CN108839007A - A kind of intelligence fishing machinery arm - Google Patents
A kind of intelligence fishing machinery arm Download PDFInfo
- Publication number
- CN108839007A CN108839007A CN201810720512.3A CN201810720512A CN108839007A CN 108839007 A CN108839007 A CN 108839007A CN 201810720512 A CN201810720512 A CN 201810720512A CN 108839007 A CN108839007 A CN 108839007A
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- China
- Prior art keywords
- servo motor
- dredger
- flange
- screw
- ball
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 9
- 238000012913 prioritisation Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 2
- 241000257465 Echinoidea Species 0.000 description 1
- 241000251511 Holothuroidea Species 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009364 mariculture Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
- B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement
-
- 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
- A01K77/00—Landing-nets for fishing; Landing-spoons for fishing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/048—Pendulum type
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
Landscapes
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Environmental Sciences (AREA)
- Marine Sciences & Fisheries (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a kind of intelligent fishing machinery arms, including dredger, servo motor I, dredger strut, connecting rod, partial gear, driving gear, servo motor II, ball-screw, servo motor III, flange and guide rail；The axis of servo motor III and the connection axis connection of ball-screw；Flange is threadedly coupled with ball-screw, and the bottom end of flange is slidably connected in guide rail；The right end of dredger strut and the left end bottom surface of flange are rotatablely connected；Servo motor II is fixedly connected with the left end top surface of flange；The axis connection of driving gear and servo motor II；The rotation connection of the left end bottom surface of partial gear and flange, partial gear are engaged with driving gear；The both ends of connecting rod are side walls hinged with partial gear and dredger strut respectively；The fixing end of servo motor I is fixedly connected with the left side of dredger strut；The connecting pin of dredger passes through the axis connection of key and servo motor I.The present invention realizes the function of quickly catching, and intelligence degree is high, and manpower and time cost is greatly saved.
Description
Technical field
The present invention relates to robot field more particularly to a kind of intelligent fishing machinery arms.
Background technique
With the rapid expansion of Robot industry, applicable field is also more and more wider, recently as ocean development and
The swift and violent expansion of mariculture, the demand of marine product fishing operation also sharply increase, however the fishing of many seabed resources is several
It fully relies on diver and carries out underwater operation, long-time diving operation has huge injury to the body of diver, therefore, extremely
Need simple and practical mechanization equipment.
Application No. is a kind of seabed catching devices with swivel base described in CN201420408417.7 patent, although its
Have through mechanical rotation and the flexible ability for realizing fishing seabed article all around, is particularly suitable for that there is stronger ocean current to make
It works in environment under, has the ability for quickly catching the seabeds such as sea cucumber, sea urchin article under complex environment, but it is caught
Narrow scope, fishing angle is unadjustable, and catching rate is low, and intelligent level is not high.
Summary of the invention
The technical problem to be solved by the present invention is to for involved defect in background technique, provide a kind of intelligence to catch
Fish out mechanical arm.
The present invention uses following technical scheme to solve above-mentioned technical problem：
A kind of intelligence fishing machinery arm, including dredger, servo motor I, dredger strut, connecting rod, partial gear, active
Gear, servo motor II, ball-screw, servo motor III, flange and guide rail；
The axis of the servo motor III is connect with the connecting shaft of the ball-screw by shaft coupling；
The flange is threadedly coupled with ball-screw, and the bottom end of flange is slidably connected in the guide rail, and guide rail is set to rolling
The lower section of ballscrew；
The right end of the dredger strut is rotatablely connected by the left end bottom surface of hinge and flange；
The servo motor II is fixedly connected with the left end top surface of flange, and the axis of servo motor II is downward and on flange
Axis hole；
The driving gear passes through the axis connection of key and servo motor II；
The partial gear is rotatablely connected by the left end bottom surface of plane bearing and flange, partial gear and driving tooth
Wheel engagement；
The both ends of the connecting rod are side walls hinged with partial gear and dredger strut respectively；
The fixing end of the servo motor I is fixedly connected with the left side of dredger strut；
The connecting pin of the dredger passes through the axis connection of key and servo motor I.
As a kind of intelligent further prioritization scheme of fishing machinery arm of the present invention, the servo motor III, guide rail
Bottom end is fixedly connected with L-type seat, and the both ends of the ball-screw are fixedly connected by leading screw bearing with the top end face of L-type seat.
