CN108238223B - Capturing device and underwater reverse robot - Google Patents
Capturing device and underwater reverse robot Download PDFInfo
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- CN108238223B CN108238223B CN201810133671.3A CN201810133671A CN108238223B CN 108238223 B CN108238223 B CN 108238223B CN 201810133671 A CN201810133671 A CN 201810133671A CN 108238223 B CN108238223 B CN 108238223B
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- 238000004804 winding Methods 0.000 claims description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000009182 swimming Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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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
The invention provides a capturing device and an underwater reverse robot, and relates to the technical field of underwater equipment, wherein the capturing device comprises: the capturing mechanism is arranged on the travelling mechanism, so that the travelling mechanism drives the capturing mechanism to move underwater; the capturing mechanism comprises supporting arms, the supporting arms comprise first ends and second ends which are oppositely arranged, the number of the supporting arms is multiple, and the first ends of the supporting arms are connected with the travelling mechanism; the capturing mechanism comprises a capturing net, and second ends of the plurality of supporting arms are respectively connected to the edges of the capturing net so that the capturing net is propped up; the capturing device comprises a net closing mechanism, wherein the net closing mechanism is connected with the supporting arms and is used for driving the second ends of the supporting arms to move towards the center direction of the capturing net so as to capture the target object in the capturing net.
Description
Technical Field
The invention relates to the technical field of underwater equipment, in particular to a capturing device and an underwater reverse robot.
Background
In recent years, various consumer-grade underwater equipment such as fishing devices, cameras, swimming devices, small bionic equipment, other small unmanned devices on the water surface and the like are numerous, the quality is uneven, the sea area is difficult to control, no effective countermeasures exist at home and abroad at present, and the safety of water surface and underwater facilities and personnel is threatened.
Disclosure of Invention
The invention aims to provide a capturing device and an underwater reverse control robot so as to capture various consumer-grade underwater equipment, reduce the difficulty level of sea area management and reduce the threat of the consumer-grade underwater equipment to the safety of water surfaces, underwater facilities and personnel.
In a first aspect, an embodiment of the present invention provides a capturing device, including: the capturing mechanism is arranged on the travelling mechanism, so that the travelling mechanism drives the capturing mechanism to move underwater;
the capturing mechanism comprises a supporting arm, the supporting arm comprises a first end and a second end which are oppositely arranged, the number of the supporting arms is multiple, and the first ends of the supporting arms are connected with the travelling mechanism;
the capturing mechanism comprises capturing nets, and second ends of the plurality of supporting arms are respectively connected to edges of the capturing nets so that the capturing nets are spread;
the capturing device comprises a net closing mechanism, wherein the net closing mechanism is connected with the supporting arms and used for driving the second ends of the supporting arms to move towards the center direction of the capturing net so as to capture a target object in the capturing net.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where a first end of the support arm is hinged to the travelling mechanism, and a torsion spring is disposed at the hinge position, where the torsion spring is used to drive the support arm to move, so that a second end of the support arm moves away from a direction in which the travelling mechanism is located.
With reference to the first possible implementation manner of the first aspect, the embodiment of the present invention provides a second possible implementation manner of the first aspect, where the support arm includes a plurality of rods that are hinged in sequence, and a torsion spring is disposed between any two adjacent rods, and the torsion spring is used to drive the plurality of rods to expand.
With reference to the second possible implementation manner of the first aspect, the embodiment of the present invention provides a third possible implementation manner of the first aspect, wherein the travel mechanism includes a control switch, a linkage assembly, and a stop structure connected in sequence, and the stop structure is used for stopping the support arm, so as to prevent the second end of the support arm from moving away from the direction in which the travel mechanism is located; the control switch controls the stop structure to be opened through the linkage assembly so that the second end of the supporting arm is unfolded in a direction away from the travelling mechanism.
With reference to the first aspect, an embodiment of the present invention provides a fourth possible implementation manner of the first aspect, wherein the travelling mechanism includes receiving slots, and the number of the receiving slots is the same as that of the supporting arms and corresponds to one; the support arm sliding connection is in the holding tank, just the support arm with be provided with the spring between the holding tank, the spring is used for with the support arm pops out the holding tank.
