CN106069963A - A kind of fishery cultivating automatic charging machine people - Google Patents
A kind of fishery cultivating automatic charging machine people Download PDFInfo
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- CN106069963A CN106069963A CN201610463652.8A CN201610463652A CN106069963A CN 106069963 A CN106069963 A CN 106069963A CN 201610463652 A CN201610463652 A CN 201610463652A CN 106069963 A CN106069963 A CN 106069963A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 41
- 235000021050 feed intake Nutrition 0.000 claims abstract description 23
- 230000006835 compression Effects 0.000 claims description 41
- 238000007906 compression Methods 0.000 claims description 41
- 230000007246 mechanism Effects 0.000 claims description 31
- 239000000463 material Substances 0.000 claims description 30
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 26
- 229910000831 Steel Inorganic materials 0.000 claims description 18
- 239000010959 steel Substances 0.000 claims description 18
- 230000007704 transition Effects 0.000 claims description 15
- 238000005096 rolling process Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 4
- 230000009194 climbing Effects 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 241000276425 Xiphophorus maculatus Species 0.000 claims description 2
- 230000001360 synchronised effect Effects 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims 1
- 230000033001 locomotion Effects 0.000 description 29
- 230000000694 effects Effects 0.000 description 15
- 239000003643 water by type Substances 0.000 description 8
- 230000006872 improvement Effects 0.000 description 6
- 238000013519 translation Methods 0.000 description 6
- 230000014616 translation Effects 0.000 description 6
- 241001465754 Metazoa Species 0.000 description 5
- 241000251468 Actinopterygii Species 0.000 description 4
- 241000196324 Embryophyta Species 0.000 description 4
- 238000009360 aquaculture Methods 0.000 description 3
- 244000144974 aquaculture Species 0.000 description 3
- 238000013016 damping Methods 0.000 description 3
- 239000013505 freshwater Substances 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000007921 spray Substances 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 235000013305 food Nutrition 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 241001474374 Blennius Species 0.000 description 1
- 241000252185 Cobitidae Species 0.000 description 1
- 241000238557 Decapoda Species 0.000 description 1
- 241000371997 Eriocheir sinensis Species 0.000 description 1
- 241001208462 Ophisternon bengalense Species 0.000 description 1
- 235000021120 animal protein Nutrition 0.000 description 1
- 238000003889 chemical engineering Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000003651 drinking water Substances 0.000 description 1
- 235000020188 drinking water Nutrition 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 230000001932 seasonal effect Effects 0.000 description 1
- 235000015170 shellfish Nutrition 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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- Transmission Devices (AREA)
- Feeding And Watering For Cattle Raising And Animal Husbandry (AREA)
Abstract
The present invention relates to a kind of fishery cultivating automatic charging machine people, including land walking device, water surface running gear, lowering or hoisting gear, Stewart parallel institution and charging device, water surface running gear lays respectively at the left and right sides of land walking device, lowering or hoisting gear is positioned at directly over land walking device, and lowering or hoisting gear lower end is connected with land walking device upper end, Stewart parallel institution is between lowering or hoisting gear and charging device, and Stewart parallel institution lower end is connected with lowering or hoisting gear, Stewart parallel institution upper end is connected with charging device.The present invention has the function that land walking, water surface walking, orientation angles regulation and charging feed intake, 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 fishery cultivating automatic charging machine people.
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.Automatically throw in consideration of it, the invention provides a kind of fishery cultivating
Material robot.
Summary of the invention
In order to make up the deficiencies in the prior art, the invention provides a kind of fishery cultivating automatic charging machine people.
The present invention to solve its technical problem and realize by the following technical solutions.
A kind of fishery cultivating automatic charging machine people, including land walking device, water surface running gear, lowering or hoisting gear,
Stewart parallel institution and charging device；Described water surface running gear quantity is two, and water surface running gear lays respectively at land
The left and right sides of ground running gear, water surface running gear is connected with land walking device, and lowering or hoisting gear is positioned at land walking dress
Directly over putting, and lowering or hoisting gear lower end is connected with land walking device upper end, Stewart parallel institution be positioned at lowering or hoisting gear and
Between charging device, and Stewart parallel institution lower end is connected with lowering or hoisting gear, Stewart parallel institution upper end with feed intake
Device is connected.
