CN107751124B - Robot for excavating and picking conch - Google Patents
Robot for excavating and picking conch Download PDFInfo
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- CN107751124B CN107751124B CN201711138631.XA CN201711138631A CN107751124B CN 107751124 B CN107751124 B CN 107751124B CN 201711138631 A CN201711138631 A CN 201711138631A CN 107751124 B CN107751124 B CN 107751124B
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- 230000007246 mechanism Effects 0.000 claims abstract description 78
- 210000000078 claw Anatomy 0.000 claims description 45
- 238000005452 bending Methods 0.000 claims description 3
- 230000007547 defect Effects 0.000 abstract description 4
- 238000003306 harvesting Methods 0.000 abstract description 3
- 239000013049 sediment Substances 0.000 abstract description 3
- 238000009412 basement excavation Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000004576 sand Substances 0.000 description 2
- 238000012876 topography Methods 0.000 description 2
- 241000251468 Actinopterygii Species 0.000 description 1
- 241000143060 Americamysis bahia Species 0.000 description 1
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 1
- 235000017491 Bambusa tulda Nutrition 0.000 description 1
- 241001330002 Bambuseae Species 0.000 description 1
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 241001374849 Liparis atlanticus Species 0.000 description 1
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 1
- 239000011425 bamboo Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 235000014102 seafood Nutrition 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K80/00—Harvesting oysters, mussels, sponges or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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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
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/40—Afforestation or reforestation
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot for excavating and picking up conchs, which comprises a remote controller, a control chip, a deformable travelling mechanism, an excavating mechanism and a picking mechanism, wherein the control chip is connected with the remote controller through a wireless connection module, the deformable travelling mechanism is arranged on the side part of a rack, and a turntable is arranged on the rack. The excavating mechanism and the picking mechanism provided by the invention can excavate and pick up conchs in sediment, overcomes the defect that the traditional excavating of conchs can only be carried out manually, and realizes the automation of excavating and picking up conchs. Compared with the prior art, the device has the characteristics of simple structure and high intelligent degree, greatly saves the working efficiency of conch digging and picking, and effectively reduces the labor force; meanwhile, the deformable travelling mechanism can realize wheel type and belt type deformation according to different terrains, has the advantages of being more flexible, strong in maneuverability, suitable for harvesting the terrains of conchs and high in practicability.
Description
Technical Field
The invention relates to a robot, in particular to a robot for excavating and picking up conchs, and belongs to the technical field of intelligent control equipment.
Background
The Qinzhou city is located in the southwest of China, in the southern part of Guangxi Zhuang nationality, in the coast of south China, and in the near northern bay. Therefore, the Liuzhou can eat fresh sea snails, sea shrimps, sea fish and other delicious seafood. As conch is rich in nutrition and delicious in taste, most conchs on the market are obtained by semi-sea semi-artificial culture in conch farms in offshore areas along with the development of culture technologies.
The conch is attached to the rock or submerges in the silt one by one, and the conch can be transported to the market only by manually digging out a bit by adopting a knife and a shovel and then picking up the conch in the bamboo basket. The manual screw digging method is time-consuming and labor-consuming, has extremely low screw digging and picking efficiency and high labor intensity. In the prior art, no report is made about intelligent spiral digging mechanical equipment. As the environment where the conch is positioned is sediment, sand piles and pits, pits and uneven terrains can be formed on the beach after the conch digging work is completed. The factors cause great obstacle to the realization of the intellectualization of the conch excavating and picking work; in addition, conch is a particle with smaller diameter and similar to a stone, and the requirements on the grabbing precision and the grabbing flexibility of machine equipment are high.
Disclosure of Invention
Aiming at the defects, the invention aims to provide the robot for excavating and picking up the conch, which has flexible walking, simple structure and high intelligent degree.
