CN110402901A - A kind of bionical squid living body acquisition equipment and control method - Google Patents
A kind of bionical squid living body acquisition equipment and control method Download PDFInfo
- Publication number
- CN110402901A CN110402901A CN201910039195.3A CN201910039195A CN110402901A CN 110402901 A CN110402901 A CN 110402901A CN 201910039195 A CN201910039195 A CN 201910039195A CN 110402901 A CN110402901 A CN 110402901A
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- tentacle
- seal box
- channel
- living body
- oil
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- 241000238366 Cephalopoda Species 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 10
- 239000003921 oil Substances 0.000 claims description 109
- 238000007789 sealing Methods 0.000 claims description 28
- 208000002925 dental caries Diseases 0.000 claims description 24
- 238000005452 bending Methods 0.000 claims description 9
- 239000004744 fabric Substances 0.000 claims description 7
- 239000000446 fuel Substances 0.000 claims description 5
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 239000010720 hydraulic oil Substances 0.000 claims description 4
- 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 4
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 238000011897 real-time detection Methods 0.000 claims description 3
- 239000000741 silica gel Substances 0.000 claims description 3
- 229910002027 silica gel Inorganic materials 0.000 claims description 3
- 229920001169 thermoplastic Polymers 0.000 claims description 3
- 239000004416 thermosoftening plastic Substances 0.000 claims description 3
- 230000035945 sensitivity Effects 0.000 abstract description 3
- 239000007779 soft material Substances 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 230000006978 adaptation Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 241000894007 species Species 0.000 description 1
Classifications
-
- 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
- A01K79/00—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery
-
- 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
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Marine Sciences & Fisheries (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Investigating Or Analysing Materials By Optical Means (AREA)
Abstract
The invention discloses a kind of bionical squid living body acquisition equipment and control method, the acquisition equipment includes the elastic soft tentacle for storing the seal box of deep-sea living body, being fixed on the seal box channel of seal box front end and be arranged on seal box channel.The present invention is the completely new deep-sea living body acquisition equipment gone out based on the Structural Feature Design due to tentacle; since capture tentacle is made of elastic soft material; when being captured to living body; target object will not be damaged; and by the way that four elastic soft tentacles are arranged on seal box channel; cavity there are three being set in each elastic soft tentacle; tentacle can be bent in all directions; it can be achieved the grasping movement of three-dimensional space, the sensitivity of entire acquisition equipment catches and grabs that precision, to arrest efficiency very high.
Description
Technical field
The present invention relates to bionic technical field of structures, more particularly to a kind of bionical squid deep-sea acquisition equipment and control
Method processed.
Background technique
Squid is by adaptation in 50,000,000 years, evolution, develops, this very long natural selection makes the certain of squid
Position wonderful workmanship excelling nature, biological nature tend to be perfect, have design feature, flexible kinetic characteristic and sea most reasonable, optimize
Fabulous adaptability under foreign complex environment, learns to nature, and using bionics principle, design, development of new catch grapple tool
It is one of the field that fast development is also the most important thing in recent years.Squid tentacle has high flexibility and high sensitivity, by it
Excellent tentacle structure, squid tend to quickly to grab action flexibly, overweight itself tens times of quality of being.Marine resources
It is one of natural resources, be richly stored with the resource used for the mankind in wide ocean, and catching for ocean being has been grabbed
Conducive to the analysis to ocean complex environment, to promote the mankind to the development and utilization of marine resources.Existing fish-catching apparatus structure compared with
For complexity, and deep-sea Species of Rare Fish from Qingdao can be damaged in acquisition procedure.
Summary of the invention
The purpose of the present invention is overcome the deficiencies in the prior art, a kind of bionical squid living body acquisition equipment and control are designed
Method.