With reference to the first aspect, an embodiment of the present invention provides a fifth possible implementation manner of the first aspect, where the mesh closing mechanism includes a closing rope and a wire winding mechanism, the wire winding mechanism is fixed on a supporting arm, a through hole is provided on a second end of the supporting arm, one end of the closing rope is fixed on a second end of the supporting arm equipped with the wire winding mechanism, and the other end sequentially passes through the through holes on the second ends of the other supporting arms and is then fixed on the wire winding mechanism.
With reference to the first aspect, an embodiment of the present invention provides a sixth possible implementation manner of the first aspect, where the traveling mechanism is provided with an image capturing device, and a lens of the image capturing device faces the capturing mechanism.
With reference to the sixth possible implementation manner of the first aspect, the present embodiment provides a seventh possible implementation manner of the first aspect, wherein the traveling mechanism includes a main body and a driving unit, and the driving unit is configured to generate a driving force to drive the main body to move; the driving unit is rotatably connected with the main body so that the advancing direction of the capturing device can be adjusted.
With reference to the seventh possible implementation manner of the first aspect, an embodiment of the present invention provides an eighth possible implementation manner of the first aspect, wherein the image capturing device is movably connected with the main body, so that a lens orientation of the image capturing device is adjustable.
In a second aspect, an embodiment of the present invention provides an underwater countering robot, including the capturing device described above.
The embodiment of the invention has the following beneficial effects:
the capturing device provided by the embodiment of the invention comprises a travelling mechanism and a capturing mechanism, wherein the capturing mechanism is arranged on the travelling mechanism, and the travelling mechanism can drive the capturing mechanism to move underwater. The capturing mechanism can comprise a plurality of supporting arms, wherein the two ends of the supporting arms are respectively a first end and a second end, and the first ends of the supporting arms are connected with the travelling mechanism. The capturing mechanism comprises capturing nets, the second ends of the supporting arms are respectively connected to the edges of the capturing nets, when the supporting arms are unfolded, the capturing nets can be unfolded, and when the travelling mechanism moves towards a target object, the unfolded capturing nets can wrap the target object. The capturing device further comprises a net closing mechanism, the net closing mechanism is connected with the supporting arms and used for driving the second ends of the supporting arms to move towards the center direction of the capturing net, and after the target object falls into the capturing net, the net closing mechanism tightens the opening of the capturing net, so that the target object can be trapped in the tightened capturing net.
The underwater reverse robot provided by the embodiment of the invention comprises the capturing device, wherein the capturing device comprises a travelling mechanism and a capturing mechanism. The capturing mechanism can comprise a plurality of supporting arms, the two ends of the supporting arms are respectively a first end and a second end, and the first ends of the supporting arms are connected with the travelling mechanism. The capturing mechanism comprises a capturing net, and second ends of the plurality of supporting arms are respectively connected to edges of the capturing net. The capturing device further comprises a net closing mechanism, the net closing mechanism is connected with the supporting arms and used for driving the second ends of the supporting arms to move towards the center direction of the capturing net, and after the target object falls into the capturing net, the net closing mechanism tightens the opening of the capturing net, so that the target object can be trapped in the tightened capturing net.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view of a capturing device according to embodiment 1 of the present invention;
fig. 2 is a schematic view of a support arm of the capturing device according to embodiment 1 of the present invention;
fig. 3 is a schematic view of a capturing device according to embodiment 2 of the present invention;
fig. 4 is a schematic view of a capturing device according to embodiment 3 of the present invention.
Icon: 100-a travel mechanism; 200-supporting arms; 210-torsion springs; 300-capturing net; 410-closing up the rope; 420-a wire winding mechanism; 500-control switch; 610-a drive unit; 620-image acquisition device.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that, if terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like are used, the indicated azimuth or positional relationship is based on the azimuth or positional relationship shown in the drawings, only for convenience of description and simplification of the description, and does not indicate or imply that the apparatus or element to be referred must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like, as used herein, are used for descriptive purposes only and are not to be construed as indicating or implying any relative importance.
The invention provides a capturing device, and a plurality of embodiments are given below to describe the structure of the capturing device in detail.