In order to achieve the above purpose, the present invention is realized by the following technical scheme:
the robot for excavating and picking up conch comprises a remote controller, a control chip, a deformable running mechanism, an excavating mechanism and a picking mechanism, wherein the control chip is connected with the remote controller through a wireless connection module, the excavating mechanism and the picking mechanism are arranged on a frame, the deformable running mechanism is arranged on the side part of the frame, a turntable is arranged on the frame,
the excavating mechanism comprises a first excavating steering engine, a connecting rod mechanism and a hook claw, wherein the first excavating steering engine is arranged on the turntable through a fixed support, an output shaft of the first excavating steering engine is connected with one end of the connecting rod mechanism, the other end of the connecting rod mechanism is connected with a connecting frame, the connecting frame is fixedly provided with the hook claw steering engine, and an output shaft of the hook claw steering engine is connected with the hook claw;
the pick-up mechanism comprises a first pick-up steering engine, a stretch-and-flex connecting rod mechanism, a mechanical claw and a camera for collecting images, wherein the first pick-up steering engine is arranged on the rotary table through a fixed support, an output shaft of the first pick-up steering engine is connected with one end of the stretch-and-flex connecting rod mechanism, the other end of the stretch-and-flex connecting rod mechanism is provided with the mechanical claw, the mechanical claw is connected with the mechanical claw steering engine, and the camera is arranged on the stretch-and-flex connecting rod mechanism through a camera fixing frame.
In the above-mentioned scheme, link mechanism includes 120 connecting rods, second excavation steering wheel and two U-shaped supports, 120 one end of connecting rod is fixed on one of them U-shaped support, 120 the other end of connecting rod is fixed on another U-shaped support, one of them U-shaped support is fixed on the fixed bolster of second excavation steering wheel with the output shaft of first excavation steering wheel, another U-shaped support, the output shaft of second excavation steering wheel is connected with the link.
In the above scheme, in order to enable the hook claw to accurately excavate, a camera can be installed below the second excavating steering engine and on the U-shaped support, and the camera is connected with the control chip through the wireless connection module.
In the above scheme, stretch and bend the link mechanism and can pick up steering wheel, second connecting rod, third and pick up steering wheel, third connecting rod and fourth including the first connecting rod that sets gradually, the second picks up steering wheel, the one end of first connecting rod is through U-shaped support and the output shaft of first pickup steering wheel, its other end is fixed on the fixed bolster of second pickup steering wheel, the output shaft of second pickup steering wheel is connected through U-shaped support and the one end of second connecting rod, the other end of second connecting rod is fixed on the fixed bolster of third pickup steering wheel, the output shaft of third pickup steering wheel is connected through U-shaped support and the one end of third connecting rod, the other end of third connecting rod is fixed on the fixed bolster of fourth pickup steering wheel, the output shaft of fourth pickup steering wheel is connected with the gripper through steering wheel connector.
In the above scheme, in order to further improve the flexibility of snatching of gripper, stretch and bend link mechanism still includes the gripper steering wheel, installs a pair of V-arrangement connecting rod in the below symmetry of gripper, the one end of V-arrangement connecting rod is fixed on the gripper, and its other end passes through bar connecting rod and the output shaft of gripper steering wheel.
In the scheme, the first connecting rod, the second connecting rod and the third connecting rod are identical in structure and mainly comprise concave connecting plates, through holes are formed in grooves of the concave connecting plates, two ends of the grooves are respectively connected with a straight rod, and holes and grooves are formed in two ends of the straight rods.
In the above-mentioned scheme, but flexible running gear includes wheeled running gear and cover belt running gear, wherein, wheeled running gear is including two sets of rubber wheel devices of symmetry installation at the both ends of frame, and each set of rubber wheel device includes wheeled drive steering wheel, connects extension board, rubber wheel and is used for driving the wheeled driving motor of rubber wheel, wheeled drive steering wheel passes through the fixed bolster and installs the tip at the frame and the output shaft of wheeled drive steering wheel is connected with the one end of connecting the extension board through U-shaped support, the other end of connecting the extension board is fixed with the motor mount, the motor mount is installed wheeled driving motor, wheeled driving motor's output shaft passes through the connector and is connected with the pivot of rubber wheel.
In the above-mentioned scheme, cover belt running gear includes two sets of belt pulley devices of symmetry installation in the both sides of frame, and each belt pulley device includes belt pulley, T shape support, belt pulley steering wheel and is used for driving the belt drive motor that covers the belt pulley, cover the lateral part of belt pulley installation in the frame and install the belt on the belt pulley, cover belt drive motor and cover the pivot connection of belt drive motor's output shaft and belt pulley through the motor mount setting in the below of frame, the horizontal end of T shape support with motor mount rigid coupling, its vertical end is connected with a fly leaf, the fly leaf passes through the hinge and articulates on a boss, the boss is fixed in the frame, the output shaft and the fly leaf of belt pulley steering wheel are connected.
In the above scheme, cover area driving motor and wheeled driving motor can all be direct current gear motor, direct current gear motor's pivot is connected with motor drive chip, motor drive chip passes through wireless connection module and is connected with control chip.
