CN106069964B - A kind of complete intelligent fish pond feeds intake all-in-one machine - Google Patents
A kind of complete intelligent fish pond feeds intake all-in-one machine Download PDFInfo
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- CN106069964B CN106069964B CN201610471708.4A CN201610471708A CN106069964B CN 106069964 B CN106069964 B CN 106069964B CN 201610471708 A CN201610471708 A CN 201610471708A CN 106069964 B CN106069964 B CN 106069964B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Abstract
It feeds intake all-in-one machine the present invention relates to a kind of complete intelligent fish pond, including land walking device, water surface running gear, lifting gear, 3-freedom parallel mechanism and charging device, water surface running gear is located at the left and right sides of land walking device, water surface running gear is connected with land walking device, lifting gear is located at right over land walking device, and lifting gear lower end is connected with land walking device upper end, 3-freedom parallel mechanism is between lifting gear and charging device, and 3-freedom parallel mechanism lower end is connected with lifting gear, 3-freedom parallel mechanism upper end is connected with charging device.The present invention has the function of that land walking, water surface walking, orientation angles adjust and charging feeds intake, the function of fishery cultivating automatic charging can be achieved, and intelligence degree is high, orientation angles are easy to adjust flexibly, distance is remote soon for rate of feeding, solves the problems such as existing artificial heavy workload that feeds intake by ship, dangerous big and efficiency is low.
Description
Technical field
The present invention relates to fishery cultivating instrument field, specifically a kind of complete intelligent fish pond feeds intake all-in-one machine.
Background technology
Fishery refers to fishing and cultured fishes and the water plants such as other aquatic animals and seaweeds to obtain aquatic products
Social production department；Be generally divided into sea fishery and fresh water fishery, fishery can be provided for people's lives and nation-building food and
The raw material of industry；Wherein develop and utilize waters, acquisition fishing with artificial breeding is various has the aquatic animals and plants of economic value to take
The social production department for obtaining aquatic products, is the important component of broad sense agricultural, can be divided into sea fishery and fresh water fishing by waters
Industry；It is divided into aquaculture and fishery by industry characteristics；Fish production is mainly characterized by using various waters as base, to have again
The aquatic products Economic animals and plants resource of natural disposition is object, and there is apparent regional and seasonality, primary product to have fresh and alive, variable corruption
And the characteristics of commodity, fishery are an important departments of national economy, abundant protein content provides overall consumption for the world
The 6%, the 24% of animal protein consumption figure of amount, can also provide fertilizer for agricultural, concentrated feed is provided for animal husbandry,
Important source material is provided for food, medicine, chemical engineering industry., there are vast continental shelf and beach in the coastline of more than 18000 kilometers of China
It applies, there is 200,000 square kilometres of freshwater, 1000 diversified economies to be worth higher aquatic products animals and plants, development fishery has good
Natural conditions and bright prospects.
Fishery cultivating is called aquaculture, the object of fishery cultivating it is now on the high side have fishes and shrimps, loaches, rice field eel, shellfish crab
Deng in fishery cultivating, needing regularly to feed intake, water quality detection and cultivation object sample detection etc., now for fishery cultivating
In the work that feeds intake be mostly it is artificial carry out, occupy a large amount of labours, aquaculture cost rises, and due to operation on the water, companion
Have often dangerous, although having a small amount of automatic feeder now, has the water surface more and walk that flexibility is poor, feed intake efficiency
It is low, the distance that feeds intake is partially close and angle orientation adjusts the features such as inconvenient.In consideration of it, the present invention provides a kind of complete intelligent fish ponds to feed intake
All-in-one machine.
Invention content
In order to make up for the deficiencies of the prior art, it feeds intake all-in-one machine the present invention provides a kind of complete intelligent fish pond.
The present invention to be solved its technical problem and be realized using following technical scheme.
A kind of complete intelligent fish pond feeds intake all-in-one machine, including land walking device, water surface running gear, lifting gear, three from
By degree parallel institution and charging device；The water surface running gear quantity is two, and water surface running gear is located at land
The left and right sides of running gear, water surface running gear are connected with land walking device, and lifting gear is located at land walking device
Surface, and lifting gear lower end is connected with land walking device upper end, 3-freedom parallel mechanism be located at lifting gear with
Between charging device, and 3-freedom parallel mechanism lower end is connected with lifting gear, 3-freedom parallel mechanism upper end and throwing
Material device is connected.
As a further improvement on the present invention, the land walking device includes chassis, driving motor, drive shaft, row
Belt wheel, tight locking button and traveling crawler are walked, and the quantity of driving motor, tight locking button and traveling crawler is two, drive shaft and walking
Belt wheel quantity is four；The chassis is in rectangular configuration, offers U-type groove, chassis rear and front end point at left and right sides of chassis respectively
Mounting groove is not offered, and driving motor is separately fixed in the mounting groove of chassis front and rear sides, and driving motor is same using twin shaft
Output motor is walked, drive shaft one end is connected with driving motor output shaft, and the drive shaft other end is connected with walking belt wheel, and drives
Moving axis and walking belt wheel between be fixed by tight locking button, traveling crawler both ends rotating around be sleeved on walking belt wheel on, and walk
It is evenly arranged with semicircle tread plate on the outside of crawler belt；The rotation that walking belt wheel is driven by the rotation of driving motor, to drive
The movement of traveling crawler, land walking device is mainly used for walking, move and turning to for the present invention, and land walking device passes through
Using the walking of track structure with easily facilitating hollow topography condition so that applicability of the invention is stronger.