As a further improvement on the present invention, described land walking device includes chassis, drives motor, drive shaft, OK
Walk belt wheel, tight locking button and traveling crawler, and drive the quantity of motor, tight locking button and traveling crawler to be two, drive shaft and walking
Belt wheel quantity is four；Described chassis is in rectangular configuration, and the left and right sides, chassis offers U-type groove respectively, and rear and front end, chassis is divided
Do not offer mounting groove, drive motor to be separately fixed at before and after chassis in the mounting groove of both sides, and drive motor use twin shaft with
Step output motor, 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
Being fixed by tight locking button between moving axis and walking belt wheel, traveling crawler two ends are rotating around being enclosed within walking belt wheel, and walking
Semicircle tread plate it is evenly arranged with outside crawler belt；By driving the rotation rotating drive treads wheel of motor, thus drive
The motion of traveling crawler, land walking device is mainly used in the walking of the present invention, movement and turns to, and land walking device passes through
Track structure is used to easily facilitate the walking of hollow physical features ground condition so that the suitability of the present invention is higher.
As a further improvement on the present invention, described water surface running gear includes walk plate, walking hinge, angular adjustment
Mechanism, walking rotating disk, walking expansion link, fixed support, jet cylinder, appendix and pulsometer；Described walking plate is stripe board
Shape structure, walking plate medial extremity is connected with the U-type groove medial wall on chassis by walking hinge, and angle adjusting mechanism quantity is
Two, and angle adjusting mechanism is respectively symmetrically layout along the central transverse axis of walking plate, angle adjusting mechanism lower end and walking plate
Fixing, walking rotating disk is positioned at walking plate lateral wall center position, and walking expansion link one end is connected with walking rotating disk, walking
The expansion link other end is connected with fixed support, and walking expansion link is hollow cylinder shell structure, and fixed support rear end is arranged
Having fixing bar, fixed support front end to be provided with Ω type frame, and Ω type frame is linearly equally spaced along fixing bar, jet cylinder is installed
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
Being connected through walking expansion link with jet cylinder, the appendix other end is connected with pulsometer, and pulsometer is fixed on upper end, chassis
The center position in face；Described angle adjusting mechanism includes regulating ear mount, the first regulation axle, adjusting yoke, the second regulation axle
With regulation support；The described U-shaped structure of regulation ear mount, regulation ear mount is fixed on walking plate, and adjusting yoke lower end is by the
One regulation axle is connected with regulation ear mount, is connected by the second regulation axle between adjusting yoke upper end with regulation support, regulation
Pull bar is electric telescopic formula structure, and regulation support is in the y-type structure stood upside down, and regulation pedestal lower end is fixed on chassis.Pass through
Walking rotating disk can drive the rotary motion on XZ vertical of the jet cylinder, thus regulates the water surface walking inclination angle of jet cylinder, it is simple to
Present invention walking on the water surface of different in flow rate is moved；Can drive jet cylinder on XY horizontal plane by walking expansion link
Side-to-side movement, thus control extension elongation when jet cylinder is walked mobile on the water surface；Can be controlled by angle adjusting mechanism
Walking plate rotates with walking hinge for rotary shaft, thus drives the rotation on YZ vertical of the jet cylinder, and then regulation spray
The inclination angle of inflator drinking water, i.e. the draft amount of the present invention, it is simple to the present invention walks mobile in the waters of different depth；Pass through air pressure
Pump can control the flow velocity of jet cylinder ejection gas, thus regulates the gait of march of the present invention；Water surface running gear can carry out one
The space motion of translation two rotation Three Degree Of Freedom altogether, it can walk mobile in the waters of different in flow rate and different depth, and row
Walk speed and draft amount be the most adjustable, easy to adjust quickly.
As a further improvement on the present invention, described lowering or hoisting gear includes lifting push rod, lifting round platform and electric turntable；
Described lifting push rod quantity is four, and lifting push rod is positioned at below lifting round platform, and lifts push rod upper end and lifting round platform lower end
Face is connected, and electric turntable is fixed on lifting round platform upper surface center position.
