CN105941245A - Intelligent robot for feeding fishes and shrimps in reservoir - Google Patents
Intelligent robot for feeding fishes and shrimps in reservoir Download PDFInfo
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- CN105941245A CN105941245A CN201610471560.4A CN201610471560A CN105941245A CN 105941245 A CN105941245 A CN 105941245A CN 201610471560 A CN201610471560 A CN 201610471560A CN 105941245 A CN105941245 A CN 105941245A
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- 235000021050 feed intake Nutrition 0.000 claims description 20
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- 230000001105 regulatory effect Effects 0.000 claims description 3
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Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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Abstract
The invention relates to an intelligent robot for feeding fishes and shrimps in a reservoir. The intelligent robot for feeding fishes and shrimps in the reservoir comprises a land traveling device, water surface traveling devices, a lifting device, a redundancy parallel mechanism and a feeding device, wherein the water surface traveling devices are respectively positioned on the left side and the right side of the land traveling device; the lifting device is positioned right above the land traveling device; the lower end of the lifting device is connected with the upper end of the land traveling device; the redundancy parallel mechanism is positioned between the lifting device and the feeding device; the lower end of the redundancy parallel mechanism is connected with the lifting device; and the upper end of the redundancy parallel mechanism is connected with the feeding device. The intelligent robot for feeding fishes and shrimps in the reservoir has functions of land traveling, water surface traveling, orientation angle adjustment and loading and feeding; an automatic feeding function of fishery breeding can be fulfilled; intelligent degree is high, an orientation angle is adjusted conveniently and flexibly, feeding speed is high, and the distance is long; and the problem that an existing artificial mode of feeding fishes and shrimps by a person on a boat is large in work amount, high in dangerousness, low in efficiency and the like is solved.
Description
Technical field
The present invention relates to fishery cultivating instrument field, a kind of reservoir fish and shrimp feeding operation intelligent robot.
Background technology
Fishery refers to fish for cultured fishes and other water plants such as aquatic animal and seaweeds to obtain the social production of aquatic products
Department；Being generally divided into sea fishery and fresh water fishery, fishery can be that people's lives and nation-building provide food and the raw material of industry；
Wherein development and utilization waters, gathers and fishes for the aquatic animals and plants society with acquirement aquatic products that there be economic worth various with artificial cultivation
Meeting production division, is the important component part of broad sense agricultural, can be divided into sea fishery and fresh water fishery by waters；By industry characteristics
It is divided into aquaculture and fishery；Fish production be mainly characterized by with various waters as base, to have the Aquatic product economy of reproducibility
Animal and plant resource is object, has the most regional and seasonal, and primary product have corruption fresh and alive, variable and the feature of commodity,
Fishery is an important department of national economy, and rich in protein content provides the 6% of aggregate consumption, animal protein for the world
The 24% of matter consumption figure, it is also possible to provide fertilizer for agricultural, provides concentrated feed for animal husbandry, for food, medicine, chemical industry
Industry provides important source material., there are vast continental shelf and beach in the coastline of more than 18000 kilometer of China, have 200,000 square kilometres
Freshwater, 1000 diversified economies are worth higher Aquatic product animals and plants, and development fishery has good natural conditions and bright prospects.
Fishery cultivating is again aquaculture, and what the object of fishery cultivating was the most on the high side has fish and shrimp, loaches, rice field eel, shellfish Eriocheir sinensis etc.,
In fishery cultivating, need regularly to feed intake, water quality detection and cultivation object sample detection etc., now in fishery cultivating
The work that feeds intake mostly is and manually carries out, and occupies a large amount of labour force, and aquaculture cost rises, and due to operation on the water, with time
Often dangerous, although there being now a small amount of automatic feeder, but there is water surface walking very flexible, the efficiency that feeds intake is low, throw more
Material distance is partially near and angle orientation regulates the features such as inconvenience.In consideration of it, the invention provides a kind of reservoir fish and shrimp feeding operation intelligence
Robot.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of reservoir fish and shrimp feeding operation intelligent robot.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of reservoir fish and shrimp feeding operation intelligent robot, including land walking device, water surface running gear, lowering or hoisting gear, superfluous
Remaining parallel institution and charging device；Described water surface running gear quantity is two, and water surface running gear lays respectively at land walking
The left and right sides of device, water surface running gear is connected with land walking device, and lowering or hoisting gear is positioned at directly over land walking device,
And lowering or hoisting gear lower end is connected with land walking device upper end, redundancy parallel mechanism between lowering or hoisting gear and charging device,
And redundancy parallel mechanism lower end is connected with lowering or hoisting gear, redundancy parallel mechanism upper end is connected with charging device.
As a further improvement on the present invention, described land walking device includes chassis, drives motor, drive shaft, treads
Wheel, tight locking button and traveling crawler, and drive the quantity of motor, tight locking button and traveling crawler to be two, drive shaft and walking belt wheel
Quantity is four；Described chassis is in rectangular configuration, and the left and right sides, chassis offers U-type groove respectively, and rear and front end, chassis is opened respectively
It is provided with mounting groove, drives motor to be separately fixed at before and after chassis in the mounting groove of both sides, and drive motor to use Biaxial synchronous output
Motor, drive shaft one end with drive motor output shaft be connected, the drive shaft other end with walking belt wheel be connected, and drive shaft and
Being fixed by tight locking button between walking belt wheel, walks on belt wheel rotating around being enclosed within traveling crawler two ends, and outside traveling crawler
It is evenly arranged with semicircle tread plate；By driving the rotation rotating drive treads wheel of motor, thus drive traveling crawler
Motion, land walking device is mainly used in the walking of the present invention, movement and turns to, and land walking device is by using crawler type
Structure easily facilitates the walking of hollow physical features ground condition so that the suitability of the present invention is higher.