In order to achieve the above objectives, the technical scheme adopted by the invention is that:
A kind of bionical squid living body acquisition equipment, including seal box, seal box channel and elastic soft tentacle；
The seal box channel is fixed on the front end of seal box, and seal box channel is equipped with taper fenestral fabric, taper grid
One end of shape structure is fixed in the front inner wall in seal box channel, the other end is located in the cavity in seal box channel；
It is fixed with infrared camera on the outside of the seal box channel, is set in seal box channel there are four running through along its length
The channel oil circuit of its conduit wall, four channel oil circuits are symmetrical arranged, and a software bullet is correspondingly arranged on each channel oil circuit
Property tentacle,
Each elastic soft tentacle is made of tentacle main body and tentacle collet；The tentacle main body is fixed on by seal assembly
The front end in seal box channel, tentacle main body are internally provided with the tentacle oil circuit being connected with the channel oil circuit；The tentacle
Collet is fixed on the end of tentacle main body, is fixed with pressure sensor and flow sensor on tentacle collet.
Preferably, further include hydraulic system and change the bending of elastic soft tentacle to control hydraulic system
Direction is to capture the microcontroller of living body, the hydraulic system and microcontroller are arranged on the bank or on ship；
The oil outlet of the hydraulic system is connected by oil pipe with the channel oil circuit in seal box channel；
The microcontroller is connect by cable with hydraulic system, infrared camera, pressure sensor and flow sensor.
Preferably, the channel oil circuit and tentacle oil circuit are along the circumferential direction uniformly and symmetrically distributed by three etc. big
Cavity constitute, each cavity in the oil circuit of channel is connected to cavity corresponding in tentacle oil circuit, every in the oil circuit of channel
A cavity has been correspondingly connected with an oil pipe, and a throttle valve is equipped on every oil pipe.
Preferably, three cavitys in the tentacle oil circuit run through the whole length direction of tentacle main body, and cross
In the forward end apex of tentacle collet.
Preferably, silica gel can be selected in the elastic soft tentacle, thermoplastic elastic body material is made.
Preferably, the seal assembly includes sealing upper connector and seals lower connector, is connected in the sealing
Part is threadedly coupled with lower connector is sealed.
Preferably, the body top for sealing upper connector, which is equipped with, is divided into three equal big skies for its internal chamber
First isolated part of chamber, the lower inner wall of body are equipped with internal screw thread；
The external wall of upper portion of connector is equipped with external screw thread under the sealing and its internal chamber is divided into three etc. by internal be equipped with
Second isolated part of big cavity.
Preferably, the seal box includes seal case and seal box end cap, and the seal box end cap passes through rotation
Pair is connected to the one end of seal case, and the other end of seal case is equipped with sealing bayonet slot ring, and seal box channel buckle is fixed
In sealing bayonet slot ring.
A kind of control method of bionical squid living body acquisition equipment, specifically includes the following steps:
Step 1, infrared camera is acquired image data, flow sensor transmit its collected water volume flow rate respectively
To microcontroller, microcontroller, which handles the data received and controls the oil pressure pump in hydraulic system, starts fuel feeding, oil
Press pump injects the hydraulic oil of equivalent into the different cavitys inside each channel oil circuit by oil pipe, to make four elastic soft touchings
Hand is in the identical straight configuration of deformation quantity, prepares for next step grasping movement；
Step 2, start grasping movement: microcontroller adjusts the orifice size of throttle valve on each oil pipe, flows into each channel to adjust
Oil mass in the different cavitys of oil circuit makes each software to adjust the oil pressure inputted in three cavitys of each elastic soft tentacle
Oil pressure difference between three cavitys of elastic tentacle reaches setting value, and the bending of each elastic soft tentacle is gradually spread to from front end
Tail end；
Pressure sensor difference its tentacle collet of real-time detection and deep-sea living body during crawl, on each elastic soft tentacle
Between pressure, and the pressure signal that will test is transferred to microcontroller, and microcontroller carries out logic to the signal received
Judgement, when pressure reaches given threshold, microcontroller controls hydraulic system between three cavitys of each elastic soft tentacle
Input oil pressure it is constant, deep-sea living body is sent into seal box channel by the cooperation of four elastic soft tentacles, to be stored in seal box
It is interior, complete the crawl work of deep-sea living body.
