CN109699554A - A kind of complete intelligent fish pond feeds intake all-in-one machine execution manipulator - Google Patents
A kind of complete intelligent fish pond feeds intake all-in-one machine execution manipulator Download PDFInfo
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- CN109699554A CN109699554A CN201910094438.3A CN201910094438A CN109699554A CN 109699554 A CN109699554 A CN 109699554A CN 201910094438 A CN201910094438 A CN 201910094438A CN 109699554 A CN109699554 A CN 109699554A
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- 241000251468 Actinopterygii Species 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 52
- 235000021050 feed intake Nutrition 0.000 claims abstract description 44
- 239000000463 material Substances 0.000 claims description 28
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 24
- 230000007704 transition Effects 0.000 claims description 14
- 230000006835 compression Effects 0.000 claims description 8
- 238000007906 compression Methods 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 claims description 8
- 238000003860 storage Methods 0.000 claims description 8
- 230000005611 electricity Effects 0.000 claims description 2
- 238000004804 winding Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 description 12
- 241001465754 Metazoa Species 0.000 description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 5
- 241000196324 Embryophyta Species 0.000 description 4
- 230000006872 improvement Effects 0.000 description 4
- 238000009360 aquaculture Methods 0.000 description 3
- 244000144974 aquaculture Species 0.000 description 3
- 238000013016 damping Methods 0.000 description 3
- 239000013505 freshwater Substances 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 239000003643 water by type Substances 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 235000013305 food Nutrition 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 241000143060 Americamysis bahia Species 0.000 description 1
- 241001474374 Blennius Species 0.000 description 1
- 241000252185 Cobitidae Species 0.000 description 1
- 241001208462 Ophisternon bengalense Species 0.000 description 1
- 235000021120 animal protein Nutrition 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 238000003889 chemical engineering Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 208000037805 labour Diseases 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 239000002994 raw material Substances 0.000 description 1
- 235000015170 shellfish Nutrition 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Landscapes
- Farming Of Fish And Shellfish (AREA)
- Mechanical Means For Catching Fish (AREA)
- Feeding And Watering For Cattle Raising And Animal Husbandry (AREA)
Abstract
It feeds intake all-in-one machine execution manipulator, including 3-freedom parallel mechanism and charging device the present invention relates to a kind of complete intelligent fish pond；The 3-freedom parallel mechanism is located at immediately below charging device, and 3-freedom parallel mechanism upper end is connected with charging device.The present invention has the function of that orientation angles are adjusted 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 fastly for rate of feeding, solves the problems such as big existing artificial feed intake by ship heavy workload, risk and low efficiency.
Description
The application is application number 2016104716255, on 06 23rd, 2016 applying date, a kind of denomination of invention " full intelligence
Fish pond feed intake all-in-one machine execute manipulator " divisional application.
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 execution machine
Tool hand.
Background technique
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；Waters is wherein developed and utilized, acquisition fishing is with the various aquatic animals and plants for having economic value of artificial breeding 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, has apparent regional and seasonality, and primary product have fresh and alive, variable corruption
And the characteristics of commodity, fishery are an important departments of national economy, protein content abundant provides overall consumption for the world
The 6%, the 24% of animal protein consumption figure of amount, can also provide fertilizer for agricultural, provide concentrated feed for animal husbandry,
Important source material is provided for food, medicine, chemical engineering industry., there are vast continental shelf and beach in the coastline of more than 18000 kilometers of China
It applies, there is 200,000 square kilometres of freshwater, 1000 diversified economies are worth higher aquatic products animals and plants, and 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, need 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 risk often, although having a small amount of automatic feeder now, exist more the water surface walking flexibility it 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 execution manipulator.
Summary of the invention
In order to make up for the deficiencies of the prior art, the present invention provides a kind of complete intelligent fish pond all-in-one machines that feeds intake to execute machinery
Hand.
The present invention to be solved the used following technical scheme of its technical problem to realize.
