CN106069962A - A kind of reservoir fish and shrimp feeding operation intelligent robot mechanical hand - Google Patents
A kind of reservoir fish and shrimp feeding operation intelligent robot mechanical hand Download PDFInfo
- Publication number
- CN106069962A CN106069962A CN201610463176.XA CN201610463176A CN106069962A CN 106069962 A CN106069962 A CN 106069962A CN 201610463176 A CN201610463176 A CN 201610463176A CN 106069962 A CN106069962 A CN 106069962A
- Authority
- CN
- China
- Prior art keywords
- feeds intake
- fixed
- side chain
- intake
- support
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Mechanical Means For Catching Fish (AREA)
Abstract
The present invention relates to a kind of reservoir fish and shrimp feeding operation intelligent robot mechanical hand, including redundancy parallel mechanism and charging device；Described redundancy parallel mechanism is positioned at immediately below charging device, and redundancy parallel mechanism upper end is connected with charging device.The present invention has orientation angles regulation and the function fed intake that feeds, the function of fishery cultivating automatic charging can be realized, and intelligence degree is high, orientation angles is easy to adjust flexibly, the fast distance of rate of feeding is remote, the problem such as solve that the existing workload that manually feeds intake by ship is big, dangerous big and efficiency is low.
Description
Technical field
The present invention relates to fishery cultivating instrument field, a kind of reservoir fish and shrimp feeding operation intelligent robot is used
Mechanical hand.
Background technology
Fishery refers to fish for cultured fishes and other water plants such as aquatic animal and seaweeds to obtain aquatic products
Social production department；Be generally divided into sea fishery and fresh water fishery, fishery can be people's lives and nation-building provide food and
The raw material of industry；Wherein development and utilization waters, gathering to fish for various with artificial cultivation has the aquatic animals and plants of economic worth to take
Obtain the social production department of aquatic products, be the important component part of broad sense agricultural, sea fishery and fresh water fishing can be divided into by waters
Industry；It is divided into aquaculture and fishery by industry characteristics；Fish production be mainly characterized by with various waters as base, to have again
The Aquatic product Economic animals and plants resource of natural disposition is object, has the most regional and seasonal, and primary product have corruption fresh and alive, variable
With the feature of commodity, fishery is an important department of national economy, and rich in protein content provides overall consumption for the world
The 6% of amount, the 24% of animal protein consumption figure, it is also possible to 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 kilometer of China
Being coated with, have the freshwater of 200,000 square kilometres, 1000 diversified economies to be worth higher Aquatic product animals and plants, 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
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 mostly be and manually carry out, occupy a large amount of labour force, aquaculture cost rises, and due to operation on the water, companion
Having often dangerous, although there being now a small amount of automatic feeder, but there is water surface walking very flexible, feed intake efficiency more
Low, the distance that feeds intake is partially near and the feature such as angle orientation regulation inconvenience.Make in consideration of it, the invention provides a kind of reservoir fish and shrimp feeding
Industry intelligent robot mechanical hand.
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 machine
Tool hands.
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 mechanical hand, including redundancy parallel mechanism and charging device；Institute
The redundancy parallel mechanism stated is positioned at immediately below charging device, and redundancy parallel mechanism upper end is connected with charging device.