Positive beneficial effect of the invention: the present invention is that the completely new deep-sea gone out based on the Structural Feature Design due to tentacle is lived
Body acquisition equipment, will not be to target object when capturing to living body since capture tentacle is made of elastic soft material
It damages, and there are three setting by the way that four elastic soft tentacles are arranged on seal box channel, in each elastic soft tentacle
Cavity, tentacle can be bent the grasping movement, it can be achieved that three-dimensional space in all directions, the sensitivity of entire acquisition equipment,
It catches and grabs that precision, to arrest efficiency very high.And acquisition equipment of the invention can be used for capturing the living body of various shapes, volume, quality, answer
With extensive, mode of operation is very convenient.
Detailed description of the invention
In order to become apparent to illustrate the embodiment of the present invention or technical solution in the prior art, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of the bionical squid living body acquisition equipment of the present invention.
Fig. 2 is the structural schematic diagram of elastic soft tentacle.
Fig. 3 is the schematic perspective view in seal box channel.
Fig. 4 is the positive structure diagram in seal box channel.
Fig. 5 is the schematic perspective view of seal box.
Fig. 6 is the structural schematic diagram of sealed platform cover.
Fig. 7 is the structural schematic diagram for sealing upper connector.
Fig. 8 is the structural schematic diagram for sealing lower connector.
Fig. 9 is the connection figure of bionical squid living body acquisition equipment and hydraulic system and microcontroller.
The concrete meaning of figure label are as follows: 1 is seal box, and 2 be seal box channel, and 3 be elastic soft tentacle, and 4 be sealing
Cabinet, 5 be seal box end cap, 6 for sealing bayonet slot ring, 7 be taper fenestral fabric, 8 be channel oil circuit, 9 be tentacle main body, 10
It is tentacle oil circuit for tentacle collet, 11,12 be pedestal, and 13 be infrared camera, and 14 be pressure sensor, and 15 be flow-velocity sensing
Device, 16 be cable, and 17 be oil connection, and 18 be sealing upper connector, and 19 is seal lower connector, and 20 be the first isolated part,
21 be the second isolated part.
Specific embodiment
In order to make the objectives, technical solutions and advantages of the present invention clearer, below by shown in the accompanying drawings specific
Embodiment describes the present invention.However, it should be understood that these descriptions are merely illustrative, and it is not intended to limit model of the invention
It encloses.In addition, in the following description, descriptions of well-known structures and technologies are omitted, it is of the invention to avoid unnecessarily obscuring
Concept.
Illustrate present embodiment, bionical squid living body acquisition equipment of the invention, by controlling software bullet in conjunction with Fig. 1-Fig. 9
Property tentacle inside cavity oil pressure be bent tentacle to all directions, to realize the quick acting of elastic soft tentacle, and
When tentacle arrests deep-sea being, while the being arrested is stored in pressure, in temperature-resistant seal box, effectively ensured
The vital signs of being.
The bionical squid living body acquisition equipment includes seal box 1, seal box channel 2, elastic soft tentacle 3.
The seal box 1 can provide the storage rings of constant temperature, constant pressure for storing deep-sea living body for the being arrested
Border.The seal box 1 is cylindrical body, is connected with seal box channel 2.Specifically, the seal box 1 includes 4 He of seal case
Seal box end cap 5, the seal box end cap 5 are connected to the one end of seal case 4 by revolute pair, seal case 4 it is another
End is equipped with sealing bayonet slot ring 6, and the buckle of seal box channel 2 is fixed in sealing bayonet slot ring 6.
The seal box channel 2 is interior hollow cylindrical structure, is fixed on the front end of seal box 1.2 He of seal box channel
The lower section of seal box 1 is equipped with pedestal, can be supported to acquisition equipment.
The seal box channel 2 is equipped with taper fenestral fabric 7, and one end of taper fenestral fabric 7 is fixed on sealing
In the front inner wall in case channel 2, the other end is located in the cavity in seal box channel 2.The work that elastic soft tentacle 3 captures success
Body is sent in seal box channel 2 from the circular hole among taper fenestral fabric.
The inside in the seal box channel 2 set there are four along its length run through its conduit wall channel oil circuit 8, four
Channel oil circuit is symmetrical arranged.Each channel oil circuit 8 is correspondingly arranged on an elastic soft tentacle 3, i.e. 2 end of seal box channel
It is fixed that there are four the identical elastic soft tentacles 3 of structure.