Example 1
As shown in fig. 1-2, the capturing device provided by the embodiment of the invention comprises a travelling mechanism 100 and a capturing mechanism, wherein the capturing mechanism is installed on the travelling mechanism 100, and the travelling mechanism 100 can drive the capturing mechanism to move underwater. The capturing mechanism may include a support arm 200, two ends of the support arm 200 are a first end and a second end, the number of the support arms 200 is plural, and the first ends of the support arms 200 are connected with the travelling mechanism 100. The capturing mechanism comprises capturing nets 300, the second ends of the supporting arms 200 are respectively connected to the edges of the capturing nets 300, when the supporting arms 200 are unfolded, the capturing nets 300 can be unfolded, and when the travelling mechanism 100 moves towards a target object, the unfolded capturing nets 300 can wrap the target object. The capturing device further comprises a net closing mechanism, the net closing mechanism is connected with the supporting arms 200 and is used for driving the second ends of the plurality of supporting arms 200 to move towards the center direction of the capturing net 300, and after the target object is sunk into the capturing net 300, the net closing mechanism tightens the opening of the capturing net 300, so that the target object can be trapped in the tightened capturing net 300.
The travelling mechanism 100 can be a small underwater device with a driving propeller, and can realize underwater forward, backward, turning and other movements.
In one embodiment, the first end of the support arm 200 is hinged to the housing structure of the travel mechanism 100, that is, one end of the support arm 200 is rotatable about the travel mechanism 100. The torsion spring 210 is provided at the hinge position, and the elasticity of the torsion spring 210 can fully expand the support arm 200 as shown in fig. 2, and at this time, the torsion spring 210 applies elasticity to the support arm regardless of whether the support arm 200 rotates clockwise or counterclockwise. Specifically, when the target object is not found, the support arm 200 may be folded within the travel mechanism 100, and then when the target object is found, the support arm 200 may be released, and the support arm 200 is unfolded due to the elastic force, so that the capturing net 300 at the second end is unfolded to be ready for capturing. The support arm 200 can be unfolded more quickly by adopting the scheme of hinging and adding the torsion spring 210, and is connected with the machine completely, so that the stability is high, and the problem is not easy to occur under water. At the same time, the torsion springs 210 also ensure that the support arm 200 can rotate inwardly when the net closing mechanism tightens the openings of the capture net 300.
The supporting arm 200 may be integrally formed, or may include a plurality of rods hinged in sequence, and a torsion spring 210 is disposed between any two adjacent rods, where the torsion spring 210 between the rods can bend and store the rods together, so as to reduce the space volume, and when the supporting arm 200 is released, the rods are unfolded into a line, so as to realize the unfolding of the capturing net 300. The length of the supporting arm 200 can be increased by a plurality of rods, so that the area of the capturing net 300 can be correspondingly increased, and the folding and storage effects are better.
In one embodiment, the traveling mechanism 100 may include a control switch 500, a linkage assembly and a stop structure sequentially connected, and may receive an indication of a person on shore through a signal receiving module, so as to complete the operation of the control switch 500. The stop structure is used to stop the support arm 200, for example, the stop structure may be a pin, stop the support arm 200, prevent the support arm 200 from being unfolded, and when the control switch 500 receives an opening command, the pin may be pulled away from the original position by the linkage assembly, so as to release the support arm 200. The linkage assembly can be a plurality of mechanical structures such as transmission rods, swing arms and the like which are connected together.
In one embodiment, the closing mechanism may include a closing rope 410 and a wire winding mechanism 420, the wire winding mechanism 420 may be fixed on one of the plurality of support arms 200, a through hole is provided on a second end of the support arm 200, one end of the closing rope 410 is fixed on the second end of the support arm 200 equipped with the wire winding mechanism 420, and the other end sequentially passes through the through holes on the second ends of the other support arms 200 and then is fixed on the wire winding mechanism 420. When the target object enters the capturing net 300, the wire collecting mechanism 420 withdraws the closing rope 410 into the wire collecting mechanism 420, and the second end of the supporting arm 200 gradually gathers towards the middle position along with the reduction of the length of the closing rope 410, so as to close the inlet of the capturing net 300.
