CN105941245B - A kind of reservoir fishes and shrimps feeding operation intelligent robot - Google Patents

A kind of reservoir fishes and shrimps feeding operation intelligent robot Download PDF

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Publication number
CN105941245B
CN105941245B CN201610471560.4A CN201610471560A CN105941245B CN 105941245 B CN105941245 B CN 105941245B CN 201610471560 A CN201610471560 A CN 201610471560A CN 105941245 B CN105941245 B CN 105941245B
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walking
fixed
bracket
feeds intake
lifting
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CN105941245A (en
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虞田乐
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JIANGSU RAINPAT DATA SERVICE Co.,Ltd.
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杨仲辉
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    • YGENERAL 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
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02ATECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/80Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
    • Y02A40/81Aquaculture, e.g. of fish

Abstract

The present invention relates to a kind of reservoir fishes and shrimps feeding operation intelligent robots, including land walking device, water surface running gear, lifting device, redundancy parallel mechanism and charging device, water surface running gear is located at the left and right sides of land walking device, lifting device is located at right above land walking device, and lifting device lower end is connected with land walking device upper end, redundancy parallel mechanism is between lifting device and charging device, and redundancy parallel mechanism lower end is connected with lifting device, redundancy parallel mechanism upper end is connected with charging device.The present invention has the function of that land walking, water surface walking, orientation angles adjust and charging feeds intake, the function of fishery cultivating automatic charging can be achieved, and intelligence degree is high, orientation angles are easy to adjust flexibly, distance is remote fastly for rate of feeding, solves the problems such as big existing artificial feed intake by ship heavy workload, risk and low efficiency.

Description

A kind of reservoir fishes and shrimps feeding operation intelligent robot
Technical field
The present invention relates to fishery cultivating instrument field, specifically a kind of reservoir fishes and shrimps feeding operation intelligent robot.
Background technique
Fishery refers to fishing and cultured fishes and the water plants such as other aquatic animals and seaweeds to obtain aquatic products Social production department;Be generally divided into sea fishery and fresh water fishery, fishery can be provided for people's lives and nation-building food and The raw material of industry;Waters is wherein developed and utilized, acquisition fishing is with the various aquatic animals and plants for having economic value of artificial breeding to take The social production department for obtaining aquatic products, is the important component of broad sense agricultural, can be divided into sea fishery and fresh water fishing by waters Industry;It is divided into aquaculture and fishery by industry characteristics;Fish production is mainly characterized by using various waters as base, to have again The aquatic products Economic animals and plants resource of natural disposition is object, has apparent regional and seasonality, and primary product have fresh and alive, variable corruption And the characteristics of commodity, fishery are an important departments of national economy, protein content abundant provides overall consumption for the world The 6%, the 24% of animal protein consumption figure of amount, can also provide fertilizer for agricultural, provide concentrated feed for animal husbandry, Important source material is provided for food, medicine, chemical engineering industry., there are vast continental shelf and beach in the coastline of more than 18000 kilometers of China It applies, there is 200,000 square kilometres of freshwater, 1000 diversified economies are worth higher aquatic products animals and plants, and development fishery has good Natural conditions and bright prospects.
Fishery cultivating is called aquaculture, the object of fishery cultivating it is now on the high side have fishes and shrimps, loaches, rice field eel, shellfish crab Deng, in fishery cultivating, need regularly to feed intake, water quality detection and cultivation object sample detection etc., now for fishery cultivating In the work that feeds intake be mostly it is artificial carry out, occupy a large amount of labours, aquaculture cost rises, and due to operation on the water, companion Have risk often, although having a small amount of automatic feeder now, exist more the water surface walking flexibility it is poor, feed intake efficiency It is low, the distance that feeds intake is partially close and angle orientation adjusts the features such as inconvenient.In consideration of it, the present invention provides a kind of reservoir fishes and shrimps feeding works Industry intelligent robot.
Summary of the invention
In order to make up for the deficiencies of the prior art, the present invention provides a kind of reservoir fishes and shrimps feeding operation intelligent robots.
The present invention to be solved the used following technical scheme of its technical problem to realize.
A kind of reservoir fishes and shrimps feeding operation intelligent robot, including land walking device, water surface running gear, lifting dress It sets, redundancy parallel mechanism and charging device;The water surface running gear quantity is two, and water surface running gear is located at land The left and right sides of ground running gear, water surface running gear are connected with land walking device, and lifting device is located at land walking dress Right above setting, and lifting device lower end is connected with land walking device upper end, and redundancy parallel mechanism is located at lifting device and throws Expect between device, and redundancy parallel mechanism lower end is connected with lifting device, redundancy parallel mechanism upper end is connected with charging device It connects.
As a further improvement of the present invention, the land walking device includes chassis, driving motor, drive shaft, row Belt wheel, tight locking button and traveling crawler are walked, and the quantity of driving motor, tight locking button and traveling crawler is two, drive shaft and walking Belt wheel quantity is four;The chassis is in rectangular configuration, offers U-type groove, chassis rear and front end point at left and right sides of chassis respectively Mounting groove is not offered, and driving motor is separately fixed in the mounting groove of chassis front and rear sides, and driving motor is same using twin shaft Output motor is walked, drive shaft one end is connected with driving motor output shaft, and the drive shaft other end is connected with walking belt wheel, and drives It is fixed between moving axis and walking belt wheel by tight locking button, traveling crawler both ends are walked rotating around covering on treads wheel Semicircle tread plate is evenly arranged on the outside of crawler belt;The rotation that walking belt wheel is driven by the rotation of driving motor, to drive The movement of traveling crawler, land walking device is mainly used for walking of the invention, movement and steering, and land walking device passes through Using the walking of track structure with easily facilitating hollow topography condition, so that applicability of the invention is stronger.