As a further improvement on the present invention, the water surface running gear includes walking plate, walking hinge, angular adjustment
Mechanism, walking turntable, walking telescopic rod, fixing bracket, jet cylinder, appendix and pulsometer；The walking plate is in stripe board
Shape structure, walking plate inner end are connected by hinge of walking with the U-type groove madial wall on chassis, and angle adjusting mechanism quantity is
Two, and angle adjusting mechanism is symmetrically arranged along the central transverse axis of walking plate, angle adjusting mechanism lower end and walking plate
Mutually fixed, walking turntable is located at walking plate lateral wall center position, and walking telescopic rod one end is connected with walking turntable, walks
The telescopic rod other end is connected with fixing bracket, and telescopic rod of walking is hollow cylinder shell structure, the setting of fixing bracket rear end
There is fixed link, fixing bracket front end is provided with Ω type frame, and Ω type frame is linearly equally spaced along fixed link, the installation of jet cylinder
In support bracket fastened Ω type frame, jet cylinder front end is cone-shaped structure, and jet tube rear end offers puff prot, appendix one end
It is connected with jet cylinder across walking telescopic rod, the appendix other end is connected with pulsometer, and pulsometer is fixed on chassis upper end
The center position in face；The angle adjusting mechanism includes adjusting ear mount, the first adjustment axis, adjusting yoke, the second adjustment axis
And adjusting bracket；The U-shaped structure of adjusting ear mount adjusts ear mount and is fixed on walking plate, and adjusting yoke lower end passes through the
One adjustment axis is connected with ear mount is adjusted, and is connected by the second adjustment axis between adjusting yoke upper end and adjusting bracket, adjusts
Pull rod is electric telescopic formula structure, and in the y-type structure to stand upside down, adjusting bracket lower end is fixed on chassis adjusting bracket.Pass through
Walking turntable can drive rotary motion of the jet cylinder on XZ vertical planes, to adjust the water surface walking inclination angle of jet cylinder, be convenient for
Walking movement of the present invention on the water surface different in flow rate；By walking, telescopic rod can drive jet cylinder on XY horizontal planes
Side-to-side movement, to control extension elongation of the jet cylinder when walking mobile on the water surface；It can be controlled by angle adjusting mechanism
Walking plate is rotated using hinge of walking as rotary shaft, to drive rotation of the jet cylinder on YZ vertical planes, and then adjusts spray
The inclination angle of inflator drinking water, i.e. draft amount of the invention, the walking movement in the waters of different depth convenient for the present invention；Pass through air pressure
Pump can control the flow velocity that jet cylinder sprays gas, to adjust the gait of march of the present invention；Water surface running gear can carry out one
The spatial movement of the total Three Degree Of Freedom of two rotation of translation, can walk movement in waters different in flow rate and different depth, and row
It walks speed and draft amount is adjustable, it is easy to adjust quick.
As a further improvement on the present invention, the lifting gear includes lifting push rod, lifting round platform and electric turntable；
The lifting push rod quantity is four, and lifting push rod is located 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 upper end face of truncated cone center position.
As a further improvement on the present invention, the 3-freedom parallel mechanism include fixed platform, moving platform, ear mount,
Shaft, electric pushrod, spherical hinge, connecting seat and limit spring, and ear mount, shaft, electric pushrod, spherical hinge, connecting seat and limit
The quantity of position spring is three；The fixed platform and moving platform structure in rounded shape, and moving platform be located at fixed platform just on
Side, ear mount are located on the upper surface of fixed platform, and the vertex angle of the composition of line successively between ear mount is 60 degree, connection
Seat is located on moving platform lower face, and ear mount corresponds respectively with connecting seat；Pacified by shaft the electric pushrod bottom end
It in ear mount, is attached by spherical hinge between electric pushrod top and connecting seat, limit spring is around being sleeved on electric pushrod
Upper end；When specific works, the movement of moving platform can be driven by pumping for electric pushrod, and drop by limit spring
Jitter when low 3-freedom parallel mechanism movement, increases the stationarity of 3-freedom parallel mechanism movement, Three Degree Of Freedom
Parallel institution rigidity compared with serial mechanism is big, and movement is flexible, stable structure, and bearing capacity is strong and fine motion precision is high, and three freely
Parallel institution is spent using the form of the parallel institution of 3-RPS, 3-freedom parallel mechanism is applied in the present invention, is on the one hand risen
The effect adjusted to entirety orientation angles when feeding intake to charging device so that the present invention may be under various attitude angles
Can be comprehensive carry out the operation that feeds intake, the convenient and efficient and range that feeds intake that feeds intake is wide；On the other hand pass through three-freedom parallel
Structure improves the damping performance of the present invention, even at jolting or non-equilibrium when the present invention walks in land either water
When under state, charging device always be in horizontal plateau, prevent charging device feed intake operation when because of jitter or inclination
Property the excessive operation that causes to feed intake the problem of can not carrying out, further improve the present invention feed intake operation when stability and safety
Property.