In one embodiment, the travelling mechanism 100 may be provided with an image acquisition device 620, such as an underwater camera, which may transmit video images to a display device on land, so as to facilitate the operator to control the travelling mechanism 100 to capture a target object. The lens of the image capturing device 620 may face the capturing mechanism, or a 360-degree full-angle camera may be used. This allows a larger range of images to be acquired. During capturing, the image capturing device 620 is used for searching for the target object, and after the target object is seen to enter the capturing net 300, the operator can control the wire collecting mechanism 420 to close up the capturing net 300.
Example 2
As shown in fig. 3, the traveling mechanism 100 may be different from embodiment 1 in that it includes the same number of receiving grooves as the number of the support arms 200 and one-to-one correspondence, for receiving the support arms 200. The support arm 200 is slidably connected in the accommodating groove, and a spring is arranged between the support arm 200 and the accommodating groove, and the spring is used for ejecting the support arm 200 out of the accommodating groove. In use, after the support arm 200 received in the receiving groove is released, the support arm is sprung out of the receiving groove by the spring force, thereby realizing the opening of the capturing net 300.
The supporting rod can be ejected out of the accommodating groove in a spring mode or a hydraulic cylinder mode.
In this embodiment, the support arm 200 has a certain elasticity, ensuring that the capture net 300 can be tightened.
Example 3
As shown in fig. 4, the traveling mechanism 100 may be different from embodiments 1 and 2 in that the traveling mechanism 100 may include a main body and a driving unit 610, the driving unit 610 is for generating a driving force, the driving unit 610 may be a propeller, and the driving unit 610 is rotatably connected with the main body such that a traveling direction of the catching device is adjustable. When capturing, the driving unit 610 faces the rear of the main body, the capturing mechanism faces the front of the main body, and captures the target object when advancing; when the target object is captured, the driving unit 610 may be oriented toward the capturing mechanism by changing the orientation of the driving unit 610, and the target object may be pulled back on the shore, so that the traveling resistance may be reduced.
The image capturing device 620 is movably connected with the main body, so that the lens orientation of the image capturing device 620 is adjustable, and the orientation of the lens of the image capturing device 620 is adjusted according to the traveling direction.
In summary, the capturing device provided by the embodiment of the invention includes the travelling mechanism 100 and the capturing mechanism, wherein the capturing mechanism is installed on the travelling mechanism 100, and the travelling mechanism 100 can drive the capturing mechanism to move under water. The capturing mechanism may include a support arm 200, where the support arm 200 may be an integral body or may be a plurality of rod members hinged, two ends of the support arm 200 are a first end and a second end, the number of the support arm 200 is a plurality of, and the first ends of the support arm 200 are connected with the travelling mechanism 100, which may be hinged or may be a sliding connection. The capturing mechanism comprises capturing nets 300, the second ends of the supporting arms 200 are respectively connected to the edges of the capturing nets 300, when the supporting arms 200 are unfolded, the capturing nets 300 can be unfolded, and when the travelling mechanism 100 moves towards a target object, the unfolded capturing nets 300 can wrap the target object. The capturing device further comprises a net closing mechanism, the net closing mechanism is connected with the supporting arms 200 and is used for driving the second ends of the plurality of supporting arms 200 to move towards the center direction of the capturing net 300, and after the target object is sunk into the capturing net 300, the net closing mechanism tightens the opening of the capturing net 300, so that the target object can be trapped in the tightened capturing net 300.