As a further improvement on the present invention, described redundancy parallel mechanism include 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
The quantity of one side 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, and first
The two ends of side chain and the second side chain are connected with fixed platform and moving platform respectively, and the level peace of the first side chain and the second side chain
Dress angle is 90 degree；The first described side chain includes the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, the first company
Connect post and the first damping spring；The first described ear mount is fixed on fixed platform upper surface, the first ear mount and the first electric pushrod
Using Hooke's hinge to be attached between lower end, the first electric pushrod upper end is connected with the first spherical hinge, and the first spherical hinge passes through
First connects post is fixed on the lower surface of moving platform, and the first damping spring is around being enclosed within the first electric pushrod；Pass through Hooke's hinge
The rotation of both direction can be carried out, the rotation in three directions can be carried out by the first spherical hinge, can be entered by the first electric pushrod
Row moves up and down, and the first side chain uses the form of 2-UPS parallel institution, and adds the first side chain fortune by the first damping spring
Stationarity time dynamic, improves the exercise performance of the present invention；The second described side chain includes the second ear mount, rotational pin, the second electricity
Dynamic push rod, the second spherical hinge, the second connection post and the second damping spring；The second described ear mount is fixed on fixed platform upper surface
On, use rotational pin to be attached between the second ear mount and the second electric pushrod lower end, the second electric pushrod upper end and the second ball
Hinge is connected, and the 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
On second electric pushrod；The rotation in a direction can be carried out by rotational pin, three directions can be carried out by the second spherical hinge
Rotating, can be moved up and down by the second electric pushrod, the second side chain uses the form of 2-RPS parallel institution, and by the
Two damping springs add stationarity during second chain movement, improve the exercise performance of the present invention；Redundancy parallel mechanism leads to
Cross fixed platform, moving platform, the first side chain and the second side chain and constitute four-degree-of-freedom symmetric parallel mechanism, and it uses 2-UPS-2-
The parallel institution form of RPS, it can realize moving along X-axis and Z axis and around X-axis with around rotation totally four degree of freedom sides of Y-axis
To motion, and four degree of freedom are all independent, by four degree of freedom can also co-ordination, the moving platform track made is along predetermined
The curvilinear motion in space, stable movement, redundancy parallel mechanism flexibly, is applied in the present invention by motion, and it is right on the one hand to serve
The effect of entirety orientation angles regulation when charging device feeds intake so that the present invention may be at can be complete under various attitude angle
The carrying out in orientation feeds intake operation, feeds intake convenient and swift and the scope that feeds intake is wide；On the other hand improve this by redundancy parallel mechanism
The damping performance of invention, even at jolting or time under nonequilibrium condition, charging device is in horizontal plateau all the time, anti-
Only 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；Institute
The batch charging mechanism quantity stated 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
Pedestal upper end center position；Described batch charging mechanism includes feed 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 first compression spring and the second compression spring；The described pedestal lower end that feeds intake is by first
Rotating shaft is connected with the ear mount that feeds intake, feed intake pedestal upper end by the second rotating shaft with shovel material support one end be connected, feed intake support in
Climbing ladder-shaper 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,
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, and actuating unit is positioned at and feeds intake
Below support, the first compression spring is feeding intake pedestal and feeding intake between support, and the first compression spring upper end is provided with first
Rotary column, the first rotary column is hinged on the cross bar of the support that feeds intake, and the first compression spring lower end is provided with a connecting seat, and first connects
Seat is fixed on and feeds intake on pedestal upper surface, and the second compression press spring is positioned at inside the first compression spring, and the second compression spring upper end
Being provided with the second rotary column, the 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, the second connection seat is fixed on and feeds 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, master
Movable pulley, 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 actively
Gear, 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 defeated of power motor
On shaft, and driving gear is meshed with driven gear, and power motor is arranged on motorized rails by mobile motor seat, and electricity
The cross section transverse of dynamic guide 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 feeding intake
During the bait that scraper bowl stores in being deep into material storage tube, the scraper bowl that feeds intake is driven to tilt upward fortune by the contractile motion of shovel material support
Dynamic, it is achieved thereby that the function of the scraper bowl charging that feeds intake；Then by the mobile motor seat past medial motion band on motorized rails
The medial movement of dynamic power motor, when driving gear coaxial mounted with power motor output shaft is meshed with driven gear,
By the rotation rotarily driving driving gear of power motor, and driving gear is meshed with driven gear, driven gear and master
Movable pulley coaxially fixedly mounts, it is achieved thereby that the rotation of driving pulley, has reached to shrink the effect of steel wire rope, and steel wire rope with
Follow-up pulley connects, and follow-up pulley fixes with power shaft, and power shaft is fixed on and feeds intake on support, thus at steel wire rope
Under pulling force effect, the support that feeds intake rotates counterclockwise with the first rotating shaft for rotary shaft, the first compression spring and the second compression spring
It is under highly compressed state；Again by mobile motor seat driving outside power motor toward movement outside on motorized rails
Side shifting, driving gear and driven gear are in released state, at the first compression spring and the compression reaction of the second compression spring
Under power effect, the support that feeds intake rotates clockwise with the first rotating shaft for rotary shaft rapidly, thus drives the scraper bowl that feeds intake to throw laterally
Go out, reached the effect fed intake；Finally after bait is launched, at the first compression spring and the extension recovery of the second compression spring
Under power effect, the support that feeds intake rotates counterclockwise with the first rotating shaft for rotary shaft, it is achieved that regain the function of the scraper bowl that feeds intake；Feed intake
Device can realize automatic charge and the function fed intake, and omnidistance intelligence degree is high, feeds simple and quick, rate of feeding is fast, away from
Away from from.