As a further improvement on the present invention, the charging device includes feed intake pedestal, batch charging mechanism and material storage tube；Institute
The batch charging mechanism quantity stated is four, and batch charging mechanism is symmetrically arranged along the central axis for the pedestal that feeds intake, and material storage tube, which is located at, to feed intake
At pedestal upper end center position；The batch charging mechanism includes feed intake ear mount, first rotating shaft, the holder that feeds intake, the second shaft, shovel material
Holder, the scraper bowl that feeds intake, actuating unit, the first compressed spring and the second compressed spring；The pedestal lower end that feeds intake is by first
Shaft is connected with the ear mount that feeds intake, and the pedestal upper end that feeds intake is connected by the second shaft with shovel material holder one end, and the holder that feeds intake is in
Ladder configuration is climbed, spaced set has cross bar, shovel material holder to use the rectangular box structure of hydraulic telescopic type on the inside of the holder that feeds intake,
The scraper bowl that feeds intake is fixed on the shovel material holder other end, and the cross section transverse for the scraper bowl that feeds intake is in sector structure, and actuating unit, which is located at, to feed intake
Below holder, the first compressed spring, which is located at, to feed intake between pedestal and the holder that feeds intake, and the first compressed spring upper end is provided with first
Rotary column, the first rotary column are hinged on the cross bar for the holder that feeds intake, and the first compressed spring lower end is provided with the first connecting seat, the first connection
Seat, which is fixed on, to feed intake on pedestal upper surface, and the second compression press spring is located on the inside of the first compressed spring, and the second compressed spring upper end
It is provided with the second rotary column, the second rotary column is hinged on the cross bar for the holder that feeds intake, and the second compressed spring lower end is provided with the second connection
Seat, the second connecting seat, which is fixed on, to feed intake on pedestal upper surface.
As a further improvement on the present invention, the 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 it is driven
Pulley, steel wire rope, driving pulley, transition axis and rolling bearing units quantity be two；The power shaft is passed through and is fed intake on holder
End, follow-up pulley are respectively symmetrically fixed on power shaft both ends, and steel wire rope one end is fixed on follow-up pulley, the steel wire rope other end
It is wrapped on driving pulley, is connected using key between transition axis one end and driving pulley, the transition axis other end is equipped with actively
Gear, transition axis middle part is fixed on by rolling bearing units to feed intake on pedestal upper surface, and driving gear is fixed on the defeated of power motor
On shaft, and driving gear is meshed with driven gear, and power motor is mounted on by mobile motor seat on motorized rails, and electricity
The cross section transverse of dynamic guide rail is in I-shaped structure.
It is specific when feeding intake, expect that the stretching routine drive of the holder scraper bowl that feeds intake moves diagonally downward by shovel first, when feeding intake
When scraper bowl is deep into the bait stored in material storage tube, expect that the contractile motion of holder drives the scraper bowl that feeds intake to tilt upward fortune by shovel
It is dynamic, to realize the function for the scraper bowl charging that feeds intake；Then the past medial motion band by mobile motor seat on motorized rails
The medial movement of dynamic power motor, when being meshed with driven gear with the coaxial mounted driving gear of power motor output shaft,
The rotation of driving gear is driven by the rotation of power motor, and driving gear is meshed with driven gear, driven gear and master
Movable pulley is coaxially fixedly mounted, to realize the rotation of driving pulley, achieved the effect that shrink steel wire rope, and steel wire rope with
Follow-up pulley connects, and follow-up pulley is mutually fixed with power shaft, and power shaft, which is fixed on, to feed intake on holder, in steel wire rope
Under pulling force effect, the holder that feeds intake is rotated counterclockwise by rotary shaft of first rotating shaft, the first compressed spring and the second compressed spring
It is under highly compressed state；The past movement outside by mobile motor seat on motorized rails drives the outer of power motor again
Side is moved, and driving gear is in discrete state with driven gear, in the compression reaction of the first compressed spring and the second compressed spring
Under force effect, the holder that feeds intake is rotated clockwise by rotary shaft of first rotating shaft rapidly, to drive the scraper bowl that feeds intake to throw outward
Go out, has achieved the effect that feed intake；Finally after bait is launched, in the extension recovery of the first compressed spring and the second compressed spring
Under force effect, the holder that feeds intake is rotated counterclockwise by rotary shaft of first rotating shaft, realizes the function of withdrawing the scraper bowl that feeds intake；It feeds intake
Device can realize automatic charge and the function that feeds intake, and whole intelligence degree is high, and charging is simple and quick, rate of feeding is fast, away from
From remote.
Compared with prior art, the present invention has the following advantages：
(1) present invention have the function of land walking, the water surface walking, orientation angles adjust and feed feed intake, it can be achieved that
The function of fishery cultivating automatic charging, and intelligence degree is high, orientation angles are easy to adjust flexibly, distance is remote soon for rate of feeding,
Solves the problems such as existing artificial heavy workload that feeds intake by ship, dangerous big and efficiency is low.