As a further improvement on the present invention, described water surface running gear include walk plate, walking hinge, angle adjusting mechanism,
Walking rotating disk, walking expansion link, fixed support, jet cylinder, appendix and pulsometer；Described walking plate is bar shaped tabular knot
Structure, walking plate medial extremity is connected with the U-type groove medial wall on chassis by walking hinge, and angle adjusting mechanism quantity is two, and
Angle adjusting mechanism is respectively symmetrically layout along the central transverse axis of walking plate, and angle adjusting mechanism lower end fixes with walking plate,
Walking rotating disk is positioned at walking plate lateral wall center position, and walking expansion link one end is connected with walking rotating disk, and walking expansion link is another
One end is connected with fixed support, and walking expansion link is hollow cylinder shell structure, and fixed support rear end is provided with fixing bar,
Fixed support front end is provided with Ω type frame, and Ω type frame is linearly equally spaced along fixing bar, and jet cylinder is arranged on fixed support
Ω type frame in, jet cylinder front end is cone-shaped structure, and jet tube rear end offers puff prot, and appendix one end is stretched through walking
Contracting bar is connected with jet cylinder, and the appendix other end is connected with pulsometer, and pulsometer is fixed on the center of upper surface, chassis
Place；Described angle adjusting mechanism includes regulating ear mount, the first regulation axle, adjusting yoke, the second regulation axle and regulation support；
The described U-shaped structure of regulation ear mount, regulation ear mount is fixed on walking plate, and adjusting yoke lower end is by the first regulation axle and tune
Joint ear mount is connected, and is connected by the second regulation axle between adjusting yoke upper end with regulation support, and adjusting yoke is electronic stretching
Contracting formula structure, regulation support is in the y-type structure stood upside down, and regulation pedestal lower end is fixed on chassis.Can be driven by walking rotating disk
The rotary motion on XZ vertical of the jet cylinder, thus regulate the water surface walking inclination angle of jet cylinder, it is simple to the present invention is in different in flow rate
The water surface on walking move；The side-to-side movement on XY horizontal plane of the jet cylinder can be driven by walking expansion link, thus control
Extension elongation when jet cylinder is walked mobile on the water surface；Can control to walk plate with walking hinge for rotation by angle adjusting mechanism
Rotating shaft rotates, thus drives the rotation on YZ vertical of the jet cylinder, so regulation jet cylinder drinking water inclination angle, i.e. this
Bright draft amount, it is simple to the present invention walks mobile in the waters of different depth；Jet cylinder ejection gas can be controlled by pulsometer
The flow velocity of body, thus regulate the gait of march of the present invention；Water surface running gear can carry out a translation two and rotate the sky of Three Degree Of Freedom altogether
Between move, it can walk mobile in the waters of different in flow rate and different depth, and the speed of travel and draft amount the most adjustable, regulate
Fast and easy.
As a further improvement on the present invention, described lowering or hoisting gear includes lifting push rod, lifting round platform and electric turntable；Described
Lifting push rod quantity be four, lifting push rod be positioned at lifting round platform below, and lifting push rod upper end with lifting round platform lower surface be connected
Connecing, electric turntable is fixed on lifting round platform upper surface center position.
As a further improvement on the present invention, described redundancy parallel mechanism includes fixed platform, moving platform, the first side chain and second
Side chain；Described fixed platform and moving platform are disc-shaped structure, and moving platform is positioned at directly over fixed platform；Described first
The quantity of chain and the second side chain is two, and the first side chain and the second side chain are respectively positioned between fixed platform and moving platform, the first side chain and
The two ends of the second side chain are connected with fixed platform and moving platform respectively, and the horizontal installation angle of the first side chain and the second side chain is
90 degree；The first described side chain include the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, first connect post and
First damping spring；The first described ear mount is fixed on fixed platform upper surface, between the first ear mount and the first electric pushrod lower end
Employing Hooke's hinge is attached, and the first electric pushrod upper end is connected with the first spherical hinge, and the first spherical hinge is by the first connection post
Being fixed on the lower surface of moving platform, the first damping spring is around being enclosed within the first electric pushrod；Two sides can be carried out by Hooke's hinge
To rotation, the rotation in three directions can be carried out by the first spherical hinge, can be moved up and down by the first electric pushrod,
One side chain uses the form of 2-UPS parallel institution, and adds stationarity during first chain movement by the first damping spring,
Improve the exercise performance of the present invention；The second described side chain includes the second ear mount, rotational pin, the second electric pushrod, the second ball
Hinge, the second connection post and the second damping spring；The second described ear mount is fixed on fixed platform upper surface, the second ear mount and the
Using rotational pin to be attached between two electric pushrod lower ends, the second electric pushrod upper end is connected with the second spherical hinge, the second ball
Hinge connects post by second and is fixed on the lower surface of moving platform, and the second damping spring is around being enclosed within the second electric pushrod；Pass through
Rotational pin can carry out the rotation in a direction, can be carried out the rotation in three directions by the second spherical hinge, by the second electric pushrod
Can move up and down, the second side chain uses the form of 2-RPS parallel institution, and adds second by the second damping spring
Stationarity during chain movement, improves the exercise performance of the present invention；Redundancy parallel mechanism by fixed platform, moving platform, first
Chain and the second side chain constitute four-degree-of-freedom symmetric parallel mechanism, and it uses the parallel institution form of 2-UPS-2-RPS, its energy
Realize moving and around X-axis and moving around rotation totally four degree of freedom directions of Y-axis along X-axis and Z axis, and four degree of freedom
All independent, by four degree of freedom can also co-ordination, the moving platform track made is along the curvilinear motion of predetermined space, and motion is flat
Surely, redundancy parallel mechanism flexibly, is applied in the present invention by motion, on the one hand serves entirety orientation when feeding intake charging device
The effect of angular adjustment so that the present invention may be at can omnibearing carrying out feeding intake under various attitude angle operation, feeds intake
Convenient and swift and the scope that feeds intake is wide；On the other hand improve the damping performance of the present invention by redundancy parallel mechanism, the present invention is in land
On the ground or in water during walking, even at jolting or time under nonequilibrium condition, charging device is in horizontal plateau all the time,
Prevent charging device feed intake operation time the problem that cannot be carried out because of jitter or the excessive operation that causes feeding intake of obliquity, carry further
The high present invention feed intake operation time stability and safety.
