design of gas cylinder is in 12MPa left and right.Gas cylinder institute inflatable body altogether available negative buoyancy force (pressing storehouse power) is F, initial gas pressure P/(workspace seabed hydraulic pressure p in F=gas cylinder volume V * bottle
w+ 1 atmospheric pressure); If it is f that each realization firmly sinks to the bottom the needed negative buoyancy force of work, gas cylinder is full of the attainable floating switching times=F/f that firmly sinks to the bottom after gas at every turn.Gas cylinder volume V=200 liter even, an initial gas pressure P=120 atmospheric pressure in bottle, operating depth is 50 meters of (i.e. 5 atmospheric pressure), F=200*120/ (5+1)=4000 kilogram; The power that sinks to the bottom (being negative buoyancy force) needing if firmly sink to the bottom at every turn=100 kilograms, can realize the sink-float number of times of 4000/100=40 time altogether.If the search area firmly sinking to the bottom is 100 square metres at every turn, gas cylinder is often full of once the gross area=40*100=4000 square metre that gas can be searched for.In practical operation, each firmly sink to the bottom after also the walking of available seabed mode directly walking to next region of search, search for (as long as seabed silt can not cause because of the stirring of walking in seabed workspace visibility too low), always search area also can increase greatly.If want dive to darker seabed operation, only need to improve the initial pressure of gas cylinder and the withstand voltage properties of each motor.
Compared with prior art, the present invention has following outstanding substantive distinguishing features and beneficial effect:
(1) novel structure, diverse in function, easy and safe to operate, practical value is high; Can adapt to various sea conditions, fishing operation fast and accurately.Regulation and control by sink-float control device can provide the larger adhesive force that sinks to the bottom, and make catching device in the attitude of unusual firm stable, to implement fishing operation; On this basis, then by scalable mechanical arm and turn to the combination of control to control, thereby realize fishing for rapidly and accurately article such as sea cucumbers.
(2) search capability is strong, can adapt to various sea bed environment.By seabed running gear, sink-float control device, can under the multiple sea bed environment such as mud, sand, reef, stone, gully, freely walk and move at an easy rate with coordinating of mechanical arm, thereby realize the thorough search to seabed, whole workspace.
(3) cost is low, and manufacture difficulty is little.Links of the present invention and parts all do not have special high-grade, precision and advanced processing and manufacturing requirement, and each parts all have the ready-made parts that can substantially meet seabed job requirement, and the difficulty that need to carry out specially treated and transformation is very little.Especially the manufacture of floating drum, because adopting open floating drum, the present invention provides buoyancy, the external and internal pressure poor very little (irrelevant with floating drum residing depth of water when diving under water) of floating drum, do not need to resist high pressure poor, therefore do not need special material and manufacturing process to guarantee rigidity intensity and the high-voltage resistance capability of floating drum completely, simultaneously less demanding to movement velocity of sea cucumber catching device in addition, so the shape of floating drum and the selectable range of material are very wide.
Accompanying drawing explanation
Fig. 1 is structural representation front view of the present invention;
Fig. 2 is sink-float control system structural representation end view;
Fig. 3 is driven pulley and tail vane structural representation front view;
Wherein: left floating drum 1, upper communicating pipe 2, chassis skeleton 3, screw 4, tail vane 5, kingpin 6, driven wheel 7, turn to and control motor 8, gas cylinder 9, right floating drum 10, motor 11, electric wheel 12, inhale ginseng screw 13, freight house 14, the first joint rotary electric machine 15, second joint rotary electric machine 16, the 3rd joint rotary electric machine 17, the camera 18 of band illumination, clamp 19, scalable mechanical arm 20, suction pipe 21, normal opening 22 at the bottom of floating drum, the first normally closed solenoid valve 23, lower communicating tube 24, the second normally closed solenoid valve 25, valve 26, threeway 27, high-pressure air pipe 28, buckle 29, gear wheel 30, pinion 31, sleeve pipe 32, ball bearing 33, wheel supporting fork 34, axletree 35.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further illustrated, but the scope of protection of present invention is not limited to the scope of embodiment statement.
As Figure 1-3, the present invention includes: sink-float control device, seabed walking and transfer, suspended motion control device, suction pipe, freight house, screw, scalable mechanical arm, chassis skeleton and camera form sea cucumber search catching device jointly.Wherein, the control device that drifts along is arranged on the middle part top of chassis skeleton; Seabed walking and transfer are arranged in the rear and front end, below of chassis skeleton; Suction pipe, suction ginseng screw and freight house are distributed in front portion and the middle part of chassis skeleton; Scalable mechanical arm is arranged on the center, front portion of chassis skeleton.