(2) land walking device of the invention and the cooperation conversion of water surface running gear use, and conversion is convenient and efficient, can fit
It should walk in land walking and the water surface, achieve the effect that amphibious walking, and water surface running gear can carry out a translation two rotation
The spatial movement of Three Degree Of Freedom altogether, can walk movement in the waters of different in flow rate and different depth, and the speed of travel and eat
Water is adjustable, easy to adjust quick.
(3) 3-freedom parallel mechanism of the invention uses the form of the parallel institution of 3-RPS, by three-freedom parallel
Structure is applied in the present invention, and entirety orientation angles are adjusted when on the one hand playing the role of feeding intake to charging device so that this hair
It is bright may be under various attitude angles can be comprehensive carry out the operation that feeds intake, the convenient and efficient and range that feeds intake that feeds intake is wide；
On the other hand the damping performance of the present invention is improved by 3-freedom parallel mechanism, the present invention walks in land or water
When, even at jolt or nonequilibrium condition under when, charging device always be in horizontal plateau, prevent charging device from throwing
The problem of expecting not carrying out because of jitter or the excessive operation that causes to feed intake of obliquity when operation, further improves throwing of the present invention
Expect stability when operation and safety.
(4) function that charging device of the invention can realize automatic charge and feed intake, and whole intelligence degree is high, charging
Simple and quick, rate of feeding is fast, distance is remote.
Description of the drawings
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is the dimensional structure diagram of the present invention；
Fig. 2 is the dimensional structure diagram after present invention removal charging device；
Fig. 3 is dimensional structure diagram when land walking device, water surface running gear and lifting gear of the present invention coordinate；
Dimensional structure diagram when Fig. 4 is land walking device and the water surface running gear cooperation of the present invention；
Dimensional structure diagram when Fig. 5 is 3-freedom parallel mechanism and charging device cooperation of the present invention；
Fig. 6 is the front view of 3-freedom parallel mechanism of the present invention；
Fig. 7 is the dimensional structure diagram of charging device of the present invention；
Fig. 8 is the dimensional structure diagram of batch charging mechanism of the present invention.
Specific implementation mode
In order to make the technical means, the creative features, the aims and the efficiencies achieved by the present invention be easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figures 1 to 8, a kind of complete intelligent fish pond feeds intake all-in-one machine, including land walking device 1, the water surface walking dress
Set 2, lifting gear 3,3-freedom parallel mechanism 4 and charging device 5；2 quantity of water surface running gear is two, and the water surface
Running gear 2 is located at the left and right sides of land walking device 1, and water surface running gear 2 is connected with land walking device 1,
Lifting gear 3 is located at right over land walking device 1, and 3 lower end of lifting gear is connected with 1 upper end of land walking device, and three
Freedom degree parallel connection mechanism 4 is between lifting gear 3 and charging device 5, and 4 lower end of 3-freedom parallel mechanism and lifting gear
3 are connected, and 4 upper end of 3-freedom parallel mechanism is connected with charging device 5.
As shown in Figure 3 and Figure 4, the land walking device 1 includes chassis 11, driving motor 12, drive shaft 13, walking
Belt wheel 14, tight locking button 15 and traveling crawler 16, and the quantity of driving motor 12, tight locking button 15 and traveling crawler 16 is two, is driven
Moving axis 13 and walking 14 quantity of belt wheel are four；The chassis 11 is in rectangular configuration, and 11 rear and front end of chassis offers peace respectively
Tankage, driving motor 12 are separately fixed in the mounting groove of 11 front and rear sides of chassis, and driving motor 12 is defeated using Biaxial synchronous
Going out motor, 13 one end of drive shaft is connected with 12 output shaft of driving motor, and 13 other end of drive shaft is connected with walking belt wheel 14,
And be fixed by tight locking button 15 between drive shaft 13 and walking belt wheel 14,16 both ends of traveling crawler are rotating around being sleeved on treads
On wheel 14, and 16 outside of traveling crawler is evenly arranged with semicircle tread plate；Treads are driven by the rotation of driving motor 12
The rotation of wheel 14, to drive the movement of traveling crawler 16, land walking device 1 is mainly used for the walking of the present invention, move and
It turns to, and land walking device 1 is by using the walking of track structure with easily facilitating hollow topography condition so that of the invention
Applicability is stronger.