As a further improvement on the present invention, described charging device includes feed intake pedestal, batch charging mechanism and material storage tube；Described
Batch charging mechanism quantity is four, and batch charging mechanism is respectively symmetrically layout along the central axis of the pedestal that feeds intake, and material storage tube is positioned at and feeds intake on pedestal
End center position；Described batch charging mechanism include feeding intake ear mount, the first rotating shaft, the support that feeds intake, the second rotating shaft, shovel material support,
Feed intake scraper bowl, actuating unit, the first compression spring and the second compression spring；Described feed intake pedestal lower end by the first rotating shaft with
The ear mount that feeds intake is connected, and the pedestal upper end that feeds intake is connected with shovel material support one end by the second rotating shaft, and the support that feeds intake is cat ladder shape knot
Structure, inside the support that feeds intake, spaced set has cross bar, shovel material support to use the rectangular box structure of hydraulic telescopic type, and feed intake scraper bowl
Being fixed on the shovel material support other end, and the cross section transverse of the scraper bowl that feeds intake is sector structure, actuating unit is positioned at below the support that feeds intake,
First compression spring is feeding intake pedestal and feeding intake between support, and the first compression spring upper end is provided with the first rotary column, first turn
Column articulated on the cross bar feeding intake support, the first compression spring lower end is provided with a connecting seat, and a connecting seat is fixed on and feeds intake
On pedestal upper surface, the second compression press spring is positioned at inside the first compression spring, and the second compression spring upper end is provided with the second rotary column,
Second rotary column is hinged on the cross bar of the support that feeds intake, and the second compression spring lower end is provided with the second connection seat, and second connects seat fixes
Feeding intake on pedestal upper surface.
As a further improvement on the present invention, described actuating unit includes power shaft, follow-up pulley, steel wire rope, actively slides
Wheel, transition axis, rolling bearing units, driven gear, driving gear, power motor, mobile motor seat and motorized rails, and driven
The quantity of pulley, steel wire rope, driving pulley, transition axis and rolling bearing units is two；Described power shaft is through feeding intake on support
End, follow-up pulley is respectively symmetrically and is fixed on power shaft two ends, and steel wire rope one end is fixed on follow-up pulley, the steel wire rope other end
Being wrapped on driving pulley, use key to be connected between transition axis one end and driving pulley, the transition axis other end is provided with driving tooth
Wheel, is fixed on by rolling bearing units in the middle part of transition axis and feeds intake on pedestal upper surface, and driving gear is fixed on the output shaft of power motor
On, and driving gear is meshed with driven gear, and power motor is arranged on motorized rails by mobile motor seat, and electronic leads
The cross section transverse of rail is I-shaped structure.
When specifically feeding intake, the stretching first passing through shovel material support drives the scraper bowl that feeds intake to move diagonally downward, when the scraper bowl that feeds intake is deep
When entering in material storage tube the bait stored, the scraper bowl that feeds intake is driven to tilt upward to move by the contractile motion of shovel material support, thus real
Show the function of the scraper bowl charging that feeds intake；Then pass through the mobile motor seat past medial motion on motorized rails and drive power motor
Medial movement, when driving gear coaxial mounted with power motor output shaft is meshed with driven gear, by power motor
Rotarily drive the rotation of driving gear, and driving gear is meshed with driven gear, driven gear and driving pulley coaxially fixing peace
Dress, it is achieved thereby that the rotation of driving pulley, has reached to shrink the effect of steel wire rope, and steel wire rope has been connected with follow-up pulley, from
Movable pulley fixes with power shaft, and power shaft is fixed on and feeds intake on support, thus under the pulling force effect of steel wire rope, feeds intake
Support rotates counterclockwise with the first rotating shaft for rotary shaft, and the first compression spring and the second compression spring are in highly compressed state
Under；Driven the outer side shifting of power motor again by the mobile motor seat past movement outside on motorized rails, driving gear and from
Moving gear is in released state, and under the compression reaction power effect of the first compression spring and the second compression spring, the support that feeds intake is rapid
Rotate clockwise for rotary shaft with the first rotating shaft, thus drive the scraper bowl that feeds intake to dish out laterally, reached the effect fed intake；?
After after bait is launched, under the extension recovery power effect of the first compression spring and the second compression spring, the support that feeds intake is with first
Rotating shaft is that rotary shaft rotates counterclockwise, it is achieved that regain the function of the scraper bowl that feeds intake；Charging device can realize automatic charge and feed intake
Function, and omnidistance intelligence degree is high, feeds simple and quick, and rate of feeding is fast, distance is remote.