As a further improvement on the present invention, described Stewart parallel institution include fixed platform, moving platform, connection seat,
Upper spherical hinge, electric pushrod, block plate seat, lower spherical hinge, Triangulum and limit spring；Described connection seat and Triangulum quantity are
Three, the quantity of upper spherical hinge, electric pushrod, block plate seat and lower spherical hinge is six, and described fixed platform and moving platform are all in circle
Shape and structure, moving platform is positioned at directly over fixed platform, connects seat and is arranged on the upper surface of fixed platform, and connects seat at fixed platform
On in equilateral triangle location arrangements, Triangulum is arranged on moving platform lower surface, and connects the installation position between seat and Triangulum
Putting and interlock two-by-two, and Triangulum is equilateral triangle column structure, Triangulum is respectively symmetrically along its vertical center line and is provided with inclination
Face, inclined plane offers the installation screwed hole matched with lower spherical hinge lower end external screw thread, and electric pushrod bottom is by upper ball
Hinge is connected with being connected seat, and electric pushrod top is connected with block plate seat lower end, block plate seat upper end and lower spherical hinge one end phase
Connecting, the lower spherical hinge other end is arranged on Triangulum, and limit spring is around being enclosed within electric pushrod, and limit spring one end is with electric
Dynamic push rod is connected, and the limit spring other end is connected with block plate seat.By the stretching motion up and down of electric pushrod, thus drive
Pumping of moving platform, and the stationarity of moving platform is added by limit spring, the present invention uses 6-SPS's
Stewart parallel institution, big with serial mechanism phase specific stiffness, Stability Analysis of Structures, bearing capacity is strong and fine motion precision is high, Stewart
Parallel institution can carry out three translations three in space and rotate the motion in six-freedom degree direction altogether, and motion flexibility is good, motion sky
Between little, movement velocity is fast, kinematic dexterity good, is applied in the present invention by Stewart parallel institution, on the one hand serve throwing
The effect of entirety orientation angles regulation when material device feeds intake so that the present invention may be at can be entirely square under various attitude angle
The carrying out of position feeds intake operation, feeds intake convenient and swift and the scope that feeds intake is wide；On the other hand improve this by Stewart parallel institution
The damping performance of invention, the present invention is on land or in water during walking, even at jolting or time under nonequilibrium condition, throws
Material device be in horizontal plateau all the time, prevent charging device feed intake operation time because of jitter or obliquity excessive cause throw
The material problem that cannot be carried out of operation, further increase the 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 the function that land walking, water surface walking, orientation angles regulation and charging feed intake, and can realize
The function of fishery cultivating automatic charging, 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.
(2) land walking device and the water surface running gear of the present invention coordinates conversion to use, and changes convenient and swift, can fit
Should walk in land walking and the water surface, reach the effect of amphibious walking, and water surface running gear can carry out translation two rotation
The altogether space motion of Three Degree Of Freedom, its can walk in the waters of different in flow rate and different depth mobile, and the speed of travel with eat
The water yield is the most adjustable, easy to adjust quickly.
(3) present invention uses the Stewart parallel institution of 6-SPS, big with serial mechanism phase specific stiffness, and Stability Analysis of Structures is held
Loading capability is strong and fine motion precision is high, and Stewart parallel institution can carry out three translations three in space and rotate six-freedom degree side altogether
To motion, on the one hand serve the effect of entirety orientation angles regulation when charging device is fed intake so that the present invention can locate
Can omnibearing carry out feeding intake under various attitude angles operation, feeds intake convenient and swift and the scope that feeds intake is wide；On the other hand
The damping performance of the present invention is improve by Stewart parallel institution, when the present invention on land or walks in water, even if place
In time jolting or under nonequilibrium condition, charging device is in horizontal plateau all the time, prevent charging device feed intake operation time
The problem that cannot be carried out because of jitter or the excessive operation that causes feeding intake of obliquity, further increase the present invention feed intake operation time
Stability and safety.