As a further improvement of the present invention, the water surface running gear includes walking plate, walking hinge, angular adjustment Mechanism, walking turntable, walking telescopic rod, fixed bracket, jet cylinder, appendix and pulsometer;The walking plate is in stripe board Shape structure, walking plate inner end are connected by walking hinge with the U-type groove inner sidewall on chassis, and angle adjusting mechanism quantity is Two, and angle adjusting mechanism is symmetrically arranged along the central transverse axis of walking plate, angle adjusting mechanism lower end and walking plate Mutually fixed, walking turntable is located at walking plate lateral wall center position, and walking telescopic rod one end is connected with walking turntable, walks The telescopic rod other end is connected with fixed bracket, and telescopic rod of walking is hollow cylinder shell structure, fixed back-end support setting There is fixed link, fixed bracket front end is provided with Ω type frame, and Ω type frame is linearly equally spaced along fixed link, the installation of jet cylinder In support bracket fastened Ω type frame, jet cylinder front end is cone-shaped structure, and jet tube rear end offers puff prot, appendix one end It is connected across walking telescopic rod with jet cylinder, the appendix other end is connected with pulsometer, and pulsometer is fixed on chassis upper end The center position in face;The angle adjusting mechanism includes adjusting ear mount, the first adjustment axis, adjusting yoke, the second adjustment axis And adjusting bracket;The U-shaped structure of adjusting ear mount adjusts ear mount and is fixed on walking plate, and adjusting yoke lower end passes through the One adjustment axis is connected with ear mount is adjusted, and is connected between adjusting yoke upper end and adjusting bracket by the second adjustment axis, adjusts Pull rod is electric telescopic formula structure, and in the y-type structure to stand upside down, adjusting bracket lower end is fixed on chassis adjusting bracket.Pass through Walking turntable can drive rotary motion of the jet cylinder on XZ vertical plane, to adjust the water surface walking inclination angle of jet cylinder, be convenient for Walking of the present invention on the water surface different in flow rate is mobile;By walking, telescopic rod can drive jet cylinder on XY horizontal plane Side-to-side movement, to control extension elongation of the jet cylinder when walking mobile on the water surface;It can control by angle adjusting mechanism Walking plate is rotated using walking hinge as rotary shaft, to drive rotation of the jet cylinder on YZ vertical plane, and then adjusts spray The inclination angle of inflator drinking water, i.e., draft amount of the invention, movement of walking in the waters of different depth convenient for the present invention;Pass through air pressure Pump can control the flow velocity that jet cylinder sprays gas, to adjust travel speed of the invention;Water surface running gear can carry out one Translation two rotates the spatial movement of Three Degree Of Freedom altogether, and can walk movement in waters different in flow rate and different depth, and row It walks speed and draft amount is adjustable, it is easy to adjust quick.
As a further improvement of the present invention, the lifting device includes lifting push rod, lifting rotary table and electric turntable; The lifting push rod quantity is four, and lifting push rod is located at below lifting rotary table, and goes up and down push rod upper end and lifting rotary table lower end Face is connected, and electric turntable is fixed on lifting upper end face of truncated cone center position.
As a further improvement of the present invention, the redundancy parallel mechanism include fixed platform, moving platform, the first branch and Second branch;The fixed platform and moving platform is disc-shaped structure, and moving platform is located at right above fixed platform;Described The quantity of one branch and the second branch is two, and the first branch and the second branch are respectively positioned between fixed platform and moving platform, and first The both ends of branch and the second branch are connected with fixed platform and moving platform respectively, and the horizontal peace of the first branch and the second branch Filling angle is 90 degree;First branch includes the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, the first company Connect column and the first damping spring;First ear mount is fixed on fixed platform upper surface, the first ear mount and the first electric pushrod It is attached between lower end using Hooke's hinge, the first electric pushrod upper end is connected with the first spherical hinge, and the first spherical hinge passes through First connecting column is fixed on the lower end surface of moving platform, and the first damping spring is around covering on the first electric pushrod;Pass through Hooke's hinge The rotation that can carry out both direction can carry out the rotation in three directions by the first spherical hinge, can be by the first electric pushrod Row moves up and down, and the first branch uses the form of 2-UPS parallel institution, and increases the first branch fortune by the first damping spring Stationarity when dynamic, improves movenent performance of the invention;Second branch includes the second ear mount, rotational pin, the second electricity Dynamic push rod, the second spherical hinge, the second connecting column and the second damping spring;Second ear mount is fixed on fixed platform upper surface On, it is attached between the second ear mount and the second electric pushrod lower end using rotational pin, the second electric pushrod upper end and the second ball Hinge is connected, and the second spherical hinge is fixed on the lower end surface of moving platform by the second connecting column, and the second damping spring is around covering On second electric pushrod;The rotation that a direction can be carried out by rotational pin can carry out three directions by the second spherical hinge Rotation, can be moved up and down by the second electric pushrod, and the second branch uses the form of 2-RPS parallel institution, and passes through the Two damping springs increase stationarity when second chain movement, improve movenent performance of the invention;Redundancy parallel mechanism is logical It crosses fixed platform, moving platform, the first branch and the second branch and constitutes four-degree-of-freedom symmetric parallel mechanism, and it uses 2-UPS-2- The parallel institution form of RPS is able to achieve and moves along X-axis and Z axis and around X-axis and around rotation totally four freedom degree sides of Y-axis To movement, and four freedom degrees are independent, can also be with co-ordination, so that moving platform track is along predetermined by four freedom degrees The curvilinear motion in space, movement is steady, and flexibly, redundancy parallel mechanism is applied in the present invention for movement, on the one hand plays pair The effect that entirety orientation angles are adjusted when charging device feeds intake, so that may be under various attitude angles can be complete by the present invention Orientation carries out the operation that feeds intake, and the convenient and efficient and range that feeds intake that feeds intake is wide;On the other hand this is improved by redundancy parallel mechanism The damping performance of invention, when the present invention walks in land perhaps water even at jolt or nonequilibrium condition under when, throw Material device is in horizontal steady state always, prevent charging device feed intake operation when because of jitter or obliquity is excessive causes to throw Material operation the problem of can not carrying out, further improve the present invention feed intake operation when stability and safety.