As shown in Figure 3 and Figure 4, the water surface running gear 2 includes walking plate 21, walking hinge 22, angular adjustment machine
Structure 23, walking turntable 24, walking telescopic rod 25, fixing bracket 26, jet cylinder 27, appendix 28 and pulsometer 29；The row
Limp 21 is in bar shaped platy structure, and walking 21 inner end of plate is connected by hinge 22 of walking with the U-type groove madial wall on chassis 11,
23 quantity of angle adjusting mechanism is two, and angle adjusting mechanism 23 is symmetrically arranged along the central transverse axis of walking plate 21,
23 lower end of angle adjusting mechanism is fixed with walking 21 phase of plate, and walking turntable 24 is located at walking 21 lateral wall center position of plate, row
It walks 25 one end of telescopic rod with walking turntable 24 to be connected, walking 25 other end of telescopic rod is connected with fixing bracket 26, and walks
Telescopic rod 25 is hollow cylinder shell structure, and 26 rear end of fixing bracket is provided with fixed link, and 26 front end of fixing bracket is provided with Ω
Type frame, and Ω type frame is linearly equally spaced along fixed link, jet cylinder 27 is mounted in the Ω type frame of fixing bracket 26, jet
27 front ends of cylinder are cone-shaped structure, and 27 rear end of jet cylinder offers puff prot, 28 one end of appendix pass through walking telescopic rod 25 with
Jet cylinder 27 is connected, and 28 other end of appendix is connected with pulsometer 29, and pulsometer 29 is fixed in 11 upper surface of chassis
At heart position；The angle adjusting mechanism 23 includes adjusting ear mount 231, the first adjustment axis 232, adjusting yoke 233, second to adjust
Nodal axisn 234 and adjusting bracket 235；The 231 U-shaped structure of adjusting ear mount adjusts ear mount 231 and is fixed on walking plate 21,
233 lower end of adjusting yoke is connected by the first adjustment axis 232 with ear mount 231 is adjusted, 233 upper end of adjusting yoke and adjusting bracket
It is connected by the second adjustment axis 234 between 235, adjusting yoke 233 is electric telescopic formula structure, and adjusting bracket 235 is in
Vertical y-type structure, 235 lower end of adjusting bracket are fixed on chassis 11.By walking, turntable 24 can drive jet cylinder 27 to hang down in XZ
The rotary motion faced directly, to adjust the water surface walking inclination angle of jet cylinder 27, convenient for the present invention on the water surface different in flow rate
Walking movement；By walking, telescopic rod 25 can drive side-to-side movement of the jet cylinder 27 on XY horizontal planes, to control spray
Extension elongation of the inflator 27 when walking mobile on the water surface；Walking plate 21 can be controlled with hinge of walking by angle adjusting mechanism 23
Chain 22 is that rotary shaft is rotated, and to drive rotation of the jet cylinder 27 on YZ vertical planes, and then adjusts jet cylinder 27 and absorbs water
Inclination angle, i.e., draft amount of the invention walks movement convenient for the present invention in the waters of different depth；It can be with by pulsometer 29
The flow velocity that jet cylinder 27 sprays gas is controlled, to adjust the gait of march of the present invention；Water surface running gear 2 can carry out a translation
The spatial movement of the total Three Degree Of Freedom of two rotations, can walk movement in waters different in flow rate and different depth, and it is fast to walk
Degree and draft amount are adjustable, easy to adjust quick.
As shown in figure 3, the lifting gear 3 includes lifting push rod 31, lifting round platform 32 and electric turntable 33；Described
It is four to lift 31 quantity of push rod, and lifting push rod 31 is located at 32 lower section of lifting round platform, and lifts 31 upper end of push rod and lifting round platform 32
Lower face is connected, and electric turntable 33 is fixed on lifting 32 upper surface center position of round platform.
As shown in Figure 5 and Figure 6, the 3-freedom parallel mechanism 4 includes fixed platform 41, moving platform 42, ear mount 43, turns
Axis 44, electric pushrod 45, spherical hinge 46, connecting seat 47 and limit spring 48, and ear mount 43, shaft 44, electric pushrod 45, flexural pivot
The quantity of chain 46, connecting seat 47 and limit spring 48 is three；Fixed platform 41 and moving platform 42 structure in rounded shape,
And moving platform 42 is located at right over fixed platform 41, ear mount 43 is located on the upper surface of fixed platform 41, and between ear mount 43 successively
The vertex angle of line composition is 60 degree, and connecting seat 47 is located on 42 lower face of moving platform, and ear mount 43 and connecting seat 47
It corresponds respectively；45 bottom end of electric pushrod is mounted on by shaft 44 in ear mount 43,45 top of electric pushrod and company
It is attached by spherical hinge 46 between joint chair 47, limit spring 48 is around being sleeved on 45 upper end of electric pushrod；When specific works, pass through
Pumping for electric pushrod 45 can drive the movement of moving platform 42, and reduce Three Degree Of Freedom simultaneously by limit spring 48
Jitter when online structure 4 moves increases the stationarity of the movement of 3-freedom parallel mechanism 4,3-freedom parallel mechanism 4 and string
Online structure is big compared to rigidity, and movement is flexible, stable structure, and bearing capacity is strong and fine motion precision is high, and 3-freedom parallel mechanism 4 is adopted
With the form of the parallel institution of 3-RPS, 3-freedom parallel mechanism 4 is applied in the present invention, is on the one hand played to feeding intake
The effect that entirety orientation angles are adjusted when device 5 feeds intake so that the present invention may be under various attitude angles can be entirely square
Position carries out the operation that feeds intake, and the convenient and efficient and range that feeds intake that feeds intake is wide；On the other hand it is improved by 3-freedom parallel mechanism 4
The present invention damping performance, when the present invention walks in land either water even at jolt or nonequilibrium condition under when,
Charging device 5 is in horizontal plateau always, prevent charging device 5 feed intake operation when because of jitter or obliquity is excessive leads
Cause feeds intake operation the problem of can not carrying out, further improve the present invention feed intake operation when stability and safety.