(4) 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 after the present invention removes charging device；
Fig. 3 is perspective view when land walking device of the present invention, water surface running gear and lowering or hoisting gear cooperation；
Fig. 4 is perspective view when land walking device of the present invention and the cooperation of water surface running gear；
Fig. 5 is perspective view when Stewart parallel institution of the present invention and charging device cooperation；
Fig. 6 is the perspective view of Stewart parallel institution of the present invention；
Fig. 7 is the perspective view of charging device of the present invention；
Fig. 8 is the perspective view of batch charging mechanism of the present invention.
Detailed description of the invention
For the technological means making the present invention realize, creation characteristic, reach purpose and be easy to understand with effect, below knot
Conjunction is specifically illustrating, and the present invention is expanded on further.
As shown in Figures 1 to 8, a kind of fishery cultivating automatic charging machine people, including land walking device 1, water surface walking
Device 2, lowering or hoisting gear 3, Stewart parallel institution 4 and charging device 5；Described water surface running gear 2 quantity is two, and water
Face running gear 2 lays respectively at the left and right sides of land walking device 1, and water surface running gear 2 is connected with land walking device 1
Connecing, lowering or hoisting gear 3 is positioned at directly over land walking device 1, and lowering or hoisting gear 3 lower end is connected with land walking device 1 upper end,
Stewart parallel institution 4 is between lowering or hoisting gear 3 and charging device 5, and Stewart parallel institution 4 lower end and lowering or hoisting gear
3 are connected, and Stewart parallel institution 4 upper end is connected with charging device 5.
As shown in Figure 3 and Figure 4, described land walking device 1 includes chassis 11, drives motor 12, drive shaft 13, walking
Belt wheel 14, tight locking button 15 and traveling crawler 16, and drive the quantity of motor 12, tight locking button 15 and traveling crawler 16 to be two, drive
Moving axis 13 and walking belt wheel 14 quantity are four；Described chassis 11 is in rectangular configuration, and rear and front end, chassis 11 offers peace respectively
Tankage, drives motor 12 to be separately fixed in the mounting groove of both sides front and back, chassis 11, and drives motor 12 to use Biaxial synchronous defeated
Going out motor, drive shaft 13 one end is connected with driving motor 12 output shaft, and drive shaft 13 other end is connected with walking belt wheel 14,
And be fixed by tight locking button 15 between drive shaft 13 and walking belt wheel 14, traveling crawler 16 two ends are rotating around being enclosed within treads
On wheel 14, and outside traveling crawler 16, it is evenly arranged with semicircle tread plate；By driving the rotation of motor 12 to drive treads
The rotation of wheel 14, thus drives the motion of traveling crawler 16, land walking device 1 be mainly used in the walking of the present invention, movement and
Turn to, and land walking device 1 is by using track structure to easily facilitate the walking of hollow physical features ground condition so that the present invention's
The suitability is higher.
As shown in Figure 3 and Figure 4, described water surface running gear 2 includes walk plate 21, walking hinge 22, angular adjustment machine
Structure 23, walking rotating disk 24, walking expansion link 25, fixed support 26, jet cylinder 27, appendix 28 and pulsometer 29；Described row
Limp 21 is in bar shaped platy structure, and walking plate 21 medial extremity is connected with the U-type groove medial wall on chassis 11 by walking hinge 22,
Angle adjusting mechanism 23 quantity is two, and angle adjusting mechanism 23 along walking plate 21 central transverse axis be respectively symmetrically layout,
Angle adjusting mechanism 23 lower end fixes with walking plate 21, and walking rotating disk 24 is positioned at walking plate 21 lateral wall center position, OK
Walking expansion link 25 one end to be connected with walking rotating disk 24, walking expansion link 25 other end is connected with fixed support 26, and walking
Expansion link 25 is hollow cylinder shell structure, and fixed support 26 rear end is provided with fixing bar, and fixed support 26 front end is provided with Ω
Type frame, and Ω type frame is linearly equally spaced along fixing bar, jet cylinder 27 is arranged in the Ω type frame of fixed support 26, jet
Cylinder 27 front ends are cone-shaped structure, and jet cylinder 27 rear end offers puff prot, appendix 28 one end through walking expansion link 25 with
Jet cylinder 27 is connected, and appendix 28 other end is connected with pulsometer 29, and pulsometer 29 is fixed in upper surface, chassis 11
Heart position；Described angle adjusting mechanism 23 includes that regulating ear mount 231, first regulates axle 232, adjusting yoke the 233, second tune
Nodal axisn 234 and regulation support 235；The described U-shaped structure of regulation ear mount 231, regulation ear mount 231 is fixed on walking plate 21,
Adjusting yoke 233 lower end is connected with regulation ear mount 231 by the first regulation axle 232, adjusting yoke 233 upper end and regulation support