As a further improvement of the present invention, the charging device includes feed intake pedestal, batch charging mechanism and material storage tube;Institute The batch charging mechanism quantity stated is four, and batch charging mechanism is symmetrically arranged along the central axis for the pedestal that feeds intake, and material storage tube, which is located at, to feed intake At pedestal upper end center position;The batch charging mechanism includes feed intake ear mount, first rotating shaft, the bracket that feeds intake, the second shaft, shovel material Bracket, the scraper bowl that feeds intake, power mechanism, the first compressed spring and the second compressed spring;The pedestal lower end that feeds intake is by first Shaft is connected with the ear mount that feeds intake, and the pedestal upper end that feeds intake is connected by the second shaft with shovel material bracket one end, and the bracket that feeds intake is in Ladder configuration is climbed, spaced set has cross bar on the inside of the bracket that feeds intake, and shovel material bracket uses the rectangular box structure of hydraulic telescopic type, The scraper bowl that feeds intake is fixed on the shovel material bracket other end, and the fan-shaped structure of cross section transverse for the scraper bowl that feeds intake, and power mechanism, which is located at, to feed intake Below bracket, the first compressed spring, which is located at, to feed intake between pedestal and the bracket that feeds intake, and the first compressed spring upper end is provided with first Rotary column, the first rotary column are hinged on the cross bar for the bracket that feeds intake, and the first compressed spring lower end is provided with the first attachment base, the first connection Seat, which is fixed on, to feed intake on pedestal upper surface, and the second compression press spring is located on the inside of the first compressed spring, and the second compressed spring upper end It is provided with the second rotary column, the second rotary column is hinged on the cross bar for the bracket that feeds intake, and the second compressed spring lower end is provided with the second connection Seat, the second attachment base, which is fixed on, to feed intake on pedestal upper surface.
As a further improvement of the present invention, the power mechanism includes power shaft, follow-up pulley, wirerope, master Movable pulley, transition axis, rolling bearing units, driven gear, driving gear, power motor, mobile motor seat and motorized rails, and it is driven Pulley, wirerope, driving pulley, transition axis and rolling bearing units quantity be two;The power shaft is passed through and is fed intake on bracket End, follow-up pulley are respectively symmetrically fixed on power shaft both ends, and wirerope one end is fixed on follow-up pulley, the wirerope other end It is wrapped on driving pulley, is connected between transition axis one end and driving pulley using key, the transition axis other end is equipped with actively Gear, transition axis middle part is fixed on by rolling bearing units to feed intake on pedestal upper surface, and driving gear is fixed on the defeated of power motor On shaft, and driving gear is meshed with driven gear, and power motor is mounted on motorized rails by mobile motor seat, and electricity The cross section transverse of dynamic guide rail is in I-shaped structure.
It specifically when feeding intake, is moved diagonally downward by the stretching routine drive of the shovel material bracket scraper bowl that feeds intake first, when feeding intake When scraper bowl is deep into the bait stored in material storage tube, the scraper bowl that feeds intake is driven to tilt upward fortune by the contractile motion of shovel material bracket It is dynamic, to realize the function for the scraper bowl charging that feeds intake;Then pass through past medial motion band of the mobile motor seat on motorized rails The medial movement of dynamic power motor, when being meshed with the coaxial mounted driving gear of power motor output shaft with driven gear, The rotation of driving gear is driven by the rotation of power motor, and driving gear is meshed with driven gear, driven gear and master Movable pulley is coaxially fixedly mounted, to realize the rotation of driving pulley, has achieved the effect that shrink wirerope, and wirerope with Follow-up pulley connection, follow-up pulley are mutually fixed with power shaft, and power shaft, which is fixed on, to feed intake on bracket, thus in wirerope Under pulling force effect, the bracket that feeds intake is rotated counterclockwise by rotary shaft of first rotating shaft, the first compressed spring and the second compressed spring It is under highly compressed state;The past movement outside by mobile motor seat on motorized rails drives the outer of power motor again Side is mobile, and driving gear and driven gear are in discrete state, in the compression reaction of the first compressed spring and the second compressed spring Under power effect, the bracket that feeds intake is rotated clockwise by rotary shaft of first rotating shaft rapidly, so that the scraper bowl that feeds intake be driven to throw outward Out, achieved the effect that feed intake;Finally after bait is launched, in the extension recovery of the first compressed spring and the second compressed spring Under power effect, the bracket that feeds intake is rotated counterclockwise by rotary shaft of first rotating shaft, realizes the function of withdrawing the scraper bowl that feeds intake;It feeds intake Device can realize automatic charge and the function that feeds intake, and whole intelligence degree is high, charges simple and quick, rate of feeding is fast, away from From remote.