The beneficial effects of the invention are as follows:
1) The excavating mechanism and the picking mechanism provided by the invention can excavate and pick up conchs in sediment, overcomes the defect that the traditional excavating of conchs can only be carried out manually, and realizes the automation of excavating and picking up conchs. Compared with the prior art, the device has the characteristics of simple structure and high intelligent degree, opens up the mechanical intelligence of conch harvesting, greatly saves the working efficiency of conch digging and picking, and effectively reduces the labor force;
2) The deformable travelling mechanism mainly comprises a wheel travelling mechanism and a belt travelling mechanism, when the deformable travelling mechanism is used, corresponding steering engines can be driven according to different terrains to realize wheel-type and belt-type deformation, and when the deformable travelling mechanism is a relatively flat terrains, the wheel travelling mechanism can be selected; when the floor is a hollow or uneven floor, the belt-type travelling mechanism can be selected. Compared with the prior art, the adopted travelling mechanism overcomes the defects of a simple pulley or wheel travelling mechanism, is more flexible to use and strong in maneuverability, is suitable for harvesting the topography of conch, and has high practicability.
Drawings
Fig. 1 is a schematic view of the structure of the present robot for excavating and picking up conchs.
The reference numerals in the figures are: 1. a frame; 2. a motor fixing frame; 3. a cover tape drive motor; 4. a connector; 5. a cover pulley; 6. covering a belt; 7. a fixed support; 8. wheel-type driving steering engine; 9. connecting a support plate; 10. rubber wheels, 11 and T-shaped brackets; 12. a turntable; 13. the first excavating steering engine; 14. a U-shaped bracket; 15. a 120 ° connecting rod; 16. the second excavating steering engine; 17. a camera; 18. a connecting frame; 19. a claw steering engine; 20. a hook claw; 21. the first pickup steering engine; 22. a first link; 23. a second pickup steering engine; 24. thirdly, picking up a steering engine; 25. a third link; 26. fourth, picking up steering engines; 27. steering engine connector; 28. a bar-shaped connecting rod; 29. a V-shaped connecting rod; 30. a second link; 31. a mechanical claw; 32. a wheel-type driving motor; 33. steering engine with wheel is covered; 34. a camera fixing frame; 35. and a mechanical claw steering engine.
Detailed Description
As shown in fig. 1, the robot for excavating and picking up conchs comprises a remote controller and a control chip, wherein the control chip is connected with the remote controller through a wireless connection module. The difference is that: the device also comprises a deformable travelling mechanism, an excavating mechanism and a picking mechanism which are arranged on the frame 1. The deformable travelling mechanism is arranged at the side part of the frame 1, and a turntable 12 is arranged on the frame 1. A supporting rotating shaft is installed below the turntable 12, one end of the supporting rotating shaft is fixed on the turntable 12, and the other end of the supporting rotating shaft is connected with a driving device. The driving device is connected with a driving circuit board, and the driving circuit board is connected with the remote controller through a wireless connection module. I.e. the rotation of the turntable 12 can be achieved by controlling the remote control.
The excavating mechanism comprises a first excavating steering engine 13, a connecting rod mechanism and a hook claw 20. The first excavating steering engine 13 is arranged on the rotary table 12 through the fixed support 7, and an output shaft of the first excavating steering engine 13 is connected with one end of the connecting rod mechanism. The other end of the connecting rod mechanism is connected with a connecting frame 18, a claw steering engine 19 is fixed on the connecting frame 18, and an output shaft of the claw steering engine 19 is connected with a claw 20. In this embodiment, the link mechanism specifically includes a 120 ° link lever 15, a second excavating steering 16, and two U-shaped brackets 14. One end of the 120-degree connecting rod 15 is fixed on one of the U-shaped brackets 14, and the other end of the 120-degree connecting rod 15 is fixed on the other U-shaped bracket 14. One of the U-shaped brackets 14 is connected with the output shaft of the first excavating steering engine 13, and the other U-shaped bracket 14 is fixed on the fixed support 7 of the second excavating steering engine 16. The output shaft of the second excavating steering 16 is connected to a connecting frame 18. The 120 ° connecting rod 15 is specifically a rigid bending rod with a middle part having an arc, and the arc of the middle part is 120 °. In order to accurately perform the excavating action, a camera 17 is mounted below the second excavating steering wheel 16 and on the U-shaped bracket 14, and the camera 17 is connected with the control chip through a wireless connection module.