Being connected by the second regulation axle 234 between 235, adjusting yoke 233 is electric telescopic formula structure, and regulation support 235 is in falling
Vertical y-type structure, regulation support 235 lower end is fixed on chassis 11.Jet cylinder 27 can be driven to hang down at XZ by walking rotating disk 24
The rotary motion faced directly, thus regulate the water surface walking inclination angle of jet cylinder 27, it is simple to the present invention is on the water surface of different in flow rate
Walking move；The jet cylinder 27 side-to-side movement on XY horizontal plane can be driven by walking expansion link 25, thus control spray
Extension elongation when inflator 27 is walked mobile on the water surface；Can control to walk plate 21 with hinge of walking by angle adjusting mechanism 23
Chain 22 rotates for rotary shaft, thus drives the jet cylinder 27 rotation on YZ vertical, and then regulation jet cylinder 27 absorbs water
Inclination angle, i.e. the draft amount of the present invention, it is simple to the present invention walks mobile in the waters of different depth；Permissible by pulsometer 29
Control jet cylinder 27 and spray the flow velocity of gas, thus regulate the gait of march of the present invention；Water surface running gear 2 can carry out a translation
Two space motions rotating Three Degree Of Freedom altogether, it can walk mobile in the waters of different in flow rate and different depth, and walking speed
Degree and draft amount the most adjustable, easy to adjust quickly.
As it is shown on figure 3, described lowering or hoisting gear 3 includes lifting push rod 31, lifting round platform 32 and electric turntable 33；Described
Lifting push rod 31 quantity is four, and lifting push rod 31 is positioned at below lifting round platform 32, and lifts push rod 31 upper end and lifting round platform 32
Lower surface is connected, and electric turntable 33 is fixed on lifting round platform 32 upper surface center position.
As shown in Figure 5 and Figure 6, described Stewart parallel institution 4 include fixed platform 41, moving platform 42, connect seat 43,
Upper spherical hinge 44, electric pushrod 45, block plate seat 46, lower spherical hinge 47, Triangulum 48 and limit spring 49；Described connection seat 43
Being three with Triangulum 48 quantity, the quantity of upper spherical hinge 44, electric pushrod 45, block plate seat 46 and lower spherical hinge 47 is six, institute
The fixed platform 41 stated and moving platform 42 the most rounded shape structure, moving platform 42 is positioned at directly over fixed platform 41, connects seat 43 and installs
On the upper surface of fixed platform 41, and connecting seat 43 on fixed platform 41 in equilateral triangle location arrangements, Triangulum 48 is arranged on
On moving platform 42 lower surface, and the installation site connected between seat 43 and Triangulum 48 is interlocked two-by-two, and Triangulum 48 is in positive three
Dihedral column structure, Triangulum 48 is respectively symmetrically along its vertical center line and is provided with inclined plane, inclined plane offers and lower ball
The installation screwed hole that hinge 47 lower end external screw thread matches, electric pushrod 45 bottom is connected with being connected seat 43 by upper spherical hinge 44
Connecing, electric pushrod 45 top is connected with block plate seat 46 lower end, and block plate seat 46 upper end is connected with lower spherical hinge 47 one end, lower ball
Hinge 47 other end is arranged on Triangulum 48, limit spring 49 around being enclosed within electric pushrod 45, and limit spring 49 one end with
Electric pushrod 45 is connected, and limit spring 49 other end is connected with block plate seat 46；By the flexible up and down fortune of electric pushrod 45
Dynamic, thus drive pumping of moving platform 42, and the stationarity of moving platform 42 is added by limit spring 49, this
The Stewart parallel institution 4 of bright employing 6-SPS, big with serial mechanism phase specific stiffness, Stability Analysis of Structures, bearing capacity is strong and fine motion
Precision is high, and Stewart parallel institution 4 can carry out three translations three in space and rotate the motion in six-freedom degree direction altogether, and fortune
Dynamic flexible, space is little, movement velocity is fast, kinematic dexterity is good, Stewart parallel institution 4 is applied in the present invention,
On the one hand the effect of entirety orientation angles regulation when charging device 5 is fed intake is served so that the present invention may be at various appearance
Can omnibearing carry out feeding intake under state angle operation, feeds intake convenient and swift and the scope that feeds intake is wide；On the other hand pass through
Stewart parallel institution 4 improves the damping performance of the present invention, when the present invention on land or walks in water, even at
Jolting or time under nonequilibrium condition, charging device 5 is in horizontal plateau all the time, prevent charging device 5 feed intake operation time
The problem that cannot be carried out because of jitter or the excessive operation that causes feeding intake of obliquity, further increase the present invention feed intake operation time
Stability and safety.