As a kind of further prioritization scheme of intelligent fishing machinery arm of the present invention, if the side of the L-type seat is equipped with
Dry tapped through hole.
As a kind of further prioritization scheme of intelligent fishing machinery arm of the present invention, the flange is L-type structure, flange
Bottom end be equipped with boss slider, top be equipped with several rectangular channels.
As a kind of further prioritization scheme of intelligent fishing machinery arm of the present invention, the dredger includes dictyosome, annulus
Bracket and rectangular connecting block, the top of the dictyosome are socketed on the circle ring rack, the rectangular connecting block and circle ring rack
Welding, rectangular connecting block are equipped with keyway, and the axis of servo motor I is matched by key with the keyway.
As a kind of further prioritization scheme of intelligent fishing machinery arm of the present invention, the partial gear is oval knot
Structure, wherein incomplete tooth is set to major diameter side, connecting rod is hinged on path side.
The invention adopts the above technical scheme compared with prior art, has the following technical effects：
1. realizing the function of quickly catching, intelligence degree is high, and human cost and time cost is greatly saved, passes through
It is mobile that ball-screw drives flange, and then dredger is moved to specified position, then real by gear drive and link motion
Existing dredger movement；
2. structure is simple, easy installation and reliable, whole device is spliced using sub-module, is readily transported, dismounts and repair；
3. structure is more reasonable, weight losing method is used, several rectangular channels is equipped on the top of flange and is used for alleviator
Weight；
4. can realize that multi-angle is caught, the fishing angle of dredger is adjusted by servo motor I, substantially increases catching rate
With expand fishing range.
Detailed description of the invention
Fig. 1 is a kind of main view of intelligent fishing machinery arm of the invention；
Fig. 2 is servo motor II to the drive mechanism schematic diagram between dredger strut；
Fig. 3 is the structural schematic diagram of flange；
Fig. 4 is the structural schematic diagram of L-type seat；
Fig. 5 is the structural schematic diagram of dredger；
Wherein, 1- dredger, 2- servo motor I, 3- dredger strut, 4- connecting rod, 5- partial gear, 6- driving gear, 7-
Servo motor II, 8- ball-screw, 9- servo motor III, 10- flange, 11- guide rail, 12-L type seat, 13- tapped through hole, 14-
Boss slider, 15- rectangular channel, 16- dictyosome, 17- circle ring rack, 18- rectangular connecting block, 19- keyway, 20- plane bearing.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing：
As shown in Fig. 1 to 5, a kind of intelligence fishing machinery arm, including dredger 1, servo motor I 2, dredger strut 3, connecting rod
4, partial gear 5, driving gear 6, servo motor II 7, ball-screw 8, servo motor III 9, flange 10 and guide rail 11；It is described
The axis of servo motor III 9 is connect with the connecting shaft of the ball-screw 8 by shaft coupling；The flange 10 and 8 spiral shell of ball-screw
Line connection, the bottom end of flange 10 are slidably connected in the guide rail 11, and guide rail 11 is set to the lower section of ball-screw 8；The dredger
The right end of strut 3 is rotatablely connected by the left end bottom surface of hinge and flange 10；The left end of the servo motor II 7 and flange 10
Top surface is fixedly connected, the axis of servo motor II 7 downward and pass through flange 10 on axis hole；The driving gear 6 passes through key and watches
Take the axis connection of motor II 7；The partial gear 5 is rotatablely connected by the left end bottom surface of plane bearing 20 and flange 10, no
Complete gear 5 is engaged with driving gear 6；It is cut with scissors respectively with the side wall of partial gear 5 and dredger strut 3 at the both ends of the connecting rod 4
It connects；The fixing end of the servo motor I 2 is fixedly connected with the left side of dredger strut 3；The connecting pin of the dredger 1 passes through key
With the axis connection of servo motor I 2.Servo motor I 2, servo motor II 7, servo motor III 9 pass through with embedded controller respectively
Connection.The present invention realizes the function of quickly catching, and intelligence degree is high, be greatly saved human cost and time at
This, drives flange 10 mobile, and then dredger 1 is moved to specified position by ball-screw 8, then by gear drive and
Dredger movement is realized in link motion；Structure is simple, easy installation and reliable, and whole device is spliced using sub-module, is readily transported,
Dismounting and maintenance.