Compared with prior art, the invention have the advantages that
(1) present invention has orientation angles regulation and the function fed intake that feeds, and can realize fishery cultivating automatic charging
Function, and intelligence degree is high, orientation angles is easy to adjust flexibly, the fast distance of rate of feeding is remote, solves and existing manually takes advantage of
Ship feeds intake that workload is big, dangerous big and the problem such as efficiency is low.
(2) redundancy parallel mechanism of the present invention constitutes four selfs by fixed platform, moving platform, the first side chain and the second side chain
By degree 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, by four degree of freedom also
Can be 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
Mechanism 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 this
Inventing the operation that may be at can omnibearing carrying out feeding intake under various attitude angle, feed intake the convenient and swift and scope that feeds intake
Extensively；On the other hand improve the damping performance of the present invention by redundancy parallel mechanism, even at jolting or nonequilibrium condition
Time lower, charging device is in horizontal plateau all the time, prevent charging device feed intake operation time because of jitter or obliquity mistake
The problem that the operation that causes greatly feeding intake cannot be carried out, further increase the present invention feed intake operation time stability and safety.
(3) charging device of the present invention can realize automatic charge and the function fed intake, and omnidistance intelligence degree is high, charging
Simple and quick, 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 of redundancy parallel mechanism of the present invention；
Fig. 3 is the perspective view of charging device of the present invention；
Fig. 4 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 knot
Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in Figures 1 to 4, a kind of reservoir fish and shrimp feeding operation intelligent robot mechanical hand, including redundant parallel
Structure 4 and charging device 5；Described redundancy parallel mechanism 4 is positioned at immediately below charging device 5, and redundancy parallel mechanism 4 upper end and throwing
Material device 5 is connected.
As depicted in figs. 1 and 2, 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 be positioned at fixed platform 41 just under
Side；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 and allocate
Between platform 41 and moving platform 42, the first side chain 43 is connected with fixed platform 41 and moving platform 42 respectively with the two ends of the second side chain 44
Connect, 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 the first ear mount
431, Hooke's hinge the 432, first electric pushrod the 433, first spherical hinge 434, first connects post 435 and the first damping spring 436；Institute
The first ear mount 431 stated is fixed on fixed platform 41 upper surface, adopts between the first ear mount 431 and the first electric pushrod 433 lower end
Being attached with Hooke's hinge 432, the first electric pushrod 433 upper end is connected with the first spherical hinge 434, and the first spherical hinge 434 leads to
Crossing the first connection post 435 to be fixed on the lower surface of moving platform 42, the first damping spring 436 is around being enclosed within the first electric pushrod 433
On；The rotation of both direction can be carried out by Hooke's hinge 432, the rotation in three directions can be carried out by the first spherical hinge 434, logical
Crossing the first electric pushrod 433 can move up and down, the first side chain 43 uses the form of 2-UPS parallel institution, and by first
Damping spring 436 adds stationarity when the first side chain 43 moves, and improves the exercise performance of the present invention；Described second
Chain 44 includes that the second ear mount 441, rotational pin the 442, second electric pushrod the 443, second spherical hinge 444, second connect post 445 and the
Two damping springs 446；The second described ear mount 441 is fixed on fixed platform 41 upper surface, and the second ear mount 441 is electronic with second to be pushed away
Using rotational pin 442 to be attached between bar 443 lower end, the second electric pushrod 443 upper end is connected with the second spherical hinge 444,
Second spherical hinge 444 is fixed on the lower surface of moving platform 42 by the second connection post 445, and the second damping spring 446 is around being enclosed within
On second electric pushrod 443；The rotation in a direction can be carried out by rotational pin 442, three can be carried out by the second spherical hinge 444
The rotation in individual direction, can be moved up and down by the second electric pushrod 443, and the second side chain 44 uses 2-RPS parallel institution
Form, and add stationarity when the second side chain 44 moves by the second damping spring 446, improve the mobility of the present invention
Energy；Redundancy parallel mechanism 4 constitutes four-degree-of-freedom pair by fixed platform 41, moving platform the 42, first side chain 43 and the second side chain 44
Claiming parallel institution, and it uses the parallel institution form of 2-UPS-2-RPS, it can realize moving and around X-axis along X-axis and Z axis
With the motion in totally four the degree of freedom directions of the rotation around Y-axis, and four degree of freedom are all independent, can also be assisted by four degree of freedom
Adjusting work, the moving platform track made is along the curvilinear motion of predetermined space, stable movement, and motion flexibly, should by redundancy parallel mechanism 4
Use in the present invention, on the one hand serve the effect of entirety orientation angles regulation when charging device 5 is fed intake so that the present invention can
To be under various attitude angle the operation that can omnibearing carry out feeding intake, feed 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 4, when the present invention on land or walks in water, even if
Being in and jolt or time under nonequilibrium condition, charging device 5 is in horizontal plateau all the time, prevents charging device 5 from feeding intake work
The problem that cannot be carried out because of jitter or the excessive operation that causes feeding intake of obliquity during industry, further increases the present invention and feeds intake work
Stability during industry and safety.