Compared with prior art, the invention has the following advantages that
(1) present invention have the function of land walking, the water surface walking, orientation angles adjust and charge feed intake, it can be achieved that The function of fishery cultivating automatic charging, and intelligence degree is high, orientation angles are easy to adjust flexibly, distance is remote fastly for rate of feeding, Solves the problems such as big existing artificial feed intake by ship heavy workload, risk and low efficiency.
(2) land walking device of the invention and the cooperation conversion of water surface running gear use, and conversion is convenient and efficient, can fit It should walk in land walking and the water surface, achieve the effect that amphibious walking, and water surface running gear can carry out a translation two rotation The spatial movement of Three Degree Of Freedom altogether, can walk movement in the waters of different in flow rate and different depth, and the speed of travel and eat Water is adjustable, easy to adjust quick.
(3) redundancy parallel mechanism of the invention constitutes four selfs by fixed platform, moving platform, the first branch and the second branch By degree symmetric parallel mechanism, and it uses the parallel institution form of 2-UPS-2-RPS, be able to achieve moved along X-axis and Z axis and Around X-axis and around the movement for rotating totally four freedom degree directions of Y-axis, and four freedom degrees are independent, pass through four freedom degrees Can be with co-ordination, so that curvilinear motion of the moving platform track along predetermined space, movement is steady, and movement is flexible, by redundant parallel Mechanism is applied in the present invention, and entirety orientation angles are adjusted when on the one hand playing the role of feeding intake to charging device, so that this Invention may be under various attitude angles can be comprehensive carry out the operation that feeds intake, feed intake the convenient and efficient and range that feeds intake Extensively;On the other hand damping performance of the invention is improved by redundancy parallel mechanism, the present invention walks in land or water When, even at jolt or nonequilibrium condition under when, charging device is in horizontal steady state always, prevents charging device from throwing Expect the problem of can not carrying out when operation because of jitter or the excessive operation that causes to feed intake of obliquity, further improves throwing of the present invention Expect the stability and safety when operation.
(4) function that charging device of the invention can realize automatic charge and feed intake, and whole intelligence degree is high, charging Simple and quick, rate of feeding is fast, distance is remote.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is schematic perspective view of the invention;
Fig. 2 is the schematic perspective view after present invention removal charging device;
Fig. 3 is schematic perspective view when land walking device, water surface running gear and lifting device of the present invention cooperate;
Schematic perspective view when Fig. 4 is land walking device and water surface running gear of the present invention cooperation;
Schematic perspective view when Fig. 5 is redundancy parallel mechanism and charging device of the present invention cooperation;
Fig. 6 is the schematic perspective view of redundancy parallel mechanism of the present invention;
Fig. 7 is the schematic perspective view of charging device of the present invention;
Fig. 8 is the schematic perspective view of batch charging mechanism of the present invention.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figures 1 to 8, a kind of reservoir fishes and shrimps feeding operation intelligent robot, including land walking device 1, the water surface Running gear 2, lifting device 3, redundancy parallel mechanism 4 and charging device 5;2 quantity of water surface running gear is two, and water Face running gear 2 is located at the left and right sides of land walking device 1, and water surface running gear 2 is connected with land walking device 1 It connecing, lifting device 3 is located at right above land walking device 1, and 3 lower end of lifting device is connected with 1 upper end of land walking device, Redundancy parallel mechanism 4 is between lifting device 3 and charging device 5, and 4 lower end of redundancy parallel mechanism is connected with lifting device 3 It connects, 4 upper end of redundancy parallel mechanism is connected with charging device 5.
As shown in Figure 3 and Figure 4, the land walking device 1 includes chassis 11, driving motor 12, drive shaft 13, walking Belt wheel 14, tight locking button 15 and traveling crawler 16, and the quantity of driving motor 12, tight locking button 15 and traveling crawler 16 is two, is driven Moving axis 13 and walking 14 quantity of belt wheel are four;The chassis 11 is in rectangular configuration, and 11 rear and front end of chassis offers peace respectively Tankage, driving motor 12 are separately fixed in the mounting groove of 11 front and rear sides of chassis, and driving motor 12 is defeated using Biaxial synchronous Motor out, 13 one end of drive shaft are connected with 12 output shaft of driving motor, and 13 other end of drive shaft is connected with walking belt wheel 14, And be fixed between drive shaft 13 and walking belt wheel 14 by tight locking button 15,16 both ends of traveling crawler are rotating around covering in treads On wheel 14, and semicircle tread plate is evenly arranged on the outside of traveling crawler 16;Treads are driven by the rotation of driving motor 12 The rotation of wheel 14, to drive the movement of traveling crawler 16, land walking device 1 be mainly used for walking of the invention, movement and It turns to, and land walking device 1 is by using the walking of track structure with easily facilitating hollow topography condition, so that of the invention Applicability is stronger.