Elastic soft tentacle 3 is made of tentacle main body 9 and tentacle collet 10.The tentacle main body 9 is solid by seal assembly
It is scheduled on the front end in seal box channel 2, tentacle main body 9 is cylinder, and being internally provided with for tentacle main body 9 is connected with channel oil circuit 8
Logical tentacle oil circuit 11.The tentacle collet 10 is fixed on the end of tentacle main body 9, and tentacle collet 10 is in bullet shaped and its inside
Face is plane, and pressure sensor 14 and flow sensor 15 are fixed on tentacle collet 10.In the present embodiment, elastic soft tentacle
3 optional silica gel, thermoplastic elastic body material etc. are made.
Connector 19 under the seal assembly includes sealing upper connector 18 and seals.On the body for sealing upper connector 18
Portion be equipped with its internal chamber is divided into first isolated part 20 of the big cavitys such as three, the lower inner wall of body is equipped with interior spiral shell
Line.The external wall of upper portion for sealing lower connector 19 is equipped with external screw thread and inside is three etc. big equipped with its internal chamber to be divided into
Second isolated part 21 of cavity.Lower connector 19 is sealed to be threadedly secured on sealing upper connector 18.
Four 8 structures of channel oil circuit on seal box channel 2 are identical, and each channel oil circuit 8 is by the big sectors such as three
Cavity is constituted, and three cavitys are along the circumferential direction uniformly and symmetrically distributed.Position on seal box channel 2 where each channel oil circuit 8
Place is set, three oil connections 17 are respectively and fixedly provided with, each oil connection is connected with the corresponding cavity in the channel oil circuit.When every
After oil pipe is installed on a oil connection 17, hydraulic system oiling into each cavity can be passed through.
Tentacle oil circuit 11 in tentacle main body 9 is also made of the big fan-shaped cavities such as three, and three cavitys are also circumferentially square
To being uniformly and symmetrically distributed.Three cavitys in the tentacle oil circuit 11 run through the whole length direction of tentacle main body 9, and are intersected in
The forward end apex of tentacle collet 10.
After each 8 position of channel oil circuit when seal box channel 2 fixes an elastic soft tentacle 3, each
Three cavitys inside elastic soft tentacle 3 are connected with corresponding cavity in the tentacle oil circuit 11 of the position.
The outside in the seal box channel 2 is fixed with infrared camera 13.Infrared camera 13 is described bionical for shooting
Ambient image around squid living body acquisition equipment.
Bionical squid living body acquisition equipment of the invention is controlled by hydraulic system and microcontroller, to capture the work in water
Body.Hydraulic system and microcontroller are settable to bank, may also set up on ship.Hydraulic system is bionical squid by oil pipe
Living body acquisition equipment fuel feeding；Microcontroller is used to be controlled hydraulic according to each sensor and the collected signal of infrared camera
The oil pressure that system is exported to different elastic soft tentacles, to change the bending direction of elastic soft tentacle successfully to capture work
Body.
Hydraulic system, infrared camera 13, pressure sensor 14 and flow sensor 15 pass through cable and microcontroller
It connects, in the present embodiment, cable is using power carrier cable.
Hydraulic system is made of oil pressure pump, oil pipe and throttle valve.Specifically, in the present embodiment, hydraulic system includes one
Oil pressure pump, 12 oil pipes are equipped with a throttle valve, stream of the throttle valve to hydraulic oil in control oil pipe on every oil pipe
Amount.One end of this 12 oil pipes is connected in parallel to the oil outlet of oil pressure pump, the other end is connected to its corresponding channel oil circuit
Respective sector cavity (be connected with 12 oil pipes on seal box channel 2 altogether, it is fan-shaped empty that every oil pipe is corresponding with only one
Chamber).Oil pressure pump and throttle valve are electrically connected with microcontroller, and microcontroller can be controlled by controlling the orifice size of each throttle valve
The oil pressure of corresponding oil pipe is made, to control the bending direction of respective elastic soft tentacle.