The pick-up mechanism comprises a first pick-up steering engine 21, a stretch-and-flex connecting rod mechanism, a mechanical claw 31 and a camera 17 for collecting images, wherein the first pick-up steering engine 21 is arranged on the rotary table 12 through a fixed support 7, an output shaft of the first pick-up steering engine 21 is connected with one end of the stretch-and-flex connecting rod mechanism, the mechanical claw 31 is arranged at the other end of the stretch-and-flex connecting rod mechanism, the mechanical claw 31 is connected with a mechanical claw steering engine 35, and the camera 17 is arranged on the stretch-and-flex connecting rod mechanism through a camera fixing frame 34.
The extending and bending link mechanism comprises a first link 22, a second pickup steering engine 23, a second link 30, a third pickup steering engine 24, a third link 25, a fourth pickup steering engine 26 and a mechanical claw steering engine 35 which are sequentially arranged. One end of the first connecting rod 22 is connected with an output shaft of the first pickup steering engine 21 through the U-shaped bracket 14, and the other end of the first connecting rod is fixed on the fixed support 7 of the second pickup steering engine 23. An output shaft of the second pick-up steering engine 23 is connected with one end of a second connecting rod 30 through a U-shaped bracket 14. The other end of the second connecting rod 30 is fixed on the fixed support 7 of the third pickup steering engine 24. An output shaft of the third pickup steering engine 24 is connected with one end of a third connecting rod 25 through a U-shaped bracket 14, and the other end of the third connecting rod 25 is fixed on a fixed support 7 of a fourth pickup steering engine 26. An output shaft of the fourth pick-up steering engine 26 is connected with a mechanical claw 31 through a steering engine connector 27. A pair of V-shaped connecting rods 29 are symmetrically arranged below the mechanical claw 31, one end of each V-shaped connecting rod 29 is fixed on the mechanical claw 31, and the other end of each V-shaped connecting rod 29 is connected with an output shaft of a mechanical claw steering engine 35 through a bar-shaped connecting rod 28. I.e. Zhang Geda hours of control of the gripper 31 by means of the gripper steering 35.
In the present embodiment, the first link 22, the second link 30, and the third link 25 employed are identical in structure and are mainly composed of concave connection plates. The concave connecting plate is characterized in that a through hole is formed in a groove of the concave connecting plate, two ends of the groove are respectively connected with a straight rod, and holes and grooves are formed in two ends of the straight rod. When the U-shaped support plate is used, one ends of the two straight rods are fixed on the fixed support 7 of each excavating steering engine through screws, the other ends of the straight rods are fixedly connected with the concave connecting plates through screws, and the concave connecting plates are fixed on the U-shaped support plate through screws.
The deformable travelling mechanism comprises a wheel travelling mechanism and a belt travelling mechanism.
The wheel type travelling mechanism comprises two groups of rubber wheel devices symmetrically arranged at two ends of the frame 1. Each group of rubber wheel device comprises a wheel type driving steering engine 8, a connecting support plate 9, a rubber wheel 10 and a wheel type driving motor 32 for driving the rubber wheel 10, wherein the wheel type driving steering engine 8 is installed at the end part of the frame 1 through a fixed support 7, an output shaft of the wheel type driving steering engine 8 is connected with one end of the connecting support plate 9 through a U-shaped support 14, the other end of the connecting support plate 9 is fixedly provided with a motor fixing frame 2, the motor fixing frame 2 is provided with the wheel type driving motor 32, and an output shaft of the wheel type driving motor 32 is connected with a rotating shaft of the rubber wheel 10 through a connector 4.
The belt-type travelling mechanism comprises two groups of belt pulley devices symmetrically arranged on two sides of the frame 1. Each pulley arrangement comprises a pulley 5, a T-shaped bracket 11, a pulley steering engine 33 and a belt drive motor 3 for driving the pulley 5. The belt pulley 5 is arranged on the side part of the frame 1, a belt 6 is arranged on the belt pulley 5, and the belt driving motor 3 is arranged below the frame 1 through the motor fixing frame 2, and an output shaft of the belt driving motor 3 is connected with a rotating shaft of the belt pulley 5. The horizontal end of the T-shaped bracket 11 is fixedly connected with the motor fixing frame 2, and the vertical end of the T-shaped bracket is connected with a movable plate. The movable plate is hinged on a boss through a hinge, the boss is fixed on the frame 1, and an output shaft of the pulley-covered steering engine 33 is connected with the movable plate.
In this embodiment, the belt driving motor 3 and the wheel driving motor 32 are both dc reduction motors. The rotating shaft of the direct current gear motor is connected with a motor driving chip, and the motor driving chip is connected with a control chip through a wireless connection module.