Compared with prior art, the invention have the advantages that
(1) present invention has the function that land walking, water surface walking, orientation angles regulation and charging feed intake, and can realize fishery
The function of cultivation automatic charging, and intelligence degree is high, orientation angles is easy to adjust flexibly, the fast distance of rate of feeding is remote, solves
The problems such as the existing workload that manually feeds intake by ship is big, dangerous big and efficiency is low.
(2) land walking device and the water surface running gear of the present invention coordinates conversion to use, and changes convenient and swift, is adaptable to
Land walking and water surface walking, reached the effect of amphibious walking, and water surface running gear can carry out a translation two rotate totally three from
By the space motion spent, it can walk mobile in the waters of different in flow rate and different depth, and the speed of travel and draft amount
Adjust, easy to adjust quickly.
(3) redundancy parallel mechanism of the present invention constitutes four-degree-of-freedom by fixed platform, moving platform, the first side chain and the second side chain
Symmetric parallel mechanism, and it uses the parallel institution form of 2-UPS-2-RPS, its can realize moving along X-axis and Z axis and around
X-axis and the motion in rotation totally four the degree of freedom directions around Y-axis, and four degree of freedom are all independent, also may be used by four degree of freedom
With co-ordination, the moving platform track made is along the curvilinear motion of predetermined space, stable movement, and motion is flexible, by redundant parallel
Structure is applied in the present invention, on the one hand serves the effect of entirety orientation angles regulation when feeding intake charging device so that the present invention
May be at can omnibearing carrying out feeding intake under various attitude angle operation, feeds intake convenient and swift and the scope that feeds intake is wide；Another
Aspect improves the damping performance of the present invention by redundancy parallel mechanism, when the present invention on land or walks in water, even if place
In time jolting or under nonequilibrium condition, charging device is in horizontal plateau all the time, prevent charging device feed intake operation time because of
The problem that jitter or the excessive operation that causes feeding intake of obliquity cannot be carried out, further increase the present invention feed intake operation time steady
Qualitative and safety.
(4) charging device of the present invention can realize automatic charge and the function fed intake, and omnidistance intelligence degree is high, and charging is simple
Quickly, rate of feeding is fast, distance is remote.
Accompanying drawing explanation
The present invention is further described with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is the perspective view of the present invention；
Fig. 2 is the perspective view after the present invention removes charging device；
Fig. 3 is perspective view when land walking device of the present invention, water surface running gear and lowering or hoisting gear cooperation；
Fig. 4 is perspective view when land walking device of the present invention and the cooperation of water surface running gear；
Fig. 5 is perspective view when redundancy parallel mechanism of the present invention and charging device cooperation；
Fig. 6 is the perspective view of redundancy parallel mechanism of the present invention；
Fig. 7 is the perspective view of charging device of the present invention；
Fig. 8 is the perspective view of batch charging mechanism of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below in conjunction with tool
Body illustrates, and the present invention is expanded on further.
As shown in Figures 1 to 8, a kind of reservoir fish and shrimp feeding operation intelligent robot, including land walking device 1, water surface row
Walking apparatus 2, lowering or hoisting gear 3, redundancy parallel mechanism 4 and charging device 5；Described water surface running gear 2 quantity is two, and
Water surface running gear 2 lays respectively at the left and right sides of land walking device 1, water surface running gear 2 and land walking device 1 phase
Connecting, lowering or hoisting gear 3 is positioned at directly over land walking device 1, and lowering or hoisting gear 3 lower end and land walking device 1 upper end phase
Connecting, redundancy parallel mechanism 4 is between lowering or hoisting gear 3 and charging device 5, and redundancy parallel mechanism 4 lower end fills with lifting
Putting 3 to be connected, redundancy parallel mechanism 4 upper end is connected with charging device 5.
As shown in Figure 3 and Figure 4, described land walking device 1 includes chassis 11, drives motor 12, drive shaft 13, OK
Walk belt wheel 14, tight locking button 15 and traveling crawler 16, and drive the quantity of motor 12, tight locking button 15 and traveling crawler 16 to be
Two, drive shaft 13 and walking belt wheel 14 quantity are four；Described chassis 11 is in rectangular configuration, and rear and front end, chassis 11 is respectively
Offer mounting groove, drive motor 12 to be separately fixed in the mounting groove of both sides front and back, chassis 11, and it is double to drive motor 12 to use
Axle synchronism output motor, drive shaft 13 one end is connected with driving motor 12 output shaft, drive shaft 13 other end and walking belt wheel
14 are connected, and are fixed by tight locking button 15 between drive shaft 13 and walking belt wheel 14, and traveling crawler 16 two ends are respectively
Around being enclosed within walking belt wheel 14, and outside traveling crawler 16, it is evenly arranged with semicircle tread plate；By driving turning of motor 12
The dynamic rotation driving walking belt wheel 14, thus drive the motion of traveling crawler 16, land walking device 1 is mainly used in the present invention
Walking, movement and turn to, and land walking device 1 by use track structure easily facilitate hollow physical features ground condition walking,
The suitability making the present invention is higher.