Microcontroller controls the control principle of single elastic soft tentacle bending direction are as follows: enables three tentacles inside a certain tentacle
Cavity is respectively the first tentacle cavity, the second tentacle cavity and third tentacle cavity, if the second tentacle cavity and third tentacle are empty
Intracavitary oil pressure is identical and greater than the oil pressure in the first tentacle cavity, then the tentacle is bent towards the direction of the first tentacle cavity,
If the oil pressure in third tentacle cavity is greater than the oil pressure in the second tentacle cavity, the oil pressure in the second tentacle cavity is greater than the first touching
Oil pressure in hand cavity, then the tentacle is bent towards the intermediate direction between the first tentacle cavity and the second tentacle cavity；Similarly,
Changing the oil pressure difference between these three tentacle cavitys can be achieved bending of the tentacle to different directions.
In this way, microcontroller is poor by the oil pressure between three cavitys in each elastic soft tentacle of control, four can be made
Elastic soft tentacle is bent to different directions, so that cooperation grabs the living body in water.
The control method of the bionical squid deep-sea living body acquisition equipment, specifically includes the following steps:
Step 1, infrared camera is acquired image data, flow sensor transmit its collected water volume flow rate respectively
To microcontroller, microcontroller, which handles the data received and controls the oil pressure pump in hydraulic system, starts fuel feeding, oil
Press pump injects the hydraulic oil of equivalent into the different cavitys inside each channel oil circuit by oil pipe, to make four elastic soft touchings
Hand is in the identical straight configuration of deformation quantity, prepares for next step grasping movement；
Step 2, start grasping movement: microcontroller adjusts the throttle valve on each oil pipe, corresponding to its to adjust 12 oil pipes
Fuel supply flow rate in respective sector cavity makes to adjust the input oil pressure in three cavitys inside each elastic soft tentacle
Oil pressure difference between three cavitys of each elastic soft tentacle reaches setting value, the bending of each elastic soft tentacle from front end gradually
Tail end is spread to, starts to grab living body；
Pressure sensor difference its tentacle collet of real-time detection and deep-sea living body during crawl, on each elastic soft tentacle
Between pressure, and the pressure signal that will test is transferred to microcontroller, and microcontroller carries out logic to the signal received
Judgement, when pressure reaches given threshold, the oil mass that microcontroller controls in each oil pipe is constant, makes the three of each elastic soft tentacle
Input oil pressure between a cavity is constant, and deep-sea living body is sent into seal box channel by four elastic soft tentacle cooperations, to deposit
Storage completes the crawl work of deep-sea living body in seal box.
Finally it should be noted that: the above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, those of ordinary skills in the art should understand that；Still
It can modify to a specific embodiment of the invention or some technical features can be equivalently replaced；Without departing from this hair
The spirit of bright technical solution should all cover within the scope of the technical scheme claimed by the invention.
Claims (10)
1. a kind of bionical squid living body acquisition equipment, which is characterized in that including seal box (1), seal box channel (2) and software bullet
Property tentacle (3)；
The seal box channel (2) is fixed on the front end of seal box (1), and seal box channel (2) are equipped with taper fenestral fabric
(7), one end of taper fenestral fabric (7) is fixed in the front inner wall of seal box channel (2), the other end leads to positioned at seal box
In the cavity in road (2)；
It is fixed with infrared camera (13) on the outside of the seal box channel (2), sets that there are four along its length in seal box channel (2)
The channel oil circuit (8) that its conduit wall is run through in direction is spent, four channel oil circuits are symmetrical arranged, are correspondingly arranged on each channel oil circuit
There is an elastic soft tentacle (3),
Each elastic soft tentacle (3) is made of tentacle main body (9) and tentacle collet (10)；The tentacle main body (9) passes through
Seal assembly is fixed on the front end of seal box channel (2), and tentacle main body (9) is internally provided with and channel oil circuit (8) phase
The tentacle oil circuit (11) of connection；The tentacle collet (10) is fixed on the end of tentacle main body (9), fixes on tentacle collet (10)
There are pressure sensor (14) and flow sensor (15).
2. bionical squid living body acquisition equipment according to claim 1, which is characterized in that further include hydraulic system and use
The microcontroller of living body is captured to control hydraulic system to change the bending direction of elastic soft tentacle；
The oil outlet of the hydraulic system is connected by oil pipe with the channel oil circuit in seal box channel；
The microcontroller is passed by cable (16) and hydraulic system, infrared camera (13), pressure sensor (14) and flow velocity
Sensor (15) connection.