As shown in Figure 3 and Figure 4, 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 53 along the central axis of the pedestal 51 that feeds intake
It is 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, and feed intake support
523 upper ends are connected with shovel material support 525 one end by the second rotating shaft 524, and the support 523 that feeds intake, in climbing ladder-shaper structure, feeds intake and props up
Inside frame 523, spaced set has cross bar, shovel material support 525 to use the rectangular box structure of hydraulic telescopic type, and feed intake scraper bowl 526
Being fixed on shovel material support 525 other end, and the cross section transverse of the scraper bowl 526 that feeds intake is sector structure, actuating unit 527 is positioned at and feeds intake
Below support 523, the first compression spring 528 is feeding intake pedestal 521 and feeding intake between support 523, and the first compression spring 528
Upper end is provided with the first rotary column, and the first rotary column is hinged on the cross bar of the support 523 that feeds intake, and the first compression spring 528 lower end is arranged
Having a connecting seat, a connecting seat is fixed on and feeds intake on pedestal 51 upper surface, and the second compression press spring 529 is positioned at the first compression bullet
Inside 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 of the support 523 that feeds intake
On, the second compression spring 529 lower end is provided with the second connection seat, and the second connection seat is fixed on and feeds intake on pedestal 51 upper surface.
As shown in Figure 3 and Figure 4, 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, transition
The quantity of axle 5275 and rolling bearing units 5276 is two；Described power shaft 5271 passes support 523 upper end that feeds intake, follow-up pulley
5272 are respectively symmetrically and are fixed on power shaft 5271 two ends, and steel wire rope 5273 one end is fixed on follow-up pulley 5272, steel wire rope
5273 other ends are wrapped on driving pulley 5274, use key to be connected between transition axis 5275 one end and driving pulley 5274,
Transition axis 5275 other end is provided with driving gear 5278, is fixed on material-feeding platform by rolling bearing units 5276 in the middle part of transition axis 5275
On seat 51 upper surfaces, 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 arranged on motorized rails 527b by mobile motor seat 527a, and motorized rails
The cross section transverse of 527b is I-shaped structure.