As shown in Figure 3 and Figure 4, described water surface running gear 2 includes walk plate 21, walking hinge 22, angle adjusting mechanism
23, walking rotating disk 24, walking expansion link 25, fixed support 26, jet cylinder 27, appendix 28 and pulsometer 29；Described
Walking plate 21 in bar shaped platy structure, walking plate 21 medial extremity is by the U-type groove medial wall of walking hinge 22 with chassis 11
Being connected, angle adjusting mechanism 23 quantity is two, and angle adjusting mechanism 23 is the most right along the central transverse axis of walking plate 21
Claiming to arrange, angle adjusting mechanism 23 lower end fixes with walking plate 21, and walking rotating disk 24 is positioned at walking center, plate 21 lateral wall
Position, walking expansion link 25 one end is connected with walking rotating disk 24, walking expansion link 25 other end and fixed support 26 phase
Connecting, and walking expansion link 25 is hollow cylinder shell structure, fixed support 26 rear end is provided with fixing bar, fixed support 26
Front end is provided with Ω type frame, and Ω type frame is linearly equally spaced along fixing bar, and jet cylinder 27 is arranged on fixed support 26
In Ω type frame, jet cylinder 27 front end is cone-shaped structure, and jet cylinder 27 rear end offers puff prot, and appendix 28 one end passes
Walking expansion link 25 is connected with jet cylinder 27, and appendix 28 other end is connected with pulsometer 29, and pulsometer 29 is fixed on
The center position of upper surface, chassis 11；Described angle adjusting mechanism 23 include regulating ear mount 231, first regulate axle 232,
Adjusting yoke 233, second regulates axle 234 and regulation support 235；The described U-shaped structure of regulation ear mount 231, regulates ear mount
231 are fixed on walking plate 21, and adjusting yoke 233 lower end is connected with regulation ear mount 231 by the first regulation axle 232, adjusts
Being connected by the second regulation axle 234 between joint pull bar 233 upper end with regulation support 235, adjusting yoke 233 is stretched for electronic
Contracting formula structure, regulation support 235 is in the y-type structure stood upside down, and regulation support 235 lower end is fixed on chassis 11.By walking
Rotating disk 24 can drive the jet cylinder 27 rotary motion on XZ vertical, thus regulates the water surface walking inclination angle of jet cylinder 27,
It is easy to present invention walking on the water surface of different in flow rate move；Jet cylinder 27 can be driven at XY water by walking expansion link 25
Side-to-side movement in plane, thus control extension elongation when jet cylinder 27 is walked mobile on the water surface；Pass through angle adjusting mechanism
23 can control walking plate 21 rotates with walking hinge 22 for rotary shaft, thus drives jet cylinder 27 on YZ vertical
Rotation, and then regulation jet cylinder 27 drinking water inclination angle, i.e. the draft amount of the present invention, it is simple to the present invention is in the waters of different depth
Middle walking is mobile；Jet cylinder 27 can be controlled by pulsometer 29 and spray the flow velocity of gas, thus regulate the traveling speed of the present invention
Degree；Water surface running gear 2 can carry out a translation two and rotate the space motion of Three Degree Of Freedom altogether, and it can be in different in flow rate with the deepest
In the waters of degree, walking is mobile, and the speed of travel and draft amount the most adjustable, easy to adjust quickly.
As it is shown on figure 3, described lowering or hoisting gear 3 includes lifting push rod 31, lifting round platform 32 and electric turntable 33；Described
Lifting push rod 31 quantity is four, and lifting push rod 31 is positioned at below lifting round platform 32, and lifts push rod 31 upper end and lifting round platform
32 lower surfaces are connected, and electric turntable 33 is fixed on lifting round platform 32 upper surface center position.
As shown in Figure 5 and Figure 6, described redundancy parallel mechanism 4 includes fixed platform 41, moving platform the 42, first side chain 43 and
Second side chain 44；Described fixed platform 41 and moving platform 42 are disc-shaped structure, and moving platform 42 is just being positioned at fixed platform 41
Lower section；The first described side chain 43 and the quantity of the second side chain 44 are two, and the first side chain 43 and the second side chain 44 are respectively positioned on
Between fixed platform 41 and moving platform 42, the two ends of the first side chain 43 and the second side chain 44 respectively with fixed platform 41 and moving platform
42 are connected, and the horizontal installation angle of the first side chain 43 and the second side chain 44 is 90 degree；The first described side chain 43 includes
First ear mount 431, Hooke's hinge the 432, first electric pushrod the 433, first spherical hinge 434, first connect post 435 and first and subtract
Shake spring 436；The first described ear mount 431 is fixed on fixed platform 41 upper surface, the first ear mount 431 and the first electric pushrod
Using Hooke's hinge 432 to be attached between 433 lower ends, the first electric pushrod 433 upper end is connected with the first spherical hinge 434,
First spherical hinge 434 is fixed on the lower surface of moving platform 42 by the first connection post 435, and the first damping spring 436 is around being enclosed within
On first electric pushrod 433；The rotation of both direction can be carried out by Hooke's hinge 432, can be carried out by the first spherical hinge 434
The rotation in three directions, can be moved up and down by the first electric pushrod 433, and the first side chain 43 uses 2-UPS parallel institution
Form, and add stationarity when the first side chain 43 moves by the first damping spring 436, improve the motion of the present invention
Performance；The second described side chain 44 includes the second ear mount 441, rotational pin the 442, second electric pushrod the 443, second spherical hinge
444, second connects post 445 and the second damping spring 446；The second described ear mount 441 is fixed on fixed platform 41 upper surface,
Rotational pin 442 is used to be attached, on the second electric pushrod 443 between second ear mount 441 and the second electric pushrod 443 lower end
End is connected with the second spherical hinge 444, and the second spherical hinge 444 is fixed on the lower surface of moving platform 42 by the second connection post 445
On, the second damping spring 446 is around being enclosed within the second electric pushrod 443；The rotation in a direction can be carried out by rotational pin 442,
The rotation in three directions can be carried out by the second spherical hinge 444, can be moved up and down by the second electric pushrod 443, second
Side chain 44 uses the form of 2-RPS parallel institution, and is added when the second side chain 44 moves by the second damping spring 446
Stationarity, improves the exercise performance of the present invention；Redundancy parallel mechanism 4 is by fixed platform 41, moving platform the 42, first side chain
43 and second side chain 44 constitute four-degree-of-freedom symmetric parallel mechanism, and it uses the parallel institution form of 2-UPS-2-RPS,
It can realize moving along X-axis and Z axis and around X-axis and moving around rotation totally four degree of freedom directions of Y-axis, and four from
All independent by spending, by four degree of freedom can also co-ordination, the moving platform track made is along the curvilinear motion of predetermined space, fortune
Dynamic steadily redundancy parallel mechanism 4 flexibly, is applied in the present invention by motion, and one side serves when feeding intake charging device 5
The effect of overall orientation angles regulation so that the present invention may be at omnibearing to carry out the work that feeds intake under various attitude angle
Industry, feeds intake convenient and swift and the scope that feeds intake is wide；On the other hand the damping performance of the present invention is improve by redundancy parallel mechanism 4,
The present invention is on land or in water during walking, and even at jolting or time under nonequilibrium condition, charging device 5 is in all the time
Horizontal plateau, prevent charging device 5 feed intake operation time cannot be carried out because of jitter or the excessive operation that causes feeding intake of obliquity
Problem, further increase the present invention feed intake operation time stability and safety.