A kind of complete intelligent fish pond feeds intake all-in-one machine execution manipulator, including 3-freedom parallel mechanism and charging device；
The 3-freedom parallel mechanism is located at immediately below charging device, and 3-freedom parallel mechanism upper end is connected with charging device
It connects.
As a further improvement of the present invention, the 3-freedom parallel mechanism include fixed platform, moving platform, ear mount,
Shaft, electric pushrod, spherical hinge, attachment base and limit spring, and ear mount, shaft, electric pushrod, spherical hinge, attachment base 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 installation center angle between ear mount is 60 degree, and attachment base is located under moving platform
On end face, and ear mount corresponds respectively with attachment base；The electric pushrod bottom end is mounted in ear mount by shaft, electronic
It is attached between push rod top and attachment base by spherical hinge, limit spring is around covering in electric pushrod upper end；When specific works,
The movement of moving platform can be driven by pumping for electric pushrod, and freedom degree parallel connection is reduced by limit spring
Jitter when mechanism kinematic increases the stationarity of 3-freedom parallel mechanism movement, 3-freedom parallel mechanism and cascade machine
Structure is big compared to rigidity, and flexibly, stable structure, bearing capacity is strong and fine motion precision is high, and 3-freedom parallel mechanism uses 3- for movement
The form of the parallel institution of RPS, 3-freedom parallel mechanism is applied in the present invention, is on the one hand played and is thrown charging device
The effect that entirety orientation angles are adjusted when material, so that the present invention may be under various attitude angles progress that can be comprehensive
Feed intake operation, 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 of the invention
Damping performance, even at jolt or nonequilibrium condition under when, charging device is in horizontal steady state always, prevents from feeding intake
Device feed intake operation when the problem of can not being carried out because of jitter or the excessive operation that causes to feed intake of obliquity, further improve this
Invent the stability and safety when feeding intake operation.
As a further improvement of 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 bracket that feeds intake, the second shaft, shovel material
Bracket, the scraper bowl that feeds intake, power mechanism, 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 bracket one end, and the bracket that feeds intake is in
Ladder configuration is climbed, spaced set has cross bar on the inside of the bracket that feeds intake, and shovel material bracket uses the rectangular box structure of hydraulic telescopic type,
The scraper bowl that feeds intake is fixed on the shovel material bracket other end, and the fan-shaped structure of cross section transverse for the scraper bowl that feeds intake, and power mechanism, which is located at, to feed intake
Below bracket, the first compressed spring, which is located at, to feed intake between pedestal and the bracket 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 bracket that feeds intake, and the first compressed spring lower end is provided with the first attachment base, 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 bracket that feeds intake, and the second compressed spring lower end is provided with the second connection
Seat, the second attachment base, which is fixed on, to feed intake on pedestal upper surface.
As a further improvement of the present invention, the power mechanism includes power shaft, follow-up pulley, wirerope, 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, wirerope, driving pulley, transition axis and rolling bearing units quantity be two；The power shaft is passed through and is fed intake on bracket
End, follow-up pulley are respectively symmetrically fixed on power shaft both ends, and wirerope one end is fixed on follow-up pulley, the wirerope other end
It is wrapped on driving pulley, is connected between transition axis one end and driving pulley using key, 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 motorized rails by mobile motor seat, and electricity
The cross section transverse of dynamic guide rail is in I-shaped structure.
It specifically when feeding intake, is moved diagonally downward by the stretching routine drive of the shovel material bracket scraper bowl that feeds intake first, when feeding intake
When scraper bowl is deep into the bait stored in material storage tube, the scraper bowl that feeds intake is driven to tilt upward fortune by the contractile motion of shovel material bracket
It is dynamic, to realize the function for the scraper bowl charging that feeds intake；Then pass through past medial motion band of the mobile motor seat on motorized rails
The medial movement of dynamic power motor, when being meshed with the coaxial mounted driving gear of power motor output shaft with driven gear,
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, has achieved the effect that shrink wirerope, and wirerope with
Follow-up pulley connection, follow-up pulley are mutually fixed with power shaft, and power shaft, which is fixed on, to feed intake on bracket, thus in wirerope
Under pulling force effect, the bracket 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 mobile, and driving gear and driven gear are in discrete state, in the compression reaction of the first compressed spring and the second compressed spring
Under power effect, the bracket that feeds intake is rotated clockwise by rotary shaft of first rotating shaft rapidly, so that the scraper bowl that feeds intake be driven to throw outward
Out, 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 power effect, the bracket 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, charges simple and quick, rate of feeding is fast, away from
From remote.