The open floating drum that the present embodiment provides, comprises left floating drum 1 and right floating drum 10, and the size of these two floating drums is identical with material, and top and bottom use respectively communicating pipe 2 and lower connection tube connector 24 is connected; Anti-water solenoid valve 23 open in usual is installed in the crown center position of left floating drum 1, for the release control of two floating drum air, and the positive middle open 22 in the bottom of left floating drum 1, the turnover of water while controlling for drifting along.
Gas cylinder 9 is placed in the centre of two floating drums, partially rear position, the center of chassis skeleton 3.The bottleneck connecting tee 27 of gas cylinder 9, a mouth of threeway 27 connects normal closed gate 26, in the time will inflating gas cylinder, charger is connected to the external port of valve 26, then opens valve 26 and can inflate gas cylinder.Another port of threeway 27 connects normally closed solenoid valve 25, and another port of magnetic valve 25 connects high-pressure air pipe 28, when needs are inflated floating drum, opens magnetic valve 25 and can inflate two floating drums simultaneously; High-pressure air pipe 28 passes into left floating drum 1 inside from normal opening 22, in the aperture of normal opening 22, buckle 29 is set, for fixing high-pressure air pipe 28; Also can carry out opening separately in the position that facilitates arbitrarily of two floating drums, this opening and high-pressure air pipe 28 are connected, interface is carried out to encapsulation process.
Seabed walking and transfer are for realizing the bottom walking of catching device and turning to, be arranged in the rear and front end, below of chassis skeleton 3: the front lower of chassis skeleton 3 is installed two electric wheels, the center, bottom, rear of chassis skeleton 3 install one can left and right turn driven wheel 7; Driven wheel 7 is connected with sleeve pipe 32 with ball bearing 33 by kingpin 6, and sleeve pipe 32 is fixed on chassis skeleton 3; At the middle part of kingpin 6, be fixedly connected with gear 30, with the gear that turning to control motor 8 31 engagements that are arranged on the skeleton of chassis.The lower end of kingpin 6 connects wheel supporting fork 34, and wheel supporting fork 34 is obtained and supported by axletree 35.In the mill, kingpin 6 is answered integral type manufacture with wheel supporting fork 34, can replace using after also can directly selecting long and solid bicycle front fork to transform a little.
Suspension mobile controller promotes and turns to for realizing the suspension of catching device, comprises screw 4, tail vane 5, turns to and control motor 8.At the top of kingpin 6, be fixedly connected with hard riser as tail vane 5; Screw 4 is placed in the dead ahead of tail vane 5, and this screw 4 is arranged on chassis skeleton 3.The turning to of tail vane 5 controlled by turning to and controlled motor 8 and handle, by screw 4, tail vane 5 with turn to the combination of controlling motor 8 use to realize the promotion of catching device under suspended state and turn to; The suspended state of catching device is mainly realized by sink-float control device.
Scalable mechanical arm 20 is arranged on the center, front portion of chassis skeleton, extensible mechanical arm 20 comprises forearm, middle arm and postbrachium, also can only establish forearm and postbrachium two joints, postbrachium is arranged on the center, front portion of chassis skeleton, and the joint of each junction all adopts the mode that can accurately rotate continuously to connect and power drive; Mechanical arm 20 front ends are installed camera 18 and clamp 19; 6 meters of left and right of mechanical arm 20 overall length, the combination by the first joint rotary electric machine 15, second joint rotary electric machine 16, the 3rd joint rotary electric machine 17 is controlled and is realized elastic near seabed, thereby realize, pastes ground search; In the time of search, by being attached to flexible drinking straw 21 and the clamp 19 on mechanical arm 20, the found article such as sea cucumber are captured in freight house 14; Suction pipe 21 is attached on mechanical arm 20, and suction pipe 21 ends communicate with suction ginseng screw 13 and freight house 14.
Above-mentioned all magnetic valves, motor and camera are all connected with umbilical cable by wire, and umbilical cable is connected to and is located at water surface ships and light boats or ground supervising device waterborne.Supervising device waterborne comprises the startup controller of each magnetic valve and motor and the real-time display screen of playing camera image.