As shown in Figure 7 and Figure 8, described charging device 5 includes feed intake pedestal 51, batch charging mechanism 52 and material storage tube 53；Institute
Batch charging mechanism 52 quantity stated is four, and batch charging mechanism 52 is respectively symmetrically layout, material storage tube along the central axis of the pedestal 51 that feeds intake
53 are positioned at the pedestal 51 upper end center position that feeds intake；Described batch charging mechanism 52 include feeding intake ear mount the 521, first rotating shaft 522,
Feed intake support the 523, second rotating shaft 524, shovel material support 525, the scraper bowl 526 that feeds intake, actuating unit the 527, first compression spring
528 and second compression spring 529；Described support 523 lower end that feeds intake is connected with the ear mount 521 that feeds intake by the first rotating shaft 522,
Feed intake support 523 upper end by the second rotating shaft 524 with shovel material support 525 one end be connected, the support 523 that feeds intake is tied in cat ladder shape
Structure, inside the support 523 that feeds intake, spaced set has cross bar, shovel material support 525 to use the rectangular box structure of hydraulic telescopic type,
The scraper bowl 526 that feeds intake is fixed on shovel material support 525 other end, and the cross section transverse of the scraper bowl 526 that feeds intake is sector structure, engine
Structure 527 is positioned at below the support 523 that feeds intake, and the first compression spring 528 is feeding intake pedestal 521 and feed intake between support 523,
And first compression spring 528 upper end be provided with the first rotary column, the first rotary column is hinged on the cross bar of the support 523 that feeds intake, first pressure
Contracting spring 528 lower end is provided with a connecting seat, and a connecting seat is fixed on and feeds intake on pedestal 51 upper surface, the second compression press spring
529 are positioned at inside the first compression spring 528, and the second compression spring 529 upper end is provided with the second rotary column, and the second rotary column is hinged
On the cross bar feeding intake support 523, the second compression spring 529 lower end is provided with the second connection seat, and second connects seat is fixed on throwing
On material pedestal 51 upper surface.
As shown in Figure 7 and Figure 8, described actuating unit 527 includes power shaft 5271, follow-up pulley 5272, steel wire rope
5273, driving pulley 5274, transition axis 5275, rolling bearing units 5276, driven gear 5277, driving gear 5278, power
Motor 5279, mobile motor seat 527a and motorized rails 527b, and follow-up pulley 5272, steel wire rope 5273, driving pulley
5274, the quantity of transition axis 5275 and rolling bearing units 5276 is two；Described power shaft 5271 is through feeding intake on support 523
End, follow-up pulley 5272 is respectively symmetrically and is fixed on power shaft 5271 two ends, and steel wire rope 5273 one end is fixed on follow-up pulley
On 5272, steel wire rope 5273 other end is wrapped on driving pulley 5274, transition axis 5275 one end and driving pulley 5274 it
Between use key be connected, transition axis 5275 other end is provided with driving gear 5278, passes through rolling bearing units in the middle part of transition axis 5275
5276 are fixed on and feed intake on pedestal 51 upper surface, and driving gear 5278 is fixed on the output shaft of power motor 5279, and main
Moving gear 5278 is meshed with driven gear 5277, and power motor 5279 is arranged on motorized rails by mobile motor seat 527a
On 527b, and the cross section transverse of motorized rails 527b is I-shaped structure.