Compared with prior art, the invention has the following advantages that
(1) present invention have the function of orientation angles adjust and charge feed intake, it can be achieved that fishery cultivating automatic charging function,
And intelligence degree is high, orientation angles are easy to adjust flexibly, distance is remote fastly for rate of feeding, solves existing artificial feed intake by ship
The problems such as heavy workload, risk is big and low efficiency.
(2) 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 damping performance of the 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 is in horizontal steady state always, prevents charging device from throwing
Expect the problem of can not carrying out when operation because of jitter or the excessive operation that causes to feed intake of obliquity, further improves throwing of the present invention
Expect the stability and safety when operation.
(3) 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.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is schematic perspective view of the invention；
Fig. 2 is the main view of 3-freedom parallel mechanism of the present invention；
Fig. 3 is the schematic perspective view of charging device of the present invention；
Fig. 4 is the schematic perspective view of batch charging mechanism of the present invention.
Specific embodiment
In order to be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, tie below
Conjunction is specifically illustrating, and the present invention is further explained.
As shown in Figures 1 to 4, a kind of complete intelligent fish pond feeds intake all-in-one machine execution manipulator, including freedom degree parallel connection
Mechanism 4 and charging device 5；The 3-freedom parallel mechanism 4 is located at immediately below charging device 5, and three-freedom parallel
4 upper end of structure is connected with charging device 5.
As depicted in figs. 1 and 2, 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, attachment base 47 and limit spring 48, and ear mount 43, shaft 44, electric pushrod 45, flexural pivot
The quantity of chain 46, attachment base 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 above fixed platform 41, ear mount 43 is located on the upper surface of fixed platform 41, and the installation between ear mount 43
Centric angle is 60 degree, and attachment base 47 is located on 42 lower end surface of moving platform, and ear mount 43 corresponds respectively with attachment base 47；Institute
45 bottom end of electric pushrod stated is mounted in ear mount 43 by shaft 44, passes through ball between 45 top of electric pushrod and attachment base 47
Hinge 46 is attached, and limit spring 48 is around covering in 45 upper end of electric pushrod；When specific works, above and below electric pushrod 45
The movement that can drive moving platform 42 is moved back and forth, and is reduced when 3-freedom parallel mechanism 4 moves and is trembled by limit spring 48
Dynamic property, increases the stationarity of the movement of 3-freedom parallel mechanism 4, the rigidity compared with serial mechanism of 3-freedom parallel mechanism 4
Greatly, flexibly, stable structure, bearing capacity is strong and fine motion precision is high, and 3-freedom parallel mechanism 4 uses the parallel connection of 3-RPS for movement
The form of mechanism, 3-freedom parallel mechanism 4 is applied in the present invention, is on the one hand played whole when feeding intake to charging device 5
Body orientation angles adjust effect so that the present invention may be under various attitude angles can be comprehensive carry out the work that feeds intake
Industry, the convenient and efficient and range that feeds intake that feeds intake are wide；On the other hand damping property of the invention is improved by 3-freedom parallel mechanism 4
Can, even at jolt or nonequilibrium condition under when, charging device 5 always be in horizontal steady state, prevent charging device 5
Feed intake operation when the problem of can not being carried out because of jitter or the excessive operation that causes to feed intake of obliquity, further improve the present invention
Feed intake operation when stability and safety.