As shown in Figure 3 and Figure 4, the water surface running gear 2 includes walking plate 21, walking hinge 22, angular adjustment machine Structure 23, walking turntable 24, walking telescopic rod 25, fixed bracket 26, jet cylinder 27, appendix 28 and pulsometer 29;The row Limp 21 is in bar shaped plate structure, and walking 21 inner end of plate is connected by walking hinge 22 with the U-type groove inner sidewall on chassis 11, 23 quantity of angle adjusting mechanism is two, and angle adjusting mechanism 23 is symmetrically arranged along the central transverse axis of walking plate 21, 23 lower end of angle adjusting mechanism is fixed with walking 21 phase of plate, and walking turntable 24 is located at walking 21 lateral wall center position of plate, row It walks 25 one end of telescopic rod to be connected with walking turntable 24, walking 25 other end of telescopic rod is connected with fixed bracket 26, and walks Telescopic rod 25 is hollow cylinder shell structure, and fixed 26 rear end of bracket is provided with fixed link, and fixed 26 front end of bracket is provided with Ω Type frame, and Ω type frame is linearly equally spaced along fixed link, jet cylinder 27 is mounted in the Ω type frame of fixed bracket 26, jet 27 front ends of cylinder are cone-shaped structure, and 27 rear end of jet cylinder offers puff prot, 28 one end of appendix pass through walking telescopic rod 25 with Jet cylinder 27 is connected, and 28 other end of appendix is connected with pulsometer 29, and pulsometer 29 is fixed in 11 upper surface of chassis At heart position;The angle adjusting mechanism 23 includes adjusting ear mount 231, the first adjustment axis 232, adjusting yoke 233, second to adjust Nodal axisn 234 and adjusting bracket 235;The U-shaped structure of adjusting ear mount 231 adjusts ear mount 231 and is fixed on walking plate 21, 233 lower end of adjusting yoke is connected by the first adjustment axis 232 with ear mount 231 is adjusted, 233 upper end of adjusting yoke and adjusting bracket It is connected between 235 by the second adjustment axis 234, adjusting yoke 233 is electric telescopic formula structure, and adjusting bracket 235 is in Vertical y-type structure, 235 lower end of adjusting bracket are fixed on chassis 11.By walking, turntable 24 can drive jet cylinder 27 to hang down in XZ The rotary motion faced directly, so that the water surface walking inclination angle of jet cylinder 27 is adjusted, convenient for the present invention on the water surface different in flow rate Walking it is mobile;By walking, telescopic rod 25 can drive side-to-side movement of the jet cylinder 27 on XY horizontal plane, to control spray Extension elongation of the inflator 27 when walking mobile on the water surface;It can control walking plate 21 by angle adjusting mechanism 23 with hinge of walking Chain 22 is that rotary shaft is rotated, to drive rotation of the jet cylinder 27 on YZ vertical plane, and then adjusts jet cylinder 27 and absorbs water Inclination angle, i.e., draft amount of the invention, movement of walking in the waters of different depth convenient for the present invention;It can be with by pulsometer 29 The flow velocity that jet cylinder 27 sprays gas is controlled, to adjust travel speed of the invention;Water surface running gear 2 can carry out a translation Two rotate the spatial movement of Three Degree Of Freedom altogether, and can walk movement in waters different in flow rate and different depth, and speed of walking Degree and draft amount are adjustable, easy to adjust quick.
As shown in figure 3, the lifting device 3 includes lifting push rod 31, lifting rotary table 32 and electric turntable 33;Described Going up and down 31 quantity of push rod is four, and lifting push rod 31 is located at 32 lower section of lifting rotary table, and goes up and down 31 upper end of push rod and lifting rotary table 32 Lower end surface is connected, and electric turntable 33 is fixed on lifting 32 upper surface center position of rotary table.
As shown in figure 5, the redundancy parallel mechanism 4 includes fixed platform 41, moving platform 42, the first branch 43 and second Chain 44;The fixed platform 41 and moving platform 42 is disc-shaped structure, and moving platform 42 is located at right above fixed platform 41;It is described The first branch 43 and the quantity of the second branch 44 be two, the first branch 43 and the second branch 44 are respectively positioned on fixed platform 41 and dynamic Between platform 42, the both ends of the first branch 43 and the second branch 44 are connected with fixed platform 41 and moving platform 42 respectively, and the The horizontal installation angle of one branch 43 and the second branch 44 is 90 degree;First branch 43 includes the first ear mount 431, Hooke Cut with scissors the 432, first electric pushrod 433, the first spherical hinge 434, the first connecting column 435 and the first damping spring 436;Described first Ear mount 431 is fixed on 41 upper surface of fixed platform, and Hooke's hinge is used between 433 lower end of the first ear mount 431 and the first electric pushrod 432 are attached, and 433 upper end of the first electric pushrod is connected with the first spherical hinge 434, and the first spherical hinge 434 connects by first It connects column 435 to be fixed on the lower end surface of moving platform 42, the first damping spring 436 is around covering on the first electric pushrod 433;Pass through tiger The rotation that gram hinge 432 can carry out both direction, the rotation in three directions can be carried out by the first spherical hinge 434, passes through the first electricity Dynamic push rod 433 can move up and down, and the first branch 43 uses the form of 2-UPS parallel institution, and passes through the first damping spring 436 increase the stationarity when movement of the first branch 43, improve movenent performance of the invention;Second branch 44 includes Second ear mount 441, rotational pin 442, the second electric pushrod 443, the second spherical hinge 444, the second connecting column 445 and the second damping bullet Spring 446;Second ear mount 441 