As shown in Figure 7 and Figure 8, the charging device 5 includes feed intake pedestal 51, batch charging mechanism 52 and material storage tube 53；Institute
52 quantity of batch charging mechanism stated is four, and batch charging mechanism 52 is symmetrically arranged along the central axis for the pedestal 51 that feeds intake, material storage tube 53
At the 51 upper end center position of pedestal that feeds intake；The batch charging mechanism 52 include feed intake ear mount 521, first rotating shaft 522, feed intake
Holder 523, the second shaft 524, shovel material holder 525, the scraper bowl 526 that feeds intake, actuating unit 527, the first compressed spring 528 and second
Compressed spring 529；523 lower end of holder that feeds intake is connected by first rotating shaft 522 with the ear mount 521 that feeds intake, and feed intake holder
523 upper ends are connected by the second shaft 524 with 525 one end of shovel material holder, and the holder 523 that feeds intake is in ladder configuration is climbed, and feed intake branch
523 inside spaced set of frame has cross bar, and shovel material holder 525 is using the rectangular box structure of hydraulic telescopic type, and feed intake scraper bowl 526
It is fixed on shovel material 525 other end of holder, and the cross section transverse for the scraper bowl 526 that feeds intake is in sector structure, actuating unit 527, which is located at, to feed intake
523 lower section of holder, the first compressed spring 528, which is located at, to feed intake between pedestal 521 and the holder 523 that feeds intake, and the first compressed spring 528
Upper end is provided with the first rotary column, and the first rotary column is hinged on the cross bar for the holder 523 that feeds intake, the setting of 528 lower end of the first compressed spring
There is the first connecting seat, the first connecting seat, which is fixed on, to feed intake on 51 upper surface of pedestal, and the second compression press spring 529 is located at the first compression bullet
528 inside of spring, and 529 upper end of the second compressed spring is provided with the second rotary column, the second rotary column is hinged on the cross bar for the holder 523 that feeds intake
On, 529 lower end of the second compressed spring is provided with the second connecting seat, and the second connecting seat, which is fixed on, to feed intake on 51 upper surface of pedestal.
As shown in Figure 7 and Figure 8, the 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 axis 5275 and rolling bearing units 5276 is two；The power shaft 5271 passes through 523 upper end of holder that feeds intake, follow-up pulley
5272 are respectively symmetrically fixed on 5271 both ends of power shaft, and 5273 one end of steel wire rope is fixed on follow-up pulley 5272, steel wire rope
5273 other ends are wrapped on driving pulley 5274, are connected using key between 5275 one end of transition axis and driving pulley 5274,
5275 other end of transition axis is equipped with driving gear 5278, and 5275 middle part of transition axis is fixed on material-feeding platform by rolling bearing units 5276
On 51 upper surfaces of seat, driving gear 5278 is fixed on the output shaft of power motor 5279, and driving gear 5278 and driven tooth
Wheel 5277 is meshed, and power motor 5279 is mounted on by mobile motor seat 527a on motorized rails 527b, and motorized rails
The cross section transverse of 527b is in I-shaped structure.
As shown in Figure 7 and Figure 8, when specifically feeding intake, expect that the stretching routine of holder 525 drives the scraper bowl that feeds intake by shovel first
526 move diagonally downward, and when the scraper bowl 526 that feeds intake is deep into the bait stored in material storage tube 53, the receipts of holder 525 are expected by shovel
Contracting movement drives the scraper bowl 526 that feeds intake to tilt upward to move, to realize the function for the charging of scraper bowl 526 that feeds intake；Then pass through shifting
The medial movement of past medial motion drive power motors 5279 of the dynamic motor cabinet 527a on motorized rails 527b, when with power electric
When the coaxial mounted driving gear 5278 of 5279 output shaft of machine is meshed with driven gear 5277, pass through the rotation of power motor 5279
Turn the rotation of drive driving gear 5278, and driving gear 5278 is meshed with driven gear 5277, driven gear 5277 and master
Movable pulley 5274 is coaxially fixedly mounted, and to realize the rotation of driving pulley 5274, has reached the effect for shrinking steel wire rope 5273
Fruit, and steel wire rope 5273 is connect with follow-up pulley 5272, follow-up pulley 5272 is fixed with 5271 phase of power shaft, power shaft
5271 are fixed on and feed intake on holder 523, to which under the pulling force effect of steel wire rope 5273, the holder 523 that feeds intake is with first rotating shaft 522
It is rotated counterclockwise for rotary shaft, the first compressed spring 528 and the second compressed spring 529 are under highly compressed state；Again
The outside movement of power motor 5279 is driven by past movement outsides of the mobile motor seat 527a on motorized rails 527b, actively
Gear 5278 is in discrete state with driven gear 5277, in the compression and back of the first compressed spring 528 and the second compressed spring 529
Under multiple force effect, it is that rotary shaft rotates clockwise with first rotating shaft 522 to feed intake holder 523 rapidly, to drive the scraper bowl that feeds intake
526 dish out outward, have achieved the effect that feed intake；Finally after bait is launched, compressed in the first compressed spring 528 and second
Under the extension recovery force effect of spring 529, the holder 523 that feeds intake is that rotary shaft rotates counterclockwise with first rotating shaft 522, is realized
Withdraw the function for the scraper bowl 526 that feeds intake；The function that charging device 5 can realize automatic charge and feed intake, and whole intelligence degree is high,
It feeds simple and quick, rate of feeding is fast, distance is remote.