The invention is used in the following steps:
1. according to the topography deformation:
i, when the vehicle runs on the flat ground, the rubber wheel 10 is contacted with the ground by controlling the two wheel type driving steering engines 8; simultaneously, the pulley covering steering engine 33 is controlled, so that the movable plate is opened towards two sides under the action of the pulley covering steering engine 33 to drive the T-shaped bracket 11 to integrally lift the two pulley covering devices, and the crawler-type travelling mechanism is integrally suspended;
II, controlling the wheel type driving motor 32 to rotate forwards and backwards to realize rapid and flexible movement to the position where the digging screw is located;
III, when the ground is hollow and uneven in the spiral digging process, the crawler-type travelling mechanism is contacted with the ground by controlling the two belt pulley steering engines 33, and then the walking or steering of the robot is realized by controlling the wheel type driving motor 32 and the belt pulley motor.
2. Digging conch:
after the robot is moved to the conch position, the first excavating steering engine 13 is controlled to realize large-scale adjustment of the hook claw 20, the second excavating steering engine 16 is controlled to realize adjustment of the height of the hook claw 20, and the hook claw 20 is controlled to accurately excavate the sand.
3. Picking up conch:
after the conch is excavated, dead and live conchs are identified through the camera 17, and the mechanical claws 31 are controlled to grab the conch through controlling the first pickup steering engine 21, the second pickup steering engine 23, the third pickup steering engine 24, the fourth pickup steering engine 26 and the mechanical claw steering engine 35.
The above description is for the purpose of illustrating the embodiments of the present invention and is not to be construed as limiting the invention, but is intended to cover all modifications, equivalents, improvements and alternatives falling within the spirit and principle of the invention.
Claims (7)
1. The utility model provides a robot for excavating and pick up conch, includes remote controller and control chip, control chip passes through wireless connection module and is connected its characterized in that with the remote controller: the device also comprises a deformable travelling mechanism, an excavating mechanism and a picking mechanism which are arranged on the frame (1), wherein the deformable travelling mechanism is arranged on the side part of the frame (1), a turntable (12) is arranged on the frame (1),
the excavating mechanism comprises a first excavating steering engine (13), a connecting rod mechanism and a hook claw (20), wherein the first excavating steering engine (13) is arranged on a rotary table (12) through a fixed support (7), an output shaft of the first excavating steering engine (13) is connected with one end of the connecting rod mechanism, the other end of the connecting rod mechanism is connected with a connecting frame (18), the connecting frame (18) is fixedly provided with the hook claw steering engine (19), and an output shaft of the hook claw steering engine (19) is connected with the hook claw (20);
the pick-up mechanism comprises a first pick-up steering engine (21), a stretch-and-flex connecting rod mechanism, a mechanical claw (31) and a camera (17) for acquiring images, wherein the first pick-up steering engine (21) is arranged on a rotary table (12) through a fixed support (7), an output shaft of the first pick-up steering engine (21) is connected with one end of the stretch-and-flex connecting rod mechanism, the mechanical claw (31) is arranged at the other end of the stretch-and-flex connecting rod mechanism, the mechanical claw (31) is connected with a mechanical claw steering engine (35), and the camera (17) is arranged on the stretch-and-flex connecting rod mechanism through a camera fixing frame (34);
the connecting rod mechanism comprises a 120-degree connecting rod (15), a second excavating steering engine (16) and two U-shaped brackets (14), one end of the 120-degree connecting rod (15) is fixed on one U-shaped bracket (14), the other end of the 120-degree connecting rod (15) is fixed on the other U-shaped bracket (14), one U-shaped bracket (14) is connected with an output shaft of the first excavating steering engine (13), the other U-shaped bracket (14) is fixed on a fixed support (7) of the second excavating steering engine (16), and an output shaft of the second excavating steering engine (16) is connected with a connecting frame (18);
the stretching and bending linkage mechanism comprises a first connecting rod (22), a second pickup steering wheel (23), a second connecting rod (30), a third pickup steering wheel (24), a third connecting rod (25) and a fourth pickup steering wheel (26) which are sequentially arranged, one end of the first connecting rod (22) is connected with an output shaft of the first pickup steering wheel (21) through a U-shaped support (14), the other end of the first connecting rod is fixed on a fixed support (7) of the second pickup steering wheel (23), an output shaft of the second pickup steering wheel (23) is connected with one end of the second connecting rod (30) through a U-shaped support (14), the other end of the second connecting rod (30) is fixed on a fixed support (7) of the third pickup steering wheel (24), an output shaft of the third pickup steering wheel (24) is connected with one end of the third connecting rod (25) through the U-shaped support (14), the other end of the third connecting rod (25) is fixed on the fixed support (7) of the fourth pickup steering wheel (26), and the output shaft of the fourth pickup steering wheel (26) is connected with a mechanical claw (31) through a connector (27).