The servo motor III 9, guide rail 11 bottom end be fixedly connected with L-type seat 12, the both ends of the ball-screw 8 pass through
Leading screw bearing is fixedly connected with the top end face of L-type seat 12.The L-type seat 12 is for carrying entire intelligent fishing machinery arm, knot
Structure is simple and connection is reliable.
The side of the L-type seat 12 is equipped with several tapped through holes 13.The tapped through hole 13 is for L-type seat 12 to be mounted on
On robot body
The flange 10 is L-type structure, and the bottom end of flange 10 is equipped with boss slider 14, top is equipped with several rectangular channels 15.
For the boss slider 14 for being slidably connected at guide rail 11, the rectangular channel 15 can mitigate the weight of whole device significantly.
The dredger 1 includes dictyosome 16, circle ring rack 17 and rectangular connecting block 18, and the top of the dictyosome 16 is socketed in institute
It states on circle ring rack 17, the rectangular connecting block 18 is welded with circle ring rack 17, and rectangular connecting block 18 is equipped with keyway 19, servo
The axis of motor I 2 is matched by key with the keyway 19.The dredger 1 passes through dictyosome 16, circle ring rack 17 and rectangular connecting block
18 assemble, and structure is simple, easy installation and reliable.
The partial gear 5 is oval structure, wherein incomplete tooth is set to major diameter side, connecting rod 4 is hinged on path side.
The partial gear 5, which is set as oval structure, can be achieved at the same time the function of gear and rocking bar.
Based on above-mentioned, the present invention realizes the function of quickly catching, and intelligence degree is high, be greatly saved human cost and
It is mobile to drive flange 10 by ball-screw 8, and then dredger 1 is moved to specified position for time cost, then passes through gear
Dredger movement is realized in transmission and link motion；Structure is simple, easy installation and reliable, and whole device is spliced using sub-module, just
In transport, dismounting and maintenance；Structure is more reasonable, uses weight losing method, is equipped with several rectangular channels 15 on the top of flange 10
Weight for alleviator；Multi-angle fishing can be achieved, the fishing angle of dredger 1 is adjusted by servo motor I 2, is mentioned significantly
High catching rate and expand fishing range.
The course of work of the invention is as follows：
1) start servo motor III 9, drive flange 10 to move forward by ball-screw 8, and then dredger strut 3 is by dredger
1 is moved to specified position, closes servo motor III 9；
2) dredger 1 is turned to specified angle by starting servo motor I 2, closes servo motor I 2；
3) start servo motor II 7, link motion is driven by gear drive, and then the rotation of dredger strut 3 is driven to realize
Dredger movement；
4) after the completion of dredger movement, servo motor I 2 resets, and makes the mouth of dredger upward, and servo motor II 7 resets；
5) servo motor III 9 resets, and dredger 1 is moved to initial position, that is, completes whole work process.
Those skilled in the art can understand that unless otherwise defined, all terms used herein (including skill
Art term and scientific term) there is meaning identical with the general understanding of those of ordinary skill in fields of the present invention.Also
It should be understood that those terms such as defined in the general dictionary should be understood that have in the context of the prior art
The consistent meaning of meaning will not be explained in an idealized or overly formal meaning and unless defined as here.
Above-described specific embodiment has carried out further the purpose of the present invention, technical scheme and beneficial effects
It is described in detail, it should be understood that being not limited to this hair the foregoing is merely a specific embodiment of the invention
Bright, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (6)
1. a kind of intelligence fishing machinery arm, which is characterized in that including dredger (1), servo motor I (2), dredger strut (3), connect
Bar (4), partial gear (5), driving gear (6), servo motor II (7), ball-screw (8), servo motor III (9), flange
(10) and guide rail (11)；
The axis of the servo motor III (9) is connect with the connecting shaft of the ball-screw (8) by shaft coupling；
The flange (10) is threadedly coupled with ball-screw (8), and the bottom end of flange (10) is slidably connected in the guide rail (11),
Guide rail (11) is set to the lower section of ball-screw (8)；
The right end of the dredger strut (3) is rotatablely connected by the left end bottom surface of hinge and flange (10)；The servo motor II
(7) be fixedly connected with the left end top surface of flange (10), the axis of servo motor II (7) downward and pass through flange (10) on axis hole；
The driving gear (6) passes through the axis connection of key and servo motor II (7)；
The partial gear (5) is rotatablely connected by the left end bottom surface of plane bearing (20) and flange (10), partial gear
(5) it is engaged with driving gear (6)；
The both ends of the connecting rod (4) are side walls hinged with partial gear (5) and dredger strut (3) respectively；
The fixing end of the servo motor I (2) is fixedly connected with the left side of dredger strut (3)；
The connecting pin of the dredger (1) passes through the axis connection of key and servo motor I (2).