As shown in Figure 3 and Figure 4, when specifically feeding intake, the stretching first passing through shovel material support 525 drives the scraper bowl that feeds intake
526 move diagonally downward, when the bait stored in the scraper bowl 526 that feeds intake is deep into material storage tube 53, by the receipts of shovel material support 525
The contracting campaign 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 moving
The galvanic electricity support 527a past medial motion on motorized rails 527b drives the medial movement of power motor 5279, when with power current
When the coaxial mounted driving gear of machine 5279 output shaft 5278 is meshed with driven gear 5277, by the rotation of power motor 5279
Turning the rotation driving driving gear 5278, and driving gear 5278 is meshed with driven gear 5277, driven gear 5277 is with main
Movable pulley 5274 coaxially fixedly mounts, it is achieved thereby that the rotation of driving pulley 5274, has reached to shrink the effect of steel wire rope 5273
Really, and steel wire rope 5273 is connected with follow-up pulley 5272, and follow-up pulley 5272 fixes with power shaft 5271, power shaft
5271 are fixed on and feed intake on support 523, thus under the pulling force effect of steel wire rope 5273, the support 523 that feeds intake is with the first rotating shaft 522
Rotating counterclockwise for rotary shaft, the first compression spring 528 and the second compression spring 529 are under highly compressed state；Again
The outer side shifting of power motor 5279 is driven, actively by the mobile motor seat 527a past movement outside on motorized rails 527b
Gear 5278 and driven gear 5277 are in released state, in the first compression spring 528 and compression and back of the second compression spring 529
Under multiple power effect, the support 523 that feeds intake rotates clockwise with the first rotating shaft 522 for rotary shaft rapidly, thus drives the scraper bowl that feeds intake
526 dish out laterally, have reached the effect fed intake；Finally after bait is launched, in the first compression spring 528 and the second compression
Under the extension recovery power effect of spring 529, the support 523 that feeds intake rotates counterclockwise with the first rotating shaft 522 for rotary shaft, 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,
Feeding simple and quick, 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.The technical staff of the industry should
Understanding, the present invention is not restricted to the described embodiments, the simply explanation present invention's of the description in above-described embodiment and description
Principle, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, and these change and change
Enter to both fall within scope of the claimed invention.Claimed scope is by appending claims and equivalent thereof
Define.
Claims (2)
1. a reservoir fish and shrimp feeding operation intelligent robot mechanical hand, it is characterised in that: include redundancy parallel mechanism and throwing
Material device；Described redundancy parallel mechanism is positioned at immediately below charging device, and redundancy parallel mechanism upper end is connected with charging device
Connect；Wherein:
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, the first side chain and the second side chain are respectively positioned between fixed platform and moving platform, and the two ends of the first side chain and the second side chain are respectively
It is connected with fixed platform and 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 the first ear mount, Hooke's hinge, the first electric pushrod, the first spherical hinge, first connects post and the
One 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 is fixed on the lower surface of moving platform, and the first damping spring is around being enclosed within the first electric pushrod；
The second described side chain includes the second ear mount, rotational pin, the second electric pushrod, the second spherical hinge, second connects post and the
Two damping springs；The second described ear mount is fixed on fixed platform upper surface, between the second ear mount and the second electric pushrod lower end
Employing rotational pin is attached, and the second electric pushrod upper end is connected with the second spherical hinge, and the second spherical hinge is by the second connection
Post 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 throwing
Material 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, first
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, between waiting inside the support that feeds intake
Away from being provided with cross bar, shovel material support use hydraulic telescopic type rectangular box structure, the scraper bowl that feeds intake be fixed on shovel material support another
Holding, 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 throwing
Expecting pedestal and feed intake between support, and the first compression spring upper end is provided with the first rotary column, the first rotary column is hinged on the support that feeds intake
Cross bar 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,
Two compression press springs are 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 the cross bar feeding intake support, the second compression spring lower end is provided with the second connection seat, and second connects seat is fixed on the pedestal that feeds intake
On upper surface.