As shown in Figure 7 and Figure 8, when specifically feeding intake, the stretching first passing through shovel material support 525 drives the scraper bowl 526 that feeds intake
Move diagonally downward, when the bait stored in the scraper bowl 526 that feeds intake is deep into material storage tube 53, by the contraction of shovel material support 525
The motion drive scraper bowl 526 that feeds intake tilts upward to move, it is achieved thereby that the function of scraper bowl 526 charging that feeds intake；Then by mobile
The motor cabinet 527a past medial motion on motorized rails 527b drives the medial movement of power motor 5279, when with power motor
When the 5279 coaxial mounted driving gears of output shaft 5278 are meshed with driven gear 5277, by the rotation of power motor 5279
Turn the rotation driving driving gear 5278, and driving gear 5278 be meshed with driven gear 5277, driven gear 5277 and
Driving pulley 5274 coaxially fixedly mounts, it is achieved thereby that the rotation of driving pulley 5274, has reached to shrink steel wire rope 5273
Effect, and steel wire rope 5273 is connected with follow-up pulley 5272, follow-up pulley 5272 fixes with power shaft 5271, power
Rotating shaft 5271 is fixed on and feeds intake on support 523, thus under the pulling force effect of steel wire rope 5273, the support 523 that feeds intake is with first
Rotating shaft 522 rotates counterclockwise for rotary shaft, and the first compression spring 528 and the second compression spring 529 are in high compression shape
Under state；Pass through the mobile motor seat 527a past movement outside on motorized rails 527b again and drive the outer sidesway of power motor 5279
Dynamic, driving gear 5278 and driven gear 5277 are in released state, in the first compression spring 528 and the second compression spring 529
Compression reaction power effect under, the support 523 that feeds intake rotates clockwise with the first rotating shaft 522 for rotary shaft rapidly, thus drives
The scraper bowl 526 that feeds intake is dished out laterally, has reached the effect fed intake；Finally after bait is launched, in the first compression spring 528
With under the extension recovery power effect of the second compression spring 529, the support 523 that feeds intake does with the first rotating shaft 522 for rotary shaft counterclockwise
Rotate, it is achieved that regain the function of the scraper bowl 526 that feeds intake；Charging device 5 can realize automatic charge and the function fed intake, and omnidistance
Intelligence degree is high, feeds simple and quick, and rate of feeding is fast, distance is remote.
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry,
The present invention is not restricted to the described embodiments, the principle that the present invention is simply described of the description in above-described embodiment and description,
Without departing from the spirit and scope, the present invention also has various changes and modifications, and these changes and improvements both fall within
In scope of the claimed invention.Claimed scope is defined by appending claims and equivalent thereof.
Claims (4)
1. a reservoir fish and shrimp feeding operation intelligent robot, it is characterised in that: include land walking device, water surface running gear,
Lowering or hoisting gear, redundancy parallel mechanism and charging device；Described water surface running gear quantity is two, and water surface running gear is respectively
Being positioned at the left and right sides of land walking device, water surface running gear is connected with land walking device, and lowering or hoisting gear is positioned at land row
Directly over walking apparatus, and lowering or hoisting gear lower end is connected with land walking device upper end, redundancy parallel mechanism be positioned at lowering or hoisting gear with
Between charging device, and redundancy parallel mechanism lower end is connected with lowering or hoisting gear, and redundancy parallel mechanism upper end is connected with charging device
Connect；Wherein:
Described land walking device includes chassis, drives motor, drive shaft, walking belt wheel, tight locking button and traveling crawler, and
The quantity driving motor, tight locking button and traveling crawler is two, and drive shaft and walking belt wheel quantity are four；Described chassis is square
Shape structure, the left and right sides, chassis offers U-type groove respectively, and rear and front end, chassis offers mounting groove respectively, drives motor respectively
Be fixed on before and after chassis in the mounting groove of both sides, and drive motor to use Biaxial synchronous output motor, drive shaft one end with drive electricity
Machine output shaft is connected, and the drive shaft other end is connected with walking belt wheel, and is tipped in by locking between drive shaft and walking belt wheel
Row is fixing, and traveling crawler two ends are rotating around being enclosed within walking belt wheel, and are evenly arranged with semicircle tread plate outside traveling crawler；
Described water surface running gear include walk plate, walking hinge, angle adjusting mechanism, walking rotating disk, walking expansion link,
Fixed support, jet cylinder, appendix and pulsometer；Described walking plate is bar shaped platy structure, and walking plate medial extremity is by row
Walking hinge to be connected with the U-type groove medial wall on chassis, angle adjusting mechanism quantity is two, and angle adjusting mechanism is along walking plate
Central transverse axis is respectively symmetrically layout, and angle adjusting mechanism lower end fixes with walking plate, and walking rotating disk is positioned at outside walking plate
Wall center position, walking expansion link one end is connected with walking rotating disk, and the walking expansion link other end is connected with fixed support,
And walking expansion link is hollow cylinder shell structure, fixed support rear end is provided with fixing bar, and fixed support front end is provided with Ω type
Frame, and Ω type frame is linearly equally spaced along fixing bar, jet cylinder is arranged in support bracket fastened Ω type frame, jet cylinder front end
For cone-shaped structure, jet tube rear end offers puff prot, and appendix one end is connected through walking expansion link with jet cylinder, defeated
The trachea other end is connected with pulsometer, and pulsometer is fixed on the center position of upper surface, chassis；
Described redundancy parallel mechanism includes fixed platform, moving platform, the first side chain and the second side chain；Described fixed platform is flat with dynamic
Platform is disc-shaped structure, and moving platform is positioned at directly over fixed platform；The first described side chain and the quantity of the second side chain are two,
First side chain and the second side chain are respectively positioned between fixed platform and moving platform, the two ends of the first side chain and the second side chain respectively with allocate