is fixed on 41 upper surface of fixed platform, under the second ear mount 441 and the second electric pushrod 443 It is attached between end using rotational pin 442,443 upper end of the second electric pushrod is connected with the second spherical hinge 444, the second flexural pivot Chain 444 is fixed on the lower end surface of moving platform 42 by the second connecting column 445, and the second damping spring 446 is electronic second around covering On push rod 443;The rotation that a direction can be carried out by rotational pin 442 can carry out three directions by the second spherical hinge 444 Rotation, can be moved up and down by the second electric pushrod 443, and the second branch 44 uses the form of 2-RPS parallel institution, and logical Stationarity when the second damping spring 446 increases the movement of the second branch 44 is crossed, movenent performance of the invention is improved;Redundancy is simultaneously Online structure 4 constitutes four-degree-of-freedom symmetric parallel machine by fixed platform 41, moving platform 42, the first branch 43 and the second branch 44 Structure, and it uses the parallel institution form of 2-UPS-2-RPS, is able to achieve and moves along X-axis and Z axis and around X-axis and around Y-axis The movement of totally four freedom degree directions is rotated, and four freedom degrees are independent, can also make by four freedom degrees with co-ordination Moving platform track along the curvilinear motion of predetermined space, movement is steady, and redundancy parallel mechanism 4 flexibly, is applied to this hair by movement In bright, entirety orientation angles are adjusted when on the one hand playing the role of feeding intake to charging device 5, so that the present invention may be at respectively Can be comprehensive under kind of attitude angle carry out the operation that feeds intake, the convenient and efficient and range that feeds intake that feeds intake is wide;On the other hand pass through Redundancy parallel mechanism 4 improves damping performance of the invention, when the present invention walks in land or water, even at jolting Or when under nonequilibrium condition, charging device 5 always be in horizontal steady state, prevent charging device 5 feed intake operation when because trembling The problem of dynamic property or the excessive operation that causes to feed intake of obliquity can not carry out, further improve the present invention feed intake operation when it is steady Qualitative and safety.
As shown in Figure 7 and Figure 8, the charging device 5 includes feed intake pedestal 51, batch charging mechanism 52 and material storage tube 53;Institute 52 quantity of batch charging mechanism stated is four, and batch charging mechanism 52 is symmetrically arranged along the central axis for the pedestal 51 that feeds intake, material storage tube 53 At the 51 upper end center position of pedestal that feeds intake;The batch charging mechanism 52 include feed intake ear mount 521, first rotating shaft 522, feed intake Bracket 523, the second shaft 524, shovel material bracket 525, the scraper bowl 526 that feeds intake, power mechanism 527, the first compressed spring 528 and second Compressed spring 529;523 lower end of bracket that feeds intake is connected by first rotating shaft 522 with the ear mount 521 that feeds intake, and feed intake bracket 523 upper ends are connected by the second shaft 524 with shovel material 525 one end of bracket, and the bracket 523 that feeds intake is in ladder configuration is climbed, and feed intake branch 523 inside spaced set of frame has cross bar, and shovel material bracket 525 is using the rectangular box structure of hydraulic telescopic type, and feed intake scraper bowl 526 It is fixed on shovel material 525 other end of bracket, and the fan-shaped structure of cross section transverse for the scraper bowl 526 that feeds intake, power mechanism 527, which is located at, to feed intake 523 lower section of bracket, the first compressed spring 528, which is located at, to feed intake between pedestal 521 and the bracket 523 that feeds intake, and the first compressed spring 528 Upper end is provided with the first rotary column, and the first rotary column is hinged on the cross bar for the bracket 523 that feeds intake, the setting of 528 lower end of the first compressed spring There is the first attachment base, the first attachment base, which is fixed on, to feed intake on 51 upper surface of pedestal, and the second compression press spring 529 is located at the first compression bullet 528 inside of spring, and 529 upper end of the second compressed spring is provided with the second rotary column, the second rotary column is hinged on the cross bar for the bracket 523 that feeds intake On, 529 lower end of the second compressed spring is provided with the second attachment base, and the second attachment base, which is fixed on, to feed intake on 51 upper surface of pedestal.
As shown in Figure 7 and Figure 8, the power mechanism 527 includes power shaft 5271, follow-up pulley 5272, wirerope 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, wirerope 5273, driving pulley 5274, transition The quantity of axis 5275 and rolling bearing units 5276 is two;The power shaft 5271 passes through 523 upper end of bracket that feeds intake, follow-up pulley 5272 are respectively symmetrically fixed on 5271 both ends of power shaft, and 5273 one end of wirerope is fixed on follow-up pulley 5272, wirerope 5273 other ends are wrapped on driving pulley 5274, are connected between 5275 one end of transition axis and driving pulley 5274 using key, 5275 other end of transition axis is equipped with driving gear 5278, passes through rolling bearing units 5276 in the middle part of transition axis 5275 and is fixed on material-feeding platform On 51 upper surfaces of seat, driving gear 5278 is fixed on the output shaft of power motor 5279, and driving gear 5278 and driven tooth Wheel 5277 is meshed, and power motor 5279 is mounted on motorized rails 527b by mobile motor seat 527a, and motorized rails The cross section transverse of 527b is in I-shaped structure.