By starting mechanical arm the first joint rotary electric machine 15, second joint rotary electric machine 16 and the 3rd joint rotary electric machine 17, make mechanical arm 20 front ends paste ground, and the Real Time Observation by camera 18 and mechanical arm 20 is elastic, realize scalable mechanical arm 20 current 0 degree angular direction once before and after search.Subsequently, slightly start right side electric wheel motor 11 and turn to and control motor 8, by driving electric wheel 12 and kingpin 6, make whole catching device towards anticlockwise 15 left and right, degree angle, and again use mechanical arm 20 to realize the now once front and back in orientation, place and track down and arrest, the like; Similar but the opposite direction of mode of operation during reverse search.
After completing the thorough search at circle 360 degree angles, first handle to turn to and control motor 8 driven pulley 7 directions are ajusted, restart the drive motors of two electric wheels, the catching device next searching position of walking is re-started to searches.
By combining and use all parts of the present invention rightly, can realize at an easy rate the fishing operation of the article such as sea cucumber under multi-state condition.Such as: when needs sink, open magnetic valve 23 and abstemiously discharge two air in floating drum, make whole catching device obtain subsidence velocity slowly, now can shut electromagnetic valve 23 and by camera 18 observe catching devices attitude, surrounding environment and with the relative distance in seabed.When being about to arrive at seabed, open magnetic valve 25 and slightly inflate by 28 pairs of two floating drums of high-pressure air pipe, catching device is slowly sunk to the bottom; When workspace, ocean current is stronger, though catching device has sunk to the bottom attitude when still unstable, open magnetic valve 23 and exit, until during catching device body attitude stabilization, shut electromagnetic valve 23.
In addition, in the process of tracking down and arresting, as when running into larger running resistance and cannot walk, can be by the method for inflating in floating drum, increase the overall buoyancy of catching device, thereby reduce the resistance of advancing, if still do not walk, can further to aeration of float, catching device be suspended, start screw 4 combination simultaneously and use the tail vane 5 that is turned to control motor 8 to control that catching device is advanced to next target workspace.In addition, if can be caused blurred vision to work by stirring because of seabed silt in the process of walking; Or the very high wheel being easily traveling of sea cucumber density is expressed to; Or when facing megalith, gully and cannot cross over, can take too the method that starts suspension mobile device that catching device is moved to next target area, now three wheels are used as floor-type support leg.
Claims (8)
1. a sink-float control device, is characterized in that: comprise open floating drum, gas cylinder and control valve; Wherein, normally closed type control valve is established at floating drum top, normal opening is established in bottom; Gas cylinder connects a normally closed type control valve, and the other end outlet of this control valve connects high-pressure air pipe, and the other end of this high-pressure air pipe is connected with floating drum.
2. by sink-float control device claimed in claim 1, it is characterized in that: open floating drum is two, all connections up and down of two floating drums, normally closed type solenoid electric valve is established at the top of one of them floating drum, and gas cylinder is placed in the middle of two floating drums.
3. by sink-float control device claimed in claim 1, it is characterized in that: the first connecting tee of gas cylinder, a mouth of threeway is normally closed, be used for inflating gas cylinder, another of threeway mouthful connects normally closed type solenoid electric valve, the another port of this solenoid electric valve connects high-pressure air pipe, and the other end of high-pressure air pipe passes into floating drum inside from the normal opening part in floating drum bottom.
4. the multi-state sea cucumber search catching device that can rise and fall, it is characterized in that: comprise the control device that rises and falls as described in claim 1, also comprise seabed walking and transfer, suspended motion control device, trap setting, screw, scalable mechanical arm, chassis skeleton and camera; The control device that drifts along is arranged on the top, middle part of chassis skeleton.
5. by the multi-state claimed in claim 4 sea cucumber search catching device that can rise and fall, it is characterized in that: seabed walking and transfer are arranged in the rear and front end, below of chassis skeleton, comprise electric wheel, driven wheel, kingpin, turn to control motor; An electric wheel is respectively installed in about front lower of chassis skeleton, the center, bottom, rear of chassis skeleton install one can left and right turn driven wheel; Driven wheel is connected with chassis skeleton with ball bearing by kingpin; Middle part at kingpin is fixedly connected with gear, this gear and the gear engagement that turning to control motor being arranged on the skeleton of chassis.
6. by the multi-state claimed in claim 4 sea cucumber search catching device that can rise and fall, it is characterized in that: suspended motion control device comprises screw, tail vane, turns to control motor; At the top of kingpin, be fixedly connected with hard riser as tail vane, the method for controlling motor driving kingpin by turning to drives tail vane; Screw is placed in the dead ahead of tail vane, and this screw is arranged on the skeleton of chassis.