Platform is connected with moving platform, and the horizontal installation angle of the first side chain and the second side chain is 90 degree；The first described side chain includes
One ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, the first connection post and the first damping spring；The first described ear
Seat is fixed on fixed platform upper surface, uses Hooke's hinge to be attached between the first ear mount and the first electric pushrod lower end, the first electricity
Dynamic push rod upper end is connected with the first spherical hinge, and the first spherical hinge connects post by first and is fixed on the lower surface of moving platform, the
One damping spring is around being enclosed within the first electric pushrod；The second described side chain include the second ear mount, rotational pin, the second electric pushrod,
Second spherical hinge, the second connection post and the second damping spring；The second described ear mount is fixed on fixed platform upper surface, the second ear
Using rotational pin to be attached between seat and the second electric pushrod lower end, the second electric pushrod upper end is connected with the second spherical hinge,
Second spherical hinge connects post by second and is fixed on the lower surface of moving platform, and the second damping spring is around being enclosed within the second electric pushrod；
Described charging device includes feed intake pedestal, batch charging mechanism and material storage tube；Described batch charging mechanism quantity is four, batch charger
Structure is respectively symmetrically layout along the central axis of the pedestal that feeds intake, and material storage tube is positioned at the pedestal upper end center position that feeds intake；Described feeds intake
Mechanism include feeding intake ear mount, the first rotating shaft, the support that feeds intake, the second rotating shaft, shovel material support, the scraper bowl that feeds intake, actuating unit, the
One compression spring and the second compression spring；The described pedestal lower end that feeds intake is connected with the ear mount that feeds intake by the first rotating shaft, feeds intake and props up
Frame upper end is connected with shovel material support one end by the second rotating shaft, and the support that feeds intake is in climbing ladder-shaper structure, inside the support that feeds intake equidistantly
Being provided with cross bar, shovel material support uses the rectangular box structure of hydraulic telescopic type, and the scraper bowl that feeds intake is fixed on the shovel material support other end,
And the cross section transverse of the scraper bowl that feeds intake is sector structure, actuating unit is positioned at below the support that feeds intake, and the first compression spring is positioned at material-feeding platform
Seat and feeding intake between support, and the first compression spring upper end is provided with the first rotary column, and the first rotary column is hinged on the cross bar of the support that feeds intake
On, the first compression spring lower end is provided with a connecting seat, and a connecting seat is fixed on and feeds intake on pedestal upper surface, the second compression
Stage clip is positioned at inside the first compression spring, and the second compression spring upper end is provided with the second rotary column, and the second rotary column is hinged on to feed intake and props up
On the cross bar of frame, the second compression spring lower end is provided with the second connection seat, and the second connection seat is fixed on and feeds intake on pedestal upper surface.
A kind of reservoir fish and shrimp feeding operation intelligent robot the most according to claim 1, it is characterised in that: described lifting
Device includes lifting push rod, lifting round platform and electric turntable；Described lifting push rod is positioned at below lifting round platform, and lifting push rod
Upper end is connected with lifting round platform lower surface, and electric turntable is fixed on lifting round platform upper surface center position.
A kind of reservoir fish and shrimp feeding operation intelligent robot the most according to claim 1, it is characterised in that: described angle
Governor motion includes regulating ear mount, the first regulation axle, adjusting yoke, the second regulation axle and regulation support；Described regulation ear mount
U-shaped structure, regulation ear mount is fixed on walking plate, and adjusting yoke lower end is connected with regulation ear mount by the first regulation axle,
Being connected by the second regulation axle between adjusting yoke upper end with regulation support, adjusting yoke is electric telescopic formula structure, regulation
Support is in the y-type structure stood upside down, and regulation pedestal lower end is fixed on chassis.
A kind of reservoir fish and shrimp feeding operation intelligent robot the most according to claim 1, it is characterised in that: described power
Mechanism includes power shaft, follow-up pulley, steel wire rope, driving pulley, transition axis, rolling bearing units, driven gear, driving tooth
Wheel, power motor, mobile motor seat and motorized rails, and follow-up pulley, steel wire rope, driving pulley, transition axis and axle of usheing to seat
The quantity held is two；Described power shaft is through feeding intake pedestal upper end, and follow-up pulley is respectively symmetrically and is fixed on power shaft two ends,
Steel wire rope one end is fixed on follow-up pulley, and the steel wire rope other end is wrapped on driving pulley, transition axis one end and driving pulley it
Between use key be connected, the transition axis other end is provided with driving gear, is fixed on, by rolling bearing units, the pedestal that feeds intake in the middle part of transition axis
On upper surface, driving gear is fixed on the output shaft of power motor, and driving gear is meshed with driven gear, power motor
It is arranged on motorized rails by mobile motor seat, and the cross section transverse of motorized rails is I-shaped structure.
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| CN201610471560.4A CN105941245B (en) | 2016-06-23 | 2016-06-23 | A kind of reservoir fishes and shrimps feeding operation intelligent robot |
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| CN201610471560.4A CN105941245B (en) | 2016-06-23 | 2016-06-23 | A kind of reservoir fishes and shrimps feeding operation intelligent robot |
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| CN111248118A (en) * | 2020-03-17 | 2020-06-09 | 南京工业职业技术学院 | Fishing ground management robot based on visual system |
| CN111742867A (en) * | 2020-06-17 | 2020-10-09 | 惠安用扬星通讯设备有限公司 | Automatic adjust crayfish fodder feeding device of volume of throwing something and feeding |
| CN112005943A (en) * | 2020-09-07 | 2020-12-01 | 中国水产科学研究院黄海水产研究所 | Bait feeding robot for industrial prawn culture |
| CN117204386A (en) * | 2023-10-16 | 2023-12-12 | 农芯(南京)智慧农业研究院有限公司 | Automatic feeding and medicine applying device |
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|---|---|
| CN105941245B (en) | 2018-12-14 |
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