The basic principles, main features and advantages of the invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, and the description in above embodiments and description only illustrates the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these change and change
Into all fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appended claims and its equivalent
It defines.
Claims (4)
- The all-in-one machine 1. a kind of complete intelligent fish pond feeds intake, it is characterised in that：Including land walking device, water surface running gear, lifting Device, 3-freedom parallel mechanism and charging device；The water surface running gear quantity is two, and water surface running gear is distinguished Positioned at the left and right sides of land walking device, water surface running gear is connected with land walking device, and lifting gear is located at land Right over running gear, and lifting gear lower end is connected with land walking device upper end, and 3-freedom parallel mechanism, which is located at, to be risen Between falling unit and charging device, and 3-freedom parallel mechanism lower end is connected with lifting gear, 3-freedom parallel mechanism Upper end is connected with charging device；Wherein：The land walking device includes chassis, driving motor, drive shaft, walking belt wheel, tight locking button and traveling crawler, and is driven The quantity of dynamic motor, tight locking button and traveling crawler is two, and drive shaft and walking belt wheel quantity are four；The chassis is rectangular Structure, the chassis left and right sides offer U-type groove respectively, and chassis rear and front end offers mounting groove respectively, and driving motor is solid respectively It is scheduled in the mounting groove of chassis front and rear sides, and driving motor uses Biaxial synchronous output motor, drive shaft one end and driving electricity Machine output shaft is connected, and the drive shaft other end is connected with walking belt wheel, and passes through tight locking button between drive shaft and walking belt wheel It is fixed, traveling crawler both ends are evenly arranged with semicircle anti-skidding on the outside of traveling crawler rotating around being sleeved on walking belt wheel Item；The water surface running gear includes walking plate, walking hinge, angle adjusting mechanism, walking turntable, walking telescopic rod, solid Fixed rack, jet cylinder, appendix and pulsometer；The walking plate is in bar shaped platy structure, and walking plate inner end passes through walking Hinge is connected with the U-type groove madial wall on chassis, and angle adjusting mechanism quantity is two, and angle adjusting mechanism is along the cross of walking plate It is symmetrically arranged to central axis, angle adjusting mechanism lower end is mutually fixed with walking plate, and walking turntable is located on the outside of walking plate Wall center position, walking telescopic rod one end are connected with walking turntable, and the walking telescopic rod other end is connected with fixing bracket, And walking telescopic rod is hollow cylinder shell structure, fixing bracket rear end is provided with fixed link, and fixing bracket front end is provided with Ω Type frame, and Ω type frame is linearly equally spaced along fixed link, jet cylinder is mounted in support bracket fastened Ω type frame, before jet cylinder End is cone-shaped structure, and jet tube rear end offers puff prot, and appendix one end passes through walking telescopic rod to be connected with jet cylinder, The appendix other end is connected with pulsometer, and pulsometer is fixed on the center position of chassis upper surface；The 3-freedom parallel mechanism includes fixed platform, moving platform, ear mount, shaft, electric pushrod, spherical hinge, connecting seat And limit spring, and ear mount, shaft, electric pushrod, spherical hinge, connecting seat and limit spring quantity be three；Described determines Platform and moving platform structure in rounded shape, and moving platform is located at right over fixed platform, ear mount is located on the upper surface of fixed platform, And the vertex angle of the composition of line successively between ear mount is 60 degree, connecting seat is located on moving platform lower face, and ear mount It is corresponded respectively with connecting seat；The electric pushrod bottom end is mounted on by shaft in ear mount, electric pushrod top and company It is attached by spherical hinge between joint chair, limit spring is around being sleeved on electric pushrod upper end；The charging device includes feed intake pedestal, batch charging mechanism and material storage tube；The batch charging mechanism quantity is four, batch charger Structure is symmetrically arranged along the central axis for the pedestal that feeds intake, and material storage tube is located at the pedestal upper end center position that feeds intake；The throwing Material mechanism includes feed intake ear mount, first rotating shaft, the holder that feeds intake, the second shaft, shovel material holder, the scraper bowl that feeds intake, actuating unit, first Compressed spring and the second compressed spring；The pedestal lower end that feeds intake is connected by first rotating shaft with the ear mount that feeds intake, and feed intake branch Frame upper end is connected by the second shaft with shovel material holder one end, and the holder that feeds intake is in ladder configuration is climbed, between being waited on the inside of the holder that feeds intake Away from cross bar is provided with, shovel material holder uses the rectangular box structure of hydraulic telescopic type, and it is another that the scraper bowl that feeds intake is fixed on shovel material holder End, and the cross section transverse for the scraper bowl that feeds intake is in sector structure, actuating unit is located at below the holder that feeds intake, and the first compressed spring, which is located at, throws Expect between pedestal and the holder that feeds intake, and the first compressed spring upper end is provided with the first rotary column, the first rotary column is hinged on the holder that feeds intake Cross bar on, the first compressed spring lower end is provided with the first connecting seat, and the first connecting seat, which is fixed on, to feed intake on pedestal upper surface, Two compression press springs are located on the inside of the first compressed spring, and the second compressed spring upper end is provided with the second rotary column, and the second rotary column is hinged On the cross bar for feeding intake holder, the second compressed spring lower end is provided with the second connecting seat, and the second connecting seat is fixed on the pedestal that feeds intake On upper surface.