A kind of reservoir fish and shrimp feeding operation intelligent robot mechanical hand the most according to claim 1, it is characterised in that: institute
The actuating unit stated includes power shaft, follow-up pulley, steel wire rope, driving pulley, transition axis, rolling bearing units, driven gear, master
Moving gear, power motor, mobile motor seat and motorized rails, and follow-up pulley, steel wire rope, driving pulley, transition axis and usher to seat
The quantity of bearing 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 active
Using key to be connected between pulley, the transition axis other end is provided with driving gear, is fixed on by rolling bearing units in the middle part of transition axis
Feeding intake on pedestal upper surface, driving gear is fixed on the output shaft of power motor, and driving gear is meshed with driven gear,
Power motor is arranged on motorized rails by mobile motor seat, and the cross section transverse of motorized rails is I-shaped structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610463176.XA CN106069962A (en) | 2016-06-23 | 2016-06-23 | A kind of reservoir fish and shrimp feeding operation intelligent robot mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610463176.XA CN106069962A (en) | 2016-06-23 | 2016-06-23 | A kind of reservoir fish and shrimp feeding operation intelligent robot mechanical hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106069962A true CN106069962A (en) | 2016-11-09 |
Family
ID=57252314
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610463176.XA Pending CN106069962A (en) | 2016-06-23 | 2016-06-23 | A kind of reservoir fish and shrimp feeding operation intelligent robot mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106069962A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5150664A (en) * | 1990-08-24 | 1992-09-29 | Pet Mate Limited | Dispensing device |
| CN1586807A (en) * | 2004-07-22 | 2005-03-02 | 北京航空航天大学 | Three freedom redundancy parallel mechanism for realizing two dimension translation and one dimension rotation |
| CN1586806A (en) * | 2004-07-22 | 2005-03-02 | 北京航空航天大学 | Two rotation-translation three freedom redundancy parallel mechanism for parallel machine tool |
| CN1730235A (en) * | 2005-08-29 | 2006-02-08 | 北京航空航天大学 | Redundant parallel mechanism with six degrees of freedom |
| CN205161583U (en) * | 2015-11-09 | 2016-04-20 | 江苏华邦新材料科技有限公司 | Self -propelled robot is bred in fishery |
-
2016
- 2016-06-23 CN CN201610463176.XA patent/CN106069962A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5150664A (en) * | 1990-08-24 | 1992-09-29 | Pet Mate Limited | Dispensing device |
| CN1586807A (en) * | 2004-07-22 | 2005-03-02 | 北京航空航天大学 | Three freedom redundancy parallel mechanism for realizing two dimension translation and one dimension rotation |
| CN1586806A (en) * | 2004-07-22 | 2005-03-02 | 北京航空航天大学 | Two rotation-translation three freedom redundancy parallel mechanism for parallel machine tool |
| CN1730235A (en) * | 2005-08-29 | 2006-02-08 | 北京航空航天大学 | Redundant parallel mechanism with six degrees of freedom |
| CN205161583U (en) * | 2015-11-09 | 2016-04-20 | 江苏华邦新材料科技有限公司 | Self -propelled robot is bred in fishery |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205819522U (en) | Staggered form Grazing condition bionic fish tail propulsive mechanism based on linkage | |
| CN106035180B (en) | A kind of complete intelligent fish pond feeds intake all-in-one machine execution manipulator | |
| CN106114094B (en) | A kind of four-degree-of-freedom reservoir fishes and shrimps feeding operation intelligent robot pedestal | |
| CN105941245A (en) | Intelligent robot for feeding fishes and shrimps in reservoir | |
| CN106069963B (en) | A kind of fishery cultivating automatic charging machine people | |
| CN202608927U (en) | Robot with gliding and bouncing functions | |
| CN105961266B (en) | A kind of fishery cultivating automatic charging machine people's charging device | |
| CN202489035U (en) | Water culture device for improving eutrophication of water body | |
| CN204825834U (en) | Novel ocean waterside tongue fisher | |
| CN109122504A (en) | A kind of cultivation factory feeds and uses batch charger | |
| CN106069962A (en) | A kind of reservoir fish and shrimp feeding operation intelligent robot mechanical hand | |
| CN107059814B (en) | The interior automatic icebreaking device in outer groove wheel fish pond | |
| CN205707258U (en) | The bionic fish tail structure of eccentric transmission | |
| CN106135101B (en) | A kind of fishery cultivating automatic charging machine people's feeding manipulator | |
| CN102106331A (en) | Noctilucent squid hook | |
| CN103477798A (en) | Tooth-type corncob picking device with parallel longitudinal shift wheels | |
| CN204272977U (en) | A kind of eel fry fishing netting gear for tidal flat waters | |
| CN106002946A (en) | Operating manipulator for environment-friendly large-area sewage purification robot | |
| CN106069964B (en) | A kind of complete intelligent fish pond feeds intake all-in-one machine | |
| CN106003080B (en) | A kind of lake sewage purified treatment intelligent robot | |
| CN202551726U (en) | Interval feeding device for harvesting bundling machine | |
| CN209628389U (en) | Drawing-in device is used in a kind of cultivation of reservoir | |
| CN105941244B (en) | A kind of six degree of freedom fishery cultivating automatic charging machine people's pedestal | |
| CN212260091U (en) | Simple animal food source nesting facility | |
| CN203233918U (en) | Device for effectively fishing fries |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161109 |