3. bionical squid living body acquisition equipment according to claim 1 or 2, which is characterized in that the channel oil circuit (8) and
Tentacle oil circuit (11) is made of three equal big cavitys being along the circumferential direction uniformly and symmetrically distributed, every in channel oil circuit (8)
A cavity is connected to cavity corresponding in tentacle oil circuit (11), and each cavity in channel oil circuit (8) has been correspondingly connected with
A piece oil pipe (17) is equipped with a throttle valve on every oil pipe.
4. bionical squid living body acquisition equipment according to claim 3, which is characterized in that in the tentacle oil circuit (11)
Three cavitys run through the whole length direction of tentacle main body (9), and are intersected in the forward end apex of tentacle collet (10).
5. bionical squid living body acquisition equipment according to claim 2, which is characterized in that the elastic soft tentacle (3)
Silica gel can be selected, thermoplastic elastic body material is made.
6. bionical squid living body acquisition equipment according to claim 1, which is characterized in that the seal assembly includes sealing
Upper connector (18) and sealing are lower connector (19), the sealing upper connector (18) and lower connector (19) the screw thread company of sealing
It connects.
7. bionical squid living body acquisition equipment according to claim 6, which is characterized in that the sealing upper connector (18)
Body top be equipped with its internal chamber be divided into first isolated part (20) of the big cavitys such as three, the lower inner wall of body
It is equipped with internal screw thread；
The external wall of upper portion of connector (19) is equipped with external screw thread under the sealing and its internal chamber is divided into three by internal be equipped with
The second isolated part (21) of the big cavity such as a.
8. bionical squid living body acquisition equipment according to claim 1, which is characterized in that the seal box (1) includes close
Joint sealing body (4) and seal box end cap (5), the seal box end cap (5) are connected to one end of seal case (4) by revolute pair
Portion, the other end of seal case (4) are equipped with sealing bayonet slot ring (6), and seal box channel (2) buckle is fixed on sealing bayonet slot ring
(6) in.
9. bionical squid living body acquisition equipment according to claim 1, which is characterized in that the seal box (1) and sealing
Pedestal (12) are provided with below case channel (2).
10. a kind of control method of bionical squid living body acquisition equipment, which is characterized in that specifically includes the following steps:
Step 1, infrared camera (13) is acquired image data, flow sensor (15) are by its collected water volume flow rate
It is transferred to microcontroller respectively, microcontroller, which handles the data received and controls the oil pressure pump in hydraulic system, to be started
Fuel feeding, oil pressure pump injects the hydraulic oil of equivalent by oil pipe (17) into the different cavitys inside each channel oil circuit, to make four
A elastic soft tentacle (3) is in the identical straight configuration of deformation quantity, prepares for next step grasping movement；
Step 2, start grasping movement: microcontroller adjusts the orifice size of throttle valve on each oil pipe, flows into each channel to adjust
Oil mass in the different cavitys of oil circuit (8) makes each soft to adjust the oil pressure inputted in three cavitys of each elastic soft tentacle
Oil pressure difference between three cavitys of body elasticity tentacle reaches setting value, and the bending of each elastic soft tentacle is gradually spread from front end
To tail end；
Pressure sensor (14) difference its tentacle collet of real-time detection and deep-sea during crawl, on each elastic soft tentacle
Pressure between living body, and the pressure signal that will test is transferred to microcontroller, microcontroller carries out the signal received
Logic judgment, when pressure reaches given threshold, microcontroller controls three cavitys of the hydraulic system to each elastic soft tentacle
Between input oil pressure it is constant, deep-sea living body is sent into seal box channel (2) by the cooperation of four elastic soft tentacles, to be stored in
In seal box (1), the crawl work of deep-sea living body is completed.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910039195.3A CN110402901B (en) | 2019-01-16 | 2019-01-16 | Bionic squid living body capturing device and control method |
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|---|---|---|---|
| CN201910039195.3A CN110402901B (en) | 2019-01-16 | 2019-01-16 | Bionic squid living body capturing device and control method |
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