2. intelligence fishing machinery arm according to claim 1, which is characterized in that the servo motor III (9), guide rail
(11) bottom end is fixedly connected with L-type seat (12), and the both ends of the ball-screw (8) pass through leading screw bearing and L-type seat (12)
Top end face is fixedly connected.
3. intelligence fishing machinery arm according to claim 2, which is characterized in that the side of the L-type seat (12) is equipped with
Several tapped through holes (13).
4. intelligence fishing machinery arm according to claim 1, which is characterized in that the flange (10) is L-type structure, method
The bottom end of blue (10) is equipped with boss slider (14), top is equipped with several rectangular channels (15).
5. intelligence fishing machinery arm according to claim 1, which is characterized in that the dredger (1) include dictyosome (16),
The top of circle ring rack (17) and rectangular connecting block (18), the dictyosome (16) is socketed on the circle ring rack (17), described
Rectangular connecting block (18) and circle ring rack (17) are welded, and rectangular connecting block (18) is equipped with keyway (19), servo motor I (2)
Axis is matched by key with the keyway (19).
6. intelligence fishing machinery arm according to claim 1, which is characterized in that the partial gear (5) is ellipse
Structure, wherein incomplete tooth is set to major diameter side, connecting rod (4) is hinged on path side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810720512.3A CN108839007A (en) | 2018-07-02 | 2018-07-02 | A kind of intelligence fishing machinery arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810720512.3A CN108839007A (en) | 2018-07-02 | 2018-07-02 | A kind of intelligence fishing machinery arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108839007A true CN108839007A (en) | 2018-11-20 |
Family
ID=64200514
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810720512.3A Withdrawn CN108839007A (en) | 2018-07-02 | 2018-07-02 | A kind of intelligence fishing machinery arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108839007A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6490884A (en) * | 1987-09-30 | 1989-04-07 | Honda Motor Co Ltd | Door opening/closing method and device for automobile |
| CN2734438Y (en) * | 2004-08-26 | 2005-10-19 | 龙超祥 | Perforated manipulator for plastic rubber fuel oil tank |
| CN103895035A (en) * | 2014-03-28 | 2014-07-02 | 哈尔滨工程大学 | Folding type probing mechanical arm based on triangular configured connecting rod transmission |
| CN206690084U (en) * | 2017-03-28 | 2017-12-01 | 昆明理工大学 | A kind of multi-degree-of-freemechanical mechanical arm of double-manipulator |
| CN107598000A (en) * | 2017-10-13 | 2018-01-19 | 广东海洋大学 | A kind of punching press loading and unloading manipulator |
-
2018
- 2018-07-02 CN CN201810720512.3A patent/CN108839007A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6490884A (en) * | 1987-09-30 | 1989-04-07 | Honda Motor Co Ltd | Door opening/closing method and device for automobile |
| CN2734438Y (en) * | 2004-08-26 | 2005-10-19 | 龙超祥 | Perforated manipulator for plastic rubber fuel oil tank |
| CN103895035A (en) * | 2014-03-28 | 2014-07-02 | 哈尔滨工程大学 | Folding type probing mechanical arm based on triangular configured connecting rod transmission |
| CN206690084U (en) * | 2017-03-28 | 2017-12-01 | 昆明理工大学 | A kind of multi-degree-of-freemechanical mechanical arm of double-manipulator |
| CN107598000A (en) * | 2017-10-13 | 2018-01-19 | 广东海洋大学 | A kind of punching press loading and unloading manipulator |
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| PB01 | Publication | ||
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| SE01 | Entry into force of request for substantive examination | ||
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20181120 |
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| WW01 | Invention patent application withdrawn after publication |