As shown in Figure 7 and Figure 8, described charging device 5 includes feed intake pedestal 51, batch charging mechanism 52 and material storage tube 53；Institute
Batch charging mechanism 52 quantity stated is four, and batch charging mechanism 52 is respectively symmetrically layout, material storage tube 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 7 and Figure 8, described actuating unit 527 includes power shaft 5271, follow-up pulley 5272, steel wire rope
5273, driving pulley 5274, transition axis 5275, rolling bearing units 5276, driven gear 5277, driving gear 5278, power motor
5279, mobile motor seat 527a and motorized rails 527b, and follow-up pulley 5272, steel wire rope 5273, driving pulley 5274, 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 7 and Figure 8, 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 (4)
1. a fishery cultivating automatic charging machine people, it is characterised in that: include land walking device, water surface running gear, liter
Falling unit, Stewart parallel institution and charging device；Described water surface running gear quantity is two, and water surface running gear divides
Not being positioned at the left and right sides of land walking device, water surface running gear is connected with land walking device, and lowering or hoisting gear is positioned at land
Directly over ground running gear, and lowering or hoisting gear lower end is connected with land walking device upper end, and Stewart parallel institution is positioned at liter
Between falling unit and charging device, and Stewart parallel institution lower end is connected with lowering or hoisting gear, on Stewart parallel institution
End is connected with charging device；Wherein:
Described land walking device includes chassis, drives motor, drive shaft, walking belt wheel, tight locking button and traveling crawler, and drives
The quantity of galvanic electricity machine, tight locking button and traveling crawler is two, and drive shaft and walking belt wheel quantity are four；Described chassis is rectangular
Structure, the left and right sides, chassis offers U-type groove respectively, and rear and front end, chassis offers mounting groove respectively, drives motor solid respectively
Be scheduled on before and after chassis in the mounting groove of both sides, and drive motor to use Biaxial synchronous output motor, drive shaft one end with drive electricity
Machine output shaft is connected, and the drive shaft other end is connected with walking belt wheel, and passes through tight locking button between drive shaft and walking belt wheel
Being fixed, traveling crawler two ends are rotating around being enclosed within walking belt wheel, and are evenly arranged with semicircle anti-skidding outside traveling crawler
Bar；
Described water surface running gear includes walking plate, walking hinge, angle adjusting mechanism, walking rotating disk, walking expansion link, consolidates
Fixed rack, jet cylinder, appendix and pulsometer；Described walking plate is bar shaped platy structure, and walking plate medial extremity is by walking
Hinge is connected with the U-type groove medial wall on chassis, and angle adjusting mechanism quantity is two, and angle adjusting mechanism is along the horizontal stroke of walking plate
Being respectively symmetrically layout to central axis, angle adjusting mechanism lower end fixes with walking plate, and walking rotating disk is positioned at outside walking plate
Wall center position, walking expansion link one end is connected with walking rotating disk, and the walking expansion link other end is connected with fixed support,
And walking expansion link is hollow cylinder shell structure, fixed support rear end is provided with fixing bar, and fixed support front end is provided with Ω
Type frame, and Ω type frame is linearly equally spaced along fixing bar, jet cylinder is arranged in support bracket fastened Ω type frame, before jet cylinder
End is cone-shaped structure, and jet tube rear end offers puff prot, and appendix one end is connected through walking expansion link with jet cylinder,
The appendix other end is connected with pulsometer, and pulsometer is fixed on the center position of upper surface, chassis；
Described Stewart parallel institution include fixed platform, moving platform, connection seat, upper spherical hinge, electric pushrod, block plate seat, under
Spherical hinge, Triangulum and limit spring；Described connection seat and Triangulum quantity are three, upper spherical hinge, electric pushrod, block plate seat