The underwater reverse robot provided by the embodiment of the invention comprises the capturing device, wherein the capturing device comprises a traveling mechanism 100 and a capturing mechanism. The capturing mechanism may include a support arm 200, two ends of the support arm 200 are a first end and a second end, the number of the support arms 200 is plural, and the first end of the support arm 200 is connected with the traveling mechanism 100. The capturing mechanism comprises a capturing net 300, and second ends of the plurality of supporting arms 200 are respectively connected to edges of the capturing net 300. The capturing device further comprises a net closing mechanism, the net closing mechanism is connected with the supporting arms 200 and is used for driving the second ends of the supporting arms 200 to move towards the center direction of the capturing net 300, and after the target object falls into the capturing net 300, the net closing mechanism tightens the opening of the capturing net 300, so that the target object can be trapped in the tightened capturing net 300.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (6)
1. A capture device, comprising: the capturing mechanism is arranged on the travelling mechanism, so that the travelling mechanism drives the capturing mechanism to move underwater;
the capturing mechanism comprises a supporting arm, the supporting arm comprises a first end and a second end which are oppositely arranged, the number of the supporting arms is multiple, and the first ends of the supporting arms are connected with the travelling mechanism;
the capturing mechanism comprises capturing nets, and second ends of the plurality of supporting arms are respectively connected to edges of the capturing nets so that the capturing nets are spread;
the capturing device comprises a net closing mechanism which is connected with the supporting arms and used for driving the second ends of the supporting arms to move towards the center direction of the capturing net so as to capture a target object in the capturing net;
the first end of the supporting arm is hinged with the travelling mechanism, and a torsion spring is arranged at the hinged position and used for driving the supporting arm to move so that the second end of the supporting arm moves in a direction away from the travelling mechanism;
the support arm comprises a plurality of rod pieces which are sequentially hinged, and a torsion spring is arranged between any two adjacent rod pieces and is used for driving the rod pieces to be unfolded;
the travelling mechanism comprises a control switch, a linkage assembly and a stop structure which are sequentially connected, and the stop structure is used for stopping the supporting arm and preventing the second end of the supporting arm from moving in a direction away from the travelling mechanism; the control switch controls the stop structure to be opened through the linkage assembly so that the second end of the supporting arm is unfolded in a direction away from the travelling mechanism;
the net closing mechanism comprises a closing rope and a wire winding mechanism, the wire winding mechanism is fixed on a supporting arm, a through hole is formed in the second end of the supporting arm, one end of the closing rope is fixed at the second end of the supporting arm provided with the wire winding mechanism, and the other end of the closing rope sequentially penetrates through the through holes in the second ends of the other supporting arms and then is fixed on the wire winding mechanism.
2. The capturing mechanism of claim 1, wherein the travel mechanism comprises a number of receiving slots equal to and in one-to-one correspondence with the number of support arms; the support arm sliding connection is in the holding tank, just the support arm with be provided with the spring between the holding tank, the spring is used for with the support arm pops out the holding tank.
3. The capturing device according to claim 1, wherein an image capturing device is provided on the traveling mechanism, and a lens of the image capturing device faces the capturing mechanism.
4. A catching device as claimed in claim 3 wherein the travelling mechanism comprises a main body and a drive unit for generating a drive force to move the main body; the driving unit is rotatably connected with the main body so that the advancing direction of the capturing device can be adjusted.
5. The capture device of claim 4, wherein the image capture device is movably coupled to the body such that a lens orientation of the image capture device is adjustable.
6. An underwater reverse robot comprising a capture device as claimed in any one of claims 1 to 5.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810133671.3A CN108238223B (en) | 2018-02-08 | 2018-02-08 | Capturing device and underwater reverse robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810133671.3A CN108238223B (en) | 2018-02-08 | 2018-02-08 | Capturing device and underwater reverse robot |
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| CN108238223A CN108238223A (en) | 2018-07-03 |
| CN108238223B true CN108238223B (en) | 2023-11-03 |
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| CN201810133671.3A Active CN108238223B (en) | 2018-02-08 | 2018-02-08 | Capturing device and underwater reverse robot |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109807905B (en) * | 2019-01-18 | 2020-10-30 | 哈尔滨工业大学 | Flexible rapid-unfolding mesh-shaped robot |
| CN111003125B (en) * | 2019-12-31 | 2020-10-27 | 中国人民武装警察部队海警学院 | Intelligent grabbing device for underwater moving target |
| CN111017166B (en) * | 2019-12-31 | 2021-02-19 | 中国人民武装警察部队海警学院 | Intelligent underwater net grabbing device |
| CN112849373A (en) * | 2021-04-01 | 2021-05-28 | 广东海洋大学 | Underwater small-space grabbing robot |
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| CN108238223A (en) | 2018-07-03 |
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