As shown in Figure 3 and Figure 4, 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
Bracket 523, the second shaft 524, shovel material bracket 525, the scraper bowl 526 that feeds intake, power mechanism 527, the first compressed spring 528 and second
Compressed spring 529；523 lower end of bracket that feeds intake is connected by first rotating shaft 522 with the ear mount 521 that feeds intake, and feed intake bracket
523 upper ends are connected by the second shaft 524 with shovel material 525 one end of bracket, and the bracket 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 bracket 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 bracket, and the fan-shaped structure of cross section transverse for the scraper bowl 526 that feeds intake, power mechanism 527, which is located at, to feed intake
523 lower section of bracket, the first compressed spring 528, which is located at, to feed intake between pedestal 521 and the bracket 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 bracket 523 that feeds intake, the setting of 528 lower end of the first compressed spring
There is the first attachment base, the first attachment base, 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 bracket 523 that feeds intake
On, 529 lower end of the second compressed spring is provided with the second attachment base, and the second attachment base, which is fixed on, to feed intake on 51 upper surface of pedestal.
As shown in Figure 3 and Figure 4, the power mechanism 527 includes power shaft 5271, follow-up pulley 5272, wirerope
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, wirerope 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 bracket that feeds intake, follow-up pulley
5272 are respectively symmetrically fixed on 5271 both ends of power shaft, and 5273 one end of wirerope is fixed on follow-up pulley 5272, wirerope
5273 other ends are wrapped on driving pulley 5274, are connected between 5275 one end of transition axis and driving pulley 5274 using key,
5275 other end of transition axis is equipped with driving gear 5278, passes through rolling bearing units 5276 in the middle part of transition axis 5275 and is fixed on material-feeding platform
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 motorized rails 527b by mobile motor seat 527a, and motorized rails
The cross section transverse of 527b is in I-shaped structure.
As shown in Figure 3 and Figure 4, when specifically feeding intake, the scraper bowl that feeds intake is driven by the stretching routine of shovel material bracket 525 first
526 move diagonally downward, when the scraper bowl 526 that feeds intake is deep into the bait stored in material storage tube 53, pass through the receipts of shovel material bracket 525
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 motor 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, to realize the rotation of driving pulley 5274, has reached the effect for shrinking wirerope 5273
Fruit, and wirerope 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 bracket 523, so that the bracket 523 that feeds intake is under the pulling force effect of wirerope 5273 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
Drive the outside of power motor 5279 mobile by past movement outside of the mobile motor seat 527a on motorized rails 527b, actively
Gear 5278 and driven gear 5277 are in discrete state, in the compression and back of the first compressed spring 528 and the second compressed spring 529
Under multiple power effect, feeding intake bracket 523 rapidly is that rotary shaft rotates clockwise with first rotating shaft 522, to drive the scraper bowl that feeds intake
526 dish out outward, have achieved the effect that feed intake；Finally after bait is launched, in the first compressed spring 528 and the second compression
Under the extension recovery power effect of spring 529, the bracket 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 charges 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 only illustrating for the description in above embodiments and description is of the 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 (1)
1. a kind of complete intelligent fish pond feeds intake, all-in-one machine executes manipulator, including 3-freedom parallel mechanism and charging device；Its
Be characterized in that: the 3-freedom parallel mechanism is located at immediately below charging device, and 3-freedom parallel mechanism upper end and throwing
Material device is connected；Wherein:
The 3-freedom parallel mechanism includes fixed platform, moving platform, ear mount, shaft, electric pushrod, attachment base and limit bullet
Spring, and ear mount, shaft, electric pushrod, attachment base and limit spring quantity be three；The fixed platform and moving platform be in
Round structure, and moving platform is located at right above fixed platform, ear mount is located on the upper surface of fixed platform, and attachment base is located at moving platform
On lower end surface, and ear mount corresponds respectively with attachment base；The electric pushrod bottom end is mounted in ear mount by shaft, electricity