As shown in Figure 7 and Figure 8, when specifically feeding intake, the scraper bowl that feeds intake is driven by the stretching routine of shovel material bracket 525 first 526 move diagonally downward, when the scraper bowl 526 that feeds intake is deep into the bait stored in material storage tube 53, pass through the receipts of shovel material bracket 525 Contracting movement drives the scraper bowl 526 that feeds intake to tilt upward to move, to realize the function for the charging of scraper bowl 526 that feeds intake;Then pass through shifting The medial movement of past medial motion drive power motor 5279 of the dynamic motor cabinet 527a on motorized rails 527b, when with power electric When the coaxial mounted driving gear 5278 of 5279 output shaft of machine is meshed with driven gear 5277, pass through the rotation of power motor 5279 Turn the rotation of drive driving gear 5278, and driving gear 5278 is meshed with driven gear 5277, driven gear 5277 and master Movable pulley 5274 is coaxially fixedly mounted, to realize the rotation of driving pulley 5274, has reached the effect for shrinking wirerope 5273 Fruit, and wirerope 5273 is connect with follow-up pulley 5272, follow-up pulley 5272 is fixed with 5271 phase of power shaft, power shaft 5271 are fixed on and feed intake on bracket 523, so that the bracket 523 that feeds intake is under the pulling force effect of wirerope 5273 with first rotating shaft 522 It is rotated counterclockwise for rotary shaft, the first compressed spring 528 and the second compressed spring 529 are under highly compressed state;Again Drive the outside of power motor 5279 mobile by past movement outside of the mobile motor seat 527a on motorized rails 527b, actively Gear 5278 and driven gear 5277 are in discrete state, in the compression and back of the first compressed spring 528 and the second compressed spring 529 Under multiple power effect, feeding intake bracket 523 rapidly is that rotary shaft rotates clockwise with first rotating shaft 522, to drive the scraper bowl that feeds intake 526 dish out outward, have achieved the effect that feed intake;Finally after bait is launched, in the first compressed spring 528 and the second compression Under the extension recovery power effect of spring 529, the bracket 523 that feeds intake is that rotary shaft rotates counterclockwise with first rotating shaft 522, is realized Withdraw the function for the scraper bowl 526 that feeds intake;The function that charging device 5 can realize automatic charge and feed intake, and whole intelligence degree is high, It charges simple and quick, rate of feeding is fast, distance is remote.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should Understand, the present invention is not limited to the above embodiments, and only illustrating for the description in above embodiments and description is of the invention Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these change and change Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent It defines.

Claims (4)

1. a kind of reservoir fishes and shrimps feeding operation intelligent robot, including land walking device, water surface running gear, lifting device, Redundancy parallel mechanism and charging device;It is characterized by: the water surface running gear quantity is two, and water surface running gear point Not Wei Yu land walking device the left and right sides, water surface running gear is connected with land walking device, and lifting device is located at land Right above ground running gear, and lifting device lower end is connected with land walking device upper end, and redundancy parallel mechanism is located at lifting Between device and charging device, and redundancy parallel mechanism lower end is connected with lifting device, redundancy parallel mechanism upper end with feed intake Device is connected;Wherein:
The land walking device includes chassis, driving motor, drive shaft, walking belt wheel, tight locking button and traveling crawler, and is driven The quantity of dynamic motor, tight locking button and traveling crawler is two, and drive shaft and walking belt wheel quantity are four;The chassis is in rectangle Structure, the chassis left and right sides offer U-type groove respectively, and chassis rear and front end offers mounting groove respectively, and driving motor is solid respectively It is scheduled in the mounting groove of chassis front and rear sides, and driving motor uses Biaxial synchronous output motor, drive shaft one end and driving electricity Machine output shaft is connected, and the drive shaft other end is connected with walking belt wheel, and passes through tight locking button between drive shaft and walking belt wheel It is fixed, traveling crawler both ends are evenly arranged with semicircle anti-skidding rotating around covering on treads wheel, and on the outside of traveling crawler Item;
The water surface running gear includes walking plate, walking hinge, angle adjusting mechanism, walking turntable, walking telescopic rod, solid Fixed rack, jet cylinder, appendix and pulsometer;The walking plate is in bar shaped plate structure, and walking plate inner end passes through walking Hinge is connected with the U-type groove inner sidewall on chassis, and angle adjusting mechanism quantity is two, and angle adjusting mechanism is along the cross of walking plate It is symmetrically arranged to central axis, angle adjusting mechanism lower end is mutually fixed with walking plate, and walking turntable is located on the outside of walking plate Wall center position, walking telescopic rod one end are connected with walking turntable, and the walking telescopic rod other end is connected with fixed bracket, And walking telescopic rod is hollow cylinder shell structure, fixed back-end support is provided with fixed link, and fixed bracket front end is provided with Ω Type frame, and Ω type frame is linearly equally spaced along fixed link, jet cylinder is mounted in support bracket fastened Ω type frame, before jet cylinder End is cone-shaped structure, and jet tube rear end offers puff prot, and appendix one end passes through walking telescopic rod and is connected with jet cylinder, The appendix other end is connected with pulsometer, and pulsometer is fixed on the center position of chassis upper surface;