2. The robot for excavating and picking up conch according to claim 1, wherein: a camera (17) is arranged below the second excavating steering engine (16) and on the U-shaped bracket (14), and the camera (17) is connected with the control chip through a wireless connection module.
3. The robot for excavating and picking up conch according to claim 1, wherein: the mechanical claw steering engine is characterized by further comprising a mechanical claw steering engine (35), a pair of V-shaped connecting rods (29) are symmetrically arranged below the mechanical claw (31), one ends of the V-shaped connecting rods (29) are fixed on the mechanical claw (31), and the other ends of the V-shaped connecting rods are connected with an output shaft of the mechanical claw steering engine (35) through bar-shaped connecting rods (28).
4. The robot for excavating and picking up conch according to claim 1, wherein: the structure of the first connecting rod (22), the structure of the second connecting rod (30) and the structure of the third connecting rod (25) are the same and mainly comprise concave connecting plates, through holes are formed in grooves of the concave connecting plates, two ends of the grooves are respectively connected with a straight rod, and holes and grooves are formed in two ends of the straight rods.
5. The robot for excavating and picking up conch according to claim 1, wherein: the deformable walking mechanism comprises a wheel type walking mechanism and a belt type walking mechanism,
the wheel type travelling mechanism comprises two groups of rubber wheel devices symmetrically arranged at two ends of a frame (1), each group of rubber wheel device comprises a wheel type driving steering engine (8), a connecting support plate (9), a rubber wheel (10) and a wheel type driving motor (32) for driving the rubber wheel (10), the wheel type driving steering engine (8) is arranged at the end part of the frame (1) through a fixed support (7), an output shaft of the wheel type driving steering engine (8) is connected with one end of the connecting support plate (9) through a U-shaped support (14), the other end of the connecting support plate (9) is fixed with a motor fixing frame (2), the motor fixing frame (2) is provided with the wheel type driving motor (32), and an output shaft of the wheel type driving motor (32) is connected with a rotating shaft of the rubber wheel (10) through a connector (4).
6. The robot for excavating and picking up conch according to claim 5, wherein: the belt-type travelling mechanism comprises two groups of belt-type wheel devices symmetrically arranged on two sides of a frame (1), each belt-type wheel device comprises a belt-type wheel (5), a T-shaped bracket (11), a belt-type wheel steering engine (33) and a belt-type driving motor (3) for driving the belt-type wheel (5), the belt-type wheel (5) is arranged on the side part of the frame (1) and is provided with a belt (6) on the belt-type wheel (5), the belt-type driving motor (3) is arranged below the frame (1) through a motor fixing frame (2), an output shaft of the belt-type driving motor (3) is connected with a rotating shaft of the belt-type wheel (5), the horizontal end of the T-shaped bracket (11) is fixedly connected with the motor fixing frame (2), the vertical end of the T-shaped bracket is connected with a movable plate, the movable plate is hinged on a boss through a hinge, and the boss is fixed on the frame (1), and the output shaft of the belt-type steering engine (33) is connected with the movable plate.
7. The robot for excavating and picking up conch according to claim 6, wherein: the belt-covered driving motor (3) and the wheel-type driving motor (32) are both direct-current gear motors, a rotating shaft of each direct-current gear motor is connected with a motor driving chip, and each motor driving chip is connected with the control chip through a wireless connection module.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711138631.XA CN107751124B (en) | 2017-11-16 | 2017-11-16 | Robot for excavating and picking conch |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711138631.XA CN107751124B (en) | 2017-11-16 | 2017-11-16 | Robot for excavating and picking conch |
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| CN107751124A CN107751124A (en) | 2018-03-06 |
| CN107751124B true CN107751124B (en) | 2023-09-05 |
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| CN109329230A (en) * | 2018-11-28 | 2019-02-15 | 大连海洋大学 | A kind of precious marine product fishes and collection device |
| CN114600846B (en) * | 2022-04-01 | 2022-12-23 | 温州大学 | Crab type snail catching device and method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107751124A (en) | 2018-03-06 |
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