- The all-in-one machine 2. a kind of complete intelligent fish pond according to claim 1 feeds intake, it is characterised in that：The lifting gear packet Include lifting push rod, lifting round platform and electric turntable；The lifting push rod quantity is four, and lifting push rod is located under lifting round platform Side, and lift push rod upper end and be connected with lifting round platform lower face, electric turntable is fixed on lifting upper end face of truncated cone center Place.
- The all-in-one machine 3. a kind of complete intelligent fish pond according to claim 1 feeds intake, it is characterised in that：The angular adjustment machine Structure includes adjusting ear mount, the first adjustment axis, adjusting yoke, the second adjustment axis and adjusting bracket；The U-shaped knot of adjusting ear mount Structure adjusts ear mount and is fixed on walking plate, and adjusting yoke lower end is connected by the first adjustment axis with ear mount is adjusted, adjusting yoke It is connected by the second adjustment axis between upper end and adjusting bracket, adjusting yoke is electric telescopic formula structure, and adjusting bracket is in The y-type structure of handstand, adjusting bracket lower end are fixed on chassis.
- The all-in-one machine 4. a kind of complete intelligent fish pond according to claim 1 feeds intake, it is characterised in that：The actuating unit packet Include power shaft, follow-up pulley, steel wire rope, driving pulley, transition axis, rolling bearing units, driven gear, driving gear, power electric Machine, mobile motor seat and motorized rails, and follow-up pulley, steel wire rope, driving pulley, transition axis and rolling bearing units quantity be Two；The power shaft passes through the pedestal upper end that feeds intake, follow-up pulley to be respectively symmetrically fixed on power shaft both ends, steel wire rope one End is fixed on follow-up pulley, and the steel wire rope other end is wrapped on driving pulley, is used between transition axis one end and driving pulley Key is connected, and the transition axis other end is equipped with driving gear, and the pedestal upper end that feeds intake is fixed on by rolling bearing units in the middle part of transition axis 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 mounted on motorized rails, and the cross section transverse of motorized rails is in I-shaped structure.
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| CN201610471708.4A CN106069964B (en) | 2016-06-23 | 2016-06-23 | A kind of complete intelligent fish pond feeds intake all-in-one machine |
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| CN201610471708.4A CN106069964B (en) | 2016-06-23 | 2016-06-23 | A kind of complete intelligent fish pond feeds intake all-in-one machine |
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| CN106069964B true CN106069964B (en) | 2018-08-28 |
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Citations (5)
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|---|---|---|---|---|
| US5150664A (en) * | 1990-08-24 | 1992-09-29 | Pet Mate Limited | Dispensing device |
| CN102257980A (en) * | 2010-05-27 | 2011-11-30 | 吴为国 | Split 360-degree automatic dried diet feeder for fishpond |
| CN104154170A (en) * | 2014-08-01 | 2014-11-19 | 安徽工程大学 | Parallel mechanism based multidimensional vibration platform |
| CN104430112A (en) * | 2014-11-06 | 2015-03-25 | 中国水产科学研究院渔业机械仪器研究所 | Movable feeding device |
| CN204823711U (en) * | 2015-06-11 | 2015-12-02 | 安庆市华鑫重工股份有限公司 | Three degrees of freedom are from steady box grab bucket based on parallel mechanism |
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2016
- 2016-06-23 CN CN201610471708.4A patent/CN106069964B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5150664A (en) * | 1990-08-24 | 1992-09-29 | Pet Mate Limited | Dispensing device |
| CN102257980A (en) * | 2010-05-27 | 2011-11-30 | 吴为国 | Split 360-degree automatic dried diet feeder for fishpond |
| CN104154170A (en) * | 2014-08-01 | 2014-11-19 | 安徽工程大学 | Parallel mechanism based multidimensional vibration platform |
| CN104430112A (en) * | 2014-11-06 | 2015-03-25 | 中国水产科学研究院渔业机械仪器研究所 | Movable feeding device |
| CN204823711U (en) * | 2015-06-11 | 2015-12-02 | 安庆市华鑫重工股份有限公司 | Three degrees of freedom are from steady box grab bucket based on parallel mechanism |
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| CN106069964A (en) | 2016-11-09 |
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Effective date of registration: 20180725 Address after: 233500 No. 1 road, Mengcheng County Industrial Park, Bozhou, Anhui Applicant after: Anhui Yun Feng agricultural development Co., Ltd Address before: 246001 315, room 1, science and Technology Pioneer Park, 80 Tianzhu Hill Road, Anqing Development Zone, Anhui Applicant before: Anhui Saobao Intelligent Technology Co., Ltd. |
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