The redundancy parallel mechanism includes fixed platform, moving platform, the first branch and the second branch;The fixed platform is put down with dynamic Platform is disc-shaped structure, and moving platform is located at right above fixed platform;The quantity of first branch and the second branch is Two, the first branch and the second branch are respectively positioned between fixed platform and moving platform, and the both ends of the first branch and the second branch are distinguished It is connected with fixed platform and moving platform, and the horizontal installation angle of the first branch and the second branch is 90 degree;Described first Chain includes the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, the first connecting column and the first damping spring;Described First ear mount is fixed on fixed platform upper surface, is connected between the first ear mount and the first electric pushrod lower end using Hooke's hinge It connects, the first electric pushrod upper end is connected with the first spherical hinge, and the first spherical hinge is fixed on moving platform by the first connecting column On lower end surface, the first damping spring is around covering on the first electric pushrod;Second branch include the second ear mount, rotational pin, Second electric pushrod, the second spherical hinge, the second connecting column and the second damping spring;Second ear mount is fixed on fixed platform It on end face, is attached between the second ear mount and the second electric pushrod lower end using rotational pin, the second electric pushrod upper end and the Two spherical hinges are connected, and the second spherical hinge is fixed on the lower end surface of moving platform by the second connecting column, the second damping spring around It covers on the second electric pushrod;
The charging device includes feed intake pedestal, batch charging mechanism and material storage tube;The batch charging mechanism quantity is four, batch charger Structure is symmetrically arranged along the central axis for the pedestal that feeds intake, and material storage tube is located at the pedestal upper end center position that feeds intake;The throwing Material mechanism includes feed intake ear mount, first rotating shaft, the bracket that feeds intake, the second shaft, shovel material bracket, the scraper bowl that feeds intake, power mechanism, first Compressed spring and the second compressed spring;The pedestal lower end that feeds intake is connected by first rotating shaft with the ear mount that feeds intake, and feed intake branch Frame upper end is connected by the second shaft with shovel material bracket one end, and the bracket that feeds intake is in ladder configuration is climbed, between waiting on the inside of the bracket that feeds intake Away from cross bar is provided with, shovel material bracket uses the rectangular box structure of hydraulic telescopic type, and it is another that the scraper bowl that feeds intake is fixed on shovel material bracket End, and the fan-shaped structure of cross section transverse for the scraper bowl that feeds intake, power mechanism are located at below the bracket that feeds intake, and the first compressed spring, which is located at, throws Expect between pedestal and the bracket that feeds intake, and the first compressed spring upper end is provided with the first rotary column, the first rotary column is hinged on the bracket that feeds intake Cross bar on, the first compressed spring lower end is provided with the first attachment base, and the first attachment base, which is fixed on, to feed intake on pedestal upper surface, Two compression press springs are located on the inside of the first compressed spring, and the second compressed spring upper end is provided with the second rotary column, and the second rotary column is hinged On the cross bar for feeding intake bracket, the second compressed spring lower end is provided with the second attachment base, and the second attachment base is fixed on the pedestal that feeds intake On upper surface.
2. a kind of reservoir fishes and shrimps feeding operation intelligent robot according to claim 1, it is characterised in that: the lifting Device includes lifting push rod, lifting rotary table and electric turntable;The lifting push rod is located at below lifting rotary table, and goes up and down push rod Upper end is connected with lifting rotary table lower end surface, and electric turntable is fixed on lifting upper end face of truncated cone center position.
3. a kind of reservoir fishes and shrimps feeding operation intelligent robot according to claim 1, it is characterised in that: the angle Regulating mechanism includes adjusting ear mount, the first adjustment axis, adjusting yoke, the second adjustment axis and adjusting bracket;The adjusting ear mount U-shaped structure adjusts ear mount and is fixed on walking plate, and adjusting yoke lower end is connected by the first adjustment axis with ear mount is adjusted, It is connected between adjusting yoke upper end and adjusting bracket by the second adjustment axis, adjusting yoke is electric telescopic formula structure, is adjusted Bracket is saved in the y-type structure to stand upside down, adjusting bracket lower end is fixed on chassis.
4. a kind of reservoir fishes and shrimps feeding operation intelligent robot according to claim 1, it is characterised in that: the power Mechanism include power shaft, follow-up pulley, wirerope, driving pulley, transition axis, rolling bearing units, driven gear, driving gear, Power motor, mobile motor seat and motorized rails, and follow-up pulley, wirerope, driving pulley, transition axis and rolling bearing units number Amount is two;The power shaft passes through the pedestal upper end that feeds intake, and follow-up pulley is respectively symmetrically fixed on power shaft both ends, steel wire Rope one end is fixed on follow-up pulley, and the wirerope other end is wrapped on driving pulley, between transition axis one end and driving pulley It is connected using key, the transition axis other end is equipped with driving gear, and transition axis middle part is fixed on the pedestal that feeds intake by rolling bearing units 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 mounted on motorized rails by mobile motor seat, and the cross section transverse of motorized rails is in I-shaped structure.
CN201610471560.4A 2016-06-23 2016-06-23 A kind of reservoir fishes and shrimps feeding operation intelligent robot Active CN105941245B (en)

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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

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US3730142A (en) * 1971-04-20 1973-05-01 Mor Fish Ent Inc Fish self-feeder
US7174849B1 (en) * 2005-11-18 2007-02-13 Hall Gary P Automatic aquarium feeder apparatus
CN102257981B (en) * 2010-05-27 2013-01-09 吴为国 Integrated 360-degree fish pond automatic feeding machine
CN103329824A (en) * 2013-05-02 2013-10-02 周长宾 Aquaculture robot
CN204599019U (en) * 2015-05-14 2015-09-02 大连赫海科技有限公司 Unmanned operation aquaculture robot under water
CN105145449A (en) * 2015-09-23 2015-12-16 杭州启程生态环境工程有限公司 Multi-purpose intelligent bait feeder
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