7. by the multi-state claimed in claim 4 sea cucumber search catching device that can rise and fall, it is characterized in that: trap setting comprises suction pipe, freight house and clamp.
8. by the multi-state claimed in claim 4 sea cucumber search catching device that can rise and fall, it is characterized in that: scalable mechanical arm comprises forearm and postbrachium, postbrachium is arranged on the center, front portion of chassis skeleton, and the joint of each junction all adopts the mode that can accurately rotate continuously connect and drive; Mechanical arm front end is installed camera and clamp; 6 meters of left and right of mechanical arm overall length, suction pipe is attached on mechanical arm, and suction pipe end communicates with suction ginseng screw and freight house.
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| CN201310539070.XA CN103535330B (en) | 2013-11-04 | 2013-11-04 | A kind of sink-float control device and multi-state can rise and fall sea cucumber search catching device |
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| CN105501414A (en) * | 2015-01-16 | 2016-04-20 | 刘广 | Underwater engineering vehicle |
| CN105766822A (en) * | 2014-12-26 | 2016-07-20 | 青岛赶海机器人有限公司 | Gantry-frame travelling crane type underwater operation robot |
| CN106143841A (en) * | 2015-04-08 | 2016-11-23 | 青岛赶海机器人有限公司 | A kind of multi-function operation type underwater robot |
| CN106212401A (en) * | 2016-10-11 | 2016-12-14 | 衢州乐创节能科技有限公司 | A kind of ship type Bellamya quadrata trap setting |
| CN106976528A (en) * | 2017-04-24 | 2017-07-25 | 刘艺萱 | A kind of sea cucumber fishes for equipment and sea cucumber dredger |
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| CN105501414B (en) * | 2015-01-16 | 2018-01-12 | 刘广 | Underwater Engineering car |
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| CN106212401A (en) * | 2016-10-11 | 2016-12-14 | 衢州乐创节能科技有限公司 | A kind of ship type Bellamya quadrata trap setting |
| CN106976528A (en) * | 2017-04-24 | 2017-07-25 | 刘艺萱 | A kind of sea cucumber fishes for equipment and sea cucumber dredger |
| CN107751124A (en) * | 2017-11-16 | 2018-03-06 | 钦州学院 | A kind of robot for being used to excavating and picking up conch |
| CN107751124B (en) * | 2017-11-16 | 2023-09-05 | 钦州学院 | Robot for excavating and picking conch |
| CN108517914A (en) * | 2018-06-05 | 2018-09-11 | 长沙矿冶研究院有限责任公司 | A kind of deep water dredging vehicle |
| CN108902064A (en) * | 2018-06-19 | 2018-11-30 | 安阳师范学院 | A kind of shellfish finishing device based on machine vision technique |
| CN108902064B (en) * | 2018-06-19 | 2023-12-01 | 安阳师范学院 | Shellfish fishing device based on machine vision technology |
| CN109303038A (en) * | 2018-11-08 | 2019-02-05 | 中国农业大学 | Sea cucumber catching system applying mechanical arm |
| CN109287578B (en) * | 2018-11-08 | 2023-07-04 | 中国农业大学 | Sea cucumber catching system |
| CN109601493A (en) * | 2018-11-08 | 2019-04-12 | 中国农业大学 | Suction type sea cucumber fishing device |
| CN109601493B (en) * | 2018-11-08 | 2023-10-13 | 中国农业大学 | Suction type sea cucumber catching device |
| CN109287578A (en) * | 2018-11-08 | 2019-02-01 | 中国农业大学 | Sea cucumber catching system |
| CN109303038B (en) * | 2018-11-08 | 2023-12-12 | 中国农业大学 | Sea cucumber catching system using mechanical arm |
| CN110122438A (en) * | 2019-06-22 | 2019-08-16 | 西南石油大学 | A kind of exploration of pump suction type marine product and finishing device |
| CN111165446A (en) * | 2020-02-28 | 2020-05-19 | 曲洪霞 | Semi-submersible type fishing robot for holothurian culture |
| CN111165446B (en) * | 2020-02-28 | 2023-05-30 | 曲洪霞 | Semi-submersible type fishing robot for sea cucumber culture |
| CN116495143A (en) * | 2023-03-23 | 2023-07-28 | 南京工程学院 | Underwater sea cucumber catching robot with overall structure and bionic design |
| CN116495143B (en) * | 2023-03-23 | 2023-11-03 | 南京工程学院 | Underwater sea cucumber catching robot with overall structure and bionic design |
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