Being six with the quantity of lower spherical hinge, described fixed platform and moving platform the most rounded shape structure, moving platform is just being positioned at fixed platform
Top, connects seat and is arranged on the upper surface of fixed platform, and connects seat on fixed platform in equilateral triangle location arrangements, Triangulum
It is arranged on moving platform lower surface, and the installation site connected between seat and Triangulum is interlocked two-by-two, and Triangulum is positive triangle
Shape column structure, Triangulum is respectively symmetrically along its vertical center line and is provided with inclined plane, inclined plane offers and lower spherical hinge
The installation screwed hole that lower end external screw thread matches, electric pushrod bottom is connected with being connected seat by upper spherical hinge, electric pushrod
Top is connected with block plate seat lower end, and block plate seat upper end is connected with lower spherical hinge one end, and the lower spherical hinge other end is arranged on three
In angled seat, limit spring is around being enclosed within electric pushrod, and limit spring one end is connected with electric pushrod, the limit spring other end
It is connected with block plate seat；
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 fishery cultivating automatic charging machine people the most according to claim 1, it is characterised in that: described lowering or hoisting gear
Including lifting push rod, lifting round platform and electric turntable；Described lifting push rod quantity is four, and lifting push rod is positioned under lifting round platform
Just, and lifting push rod upper end is connected with lifting round platform lower surface, and electric turntable is fixed on lifting center, round platform upper surface
Place.
A kind of fishery cultivating automatic charging machine people the most according to claim 1, it is characterised in that: described angular adjustment
Mechanism includes regulating ear mount, the first regulation axle, adjusting yoke, the second regulation axle and regulation support；Described regulation ear mount is U-shaped
Structure, regulation ear mount is fixed on walking plate, and adjusting yoke lower end is connected with regulation ear mount by the first regulation axle, and regulation is drawn
Being connected by the second regulation axle between bar upper end with regulation support, adjusting yoke is electric telescopic formula structure, regulates support
In the y-type structure stood upside down, regulation pedestal lower end is fixed on chassis.
A kind of fishery cultivating automatic charging machine people the most according to claim 1, it is characterised in that: described actuating unit
Including power shaft, follow-up pulley, steel wire rope, driving pulley, transition axis, rolling bearing units, driven gear, driving gear, power
Motor, mobile motor seat and motorized rails, and the quantity of follow-up pulley, steel wire rope, driving pulley, transition axis and rolling bearing units 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, uses between transition axis one end and driving pulley
Key is connected, and the transition axis other end is provided with driving gear, is fixed on the pedestal upper end that feeds intake in the middle part of transition axis by rolling bearing units
On face, driving gear is fixed on the output shaft of power motor, and driving gear is meshed with driven gear, and power motor passes through
Mobile motor seat is arranged on motorized rails, and the cross section transverse of motorized rails is I-shaped structure.
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| CN201610463652.8A CN106069963B (en) | 2016-06-23 | 2016-06-23 | A kind of fishery cultivating automatic charging machine people |
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| CN201610463652.8A CN106069963B (en) | 2016-06-23 | 2016-06-23 | A kind of fishery cultivating automatic charging machine people |
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| CN108115701A (en) * | 2017-11-27 | 2018-06-05 | 张宏飞 | A kind of robot animal doctor for aquaculture |
| CN111492814A (en) * | 2020-04-16 | 2020-08-07 | 李启福 | Fishery is bred and puts in equipment with forage |
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Also Published As
| Publication number | Publication date |
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| CN106069963B (en) | 2018-11-06 |
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