Hinged between dynamic push rod top and attachment base, limit spring is around covering in 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 bracket that feeds intake, the second shaft, shovel material bracket, the scraper bowl that feeds intake, power mechanism, 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 bracket one end, and the bracket that feeds intake is in ladder configuration is climbed, between waiting on the inside of the bracket that feeds intake
Away from cross bar is provided with, shovel material bracket 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 bracket
End, power mechanism are located at below the bracket that feeds intake, and the first compressed spring, which is located at, to feed intake between pedestal and the bracket that feeds intake, and the first compression
Spring upper end is provided with the first rotary column, and the first rotary column is hinged on the cross bar for the bracket that feeds intake, and the first compressed spring lower end is provided with
First attachment base, the first attachment base, 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 second compressed spring upper end be provided with the second rotary column, the second rotary column is hinged on the cross bar for the bracket that feeds intake, the second compressed spring
Lower end is provided with the second attachment base, and the second attachment base, which is fixed on, to feed intake on pedestal upper surface；
The power mechanism includes power shaft, follow-up pulley, wirerope, driving pulley, transition axis, rolling bearing units, driven
Gear, driving gear, power motor, mobile motor seat and motorized rails；The power shaft passes through the pedestal upper end that feeds intake, from
Movable pulley is respectively symmetrically fixed on power shaft both ends, and wirerope one end is fixed on follow-up pulley, the winding of the wirerope other end
On driving pulley, it is connected between transition axis one end and driving pulley using key, the transition axis other end is equipped with driving gear,
It is fixed on and is fed intake on pedestal upper surface by rolling bearing units in the middle part of transition axis, driving gear is fixed on the output shaft of power motor
On, and driving gear is meshed with driven gear, power motor is mounted on motorized rails by mobile motor seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910094438.3A CN109699554B (en) | 2016-06-23 | 2016-06-23 | Full-intelligent execution manipulator for fish pond feeding integrated machine |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610471625.5A CN106035180B (en) | 2016-06-23 | 2016-06-23 | A kind of complete intelligent fish pond feeds intake all-in-one machine execution manipulator |
| CN201910094438.3A CN109699554B (en) | 2016-06-23 | 2016-06-23 | Full-intelligent execution manipulator for fish pond feeding integrated machine |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610471625.5A Division CN106035180B (en) | 2016-06-23 | 2016-06-23 | A kind of complete intelligent fish pond feeds intake all-in-one machine execution manipulator |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109699554A true CN109699554A (en) | 2019-05-03 |
| CN109699554B CN109699554B (en) | 2021-08-17 |
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ID=57165706
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910094438.3A Active CN109699554B (en) | 2016-06-23 | 2016-06-23 | Full-intelligent execution manipulator for fish pond feeding integrated machine |
| CN201610471625.5A Expired - Fee Related CN106035180B (en) | 2016-06-23 | 2016-06-23 | A kind of complete intelligent fish pond feeds intake all-in-one machine execution manipulator |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610471625.5A Expired - Fee Related CN106035180B (en) | 2016-06-23 | 2016-06-23 | A kind of complete intelligent fish pond feeds intake all-in-one machine execution manipulator |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110497390A (en) * | 2019-08-30 | 2019-11-26 | 上海大学 | Restrict spring driving freedom degree parallel connection binocular focusing bionic eye executing agency |
| CN110497389A (en) * | 2019-08-30 | 2019-11-26 | 上海大学 | The freedom degree parallel connection bionic eye executing agency that spring of restricting drives |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107593558B (en) * | 2017-10-10 | 2021-07-06 | 温岭市第二绝缘材料厂 | Ocean fish farm fodder dispensing device |
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| CN110497390A (en) * | 2019-08-30 | 2019-11-26 | 上海大学 | Restrict spring driving freedom degree parallel connection binocular focusing bionic eye executing agency |
| CN110497389A (en) * | 2019-08-30 | 2019-11-26 | 上海大学 | The freedom degree parallel connection bionic eye executing agency that spring of restricting drives |
| CN110497389B (en) * | 2019-08-30 | 2022-06-10 | 上海大学 | Three-degree-of-freedom parallel bionic eye actuating mechanism driven by rope spring |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN106035180B (en) | 2019-05-24 |
| CN109699554B (en) | 2021-08-17 |
| CN106035180A (en) | 2016-10-26 |
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