CN110447582B - Rope-driven rigid-flexible coupling primary-secondary nested foldable ecological aquaculture net cage - Google Patents
Rope-driven rigid-flexible coupling primary-secondary nested foldable ecological aquaculture net cage Download PDFInfo
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- CN110447582B CN110447582B CN201910864728.1A CN201910864728A CN110447582B CN 110447582 B CN110447582 B CN 110447582B CN 201910864728 A CN201910864728 A CN 201910864728A CN 110447582 B CN110447582 B CN 110447582B
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- 238000005859 coupling reaction Methods 0.000 title claims abstract description 30
- 230000007246 mechanism Effects 0.000 claims abstract description 53
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K61/00—Culture of aquatic animals
- A01K61/60—Floating cultivation devices, e.g. rafts or floating fish-farms
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K61/00—Culture of aquatic animals
- A01K61/60—Floating cultivation devices, e.g. rafts or floating fish-farms
- A01K61/65—Connecting or mooring devices therefor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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Abstract
The invention discloses a rope-driven rigid-flexible coupling primary-secondary nested folding type ecological aquaculture net cage which comprises a nested folding and unfolding primary-secondary net cage frame, and has multiple nested folding and unfolding, namely primary frame space folding and unfolding, longitudinal folding and unfolding and secondary frame plane folding and unfolding. The nested folding and unfolding composite net cage frame comprises a composite frame and a net cage folding and unfolding driving mechanism. The main frame comprises an upper layer frame and a lower layer frame which are respectively a triple symmetrical Bricard mechanism with the same size and shape and parallel, the net cage driving folding and unfolding mechanism comprises a central upright post, a sliding seat, a driving rod and a closed loop rope, the central upright post is connected with the main frame through the driving rod, the driving rod is connected with two ends of the closed loop rope, and the rope rotates the driving rod to realize the space folding and unfolding of the main frame; the steel wire rope is connected with the main frame, and the winch is used for winding and unwinding the steel wire rope longitudinally; the flexible hinge is folded and unfolded to fold and unfold the sub-frame plane. The invention has large folding-unfolding ratio and overcomes the defect of large volume and inconvenient transportation; the structural rigidity is high; the design of the primary and secondary net cages realizes the centralized cultivation of multiple species, and the cost is low.
Description
Technical Field
The invention belongs to the technical field of marine aquaculture engineering equipment, relates to a marine ecological aquaculture net cage, and particularly relates to a rope-driven rigid-flexible coupling primary-secondary nested foldable ecological aquaculture net cage.
Background
Mariculture is an important component of aquaculture. The history of seawater culture in China is long, oyster culture is carried out before the Han dynasties, and a pearl culture method is invented in the Song dynasties. After the people's republic of China is established, the mariculture of China develops rapidly, and the development of main economic varieties such as kelp, laver, mussel and prawn is particularly prominent, so that the development of coastal economy is driven, and the method becomes a large industry in coastal areas. According to the calculation of international statistical standard, China has become the first major country of mariculture at present.
With the progress of society and the continuous development of economy, although shallow sea cage culture has the characteristics of less investment and quick response, the lower economic benefit and the disorder of development greatly influence the further development of the shallow sea cage culture. At present, the mariculture is moving from shallow sea to deep sea step by step, and because the deep sea area has good water quality, almost no pollution, large seawater flow and high fry survival rate, the fishes raised by the deep sea net cage are all green and pollution-free, and the market prospect is good. Deep sea mariculture increasingly becomes the development direction of the mariculture industry, and in addition, the method has important significance for expanding the culture sea area, reducing the environmental pressure, protecting and adjusting the marine culture variety structure.
Compared with shallow sea mariculture, deep sea mariculture has the advantages that the environment is worse because the deep sea mariculture is in the deep sea, and the requirements on the wind wave resistance and the automation of the net cage are higher. Although a lot of deep sea aquaculture net cages have appeared in the trade, it is mostly the integral type design, it is bulky, the structure is fixed after the net cage processing assembly is accomplished, when needs transport, play catch and operation such as clearance to the net cage, need equipment such as supporting special-purpose worker ship, use cost is too high, be unfavorable for deep sea net cage aquaculture to promote, in addition, present deep sea net cage aquaculture area divides singlely, can't satisfy the diversified breed demand of aquatic products, be not convenient for centralized management, breed inefficiency, this has also greatly restricted net cage aquaculture's popularization.
Therefore, the deep sea aquaculture net cage which has good folding performance, low use cost and more culture area divisions and can meet the diversified culture requirements of aquatic products has practical significance.
Disclosure of Invention
The invention aims to overcome the defects that the prior art is large in size, fixed in structure, high in use cost and single in cultivation region division and cannot meet the diversified cultivation requirements of aquatic products, and provides the deep sea cultivation net cage which is good in folding performance, low in use cost and more in cultivation region division and can meet the diversified cultivation requirements of the aquatic products.
In order to achieve the purpose, the invention provides the following technical scheme:
a rope-driven rigid-flexible coupling primary-secondary nested folding ecological aquaculture net cage comprises a nested folding primary-secondary net cage frame and one or more buoyancy devices;
the nested folding and unfolding combined net cage frame comprises a main net cage and sub net cages, and one or more sub net cages are arranged in the main net cage;
the female net cage comprises a female frame and a net cage folding and unfolding driving mechanism, the female frame comprises an upper layer frame and a lower layer frame, the upper layer frame and the lower layer frame have the same size and shape and are parallel to each other, and are triple symmetrical Bricard mechanisms, the net cage folding and unfolding driving mechanism is positioned between the upper layer framework and the lower layer framework and comprises a central upright post, a sliding seat, a driving rod connected with the sliding seat and a rope, the central upright post is vertical to the plane of the upper layer frame, two sliding seats are sleeved on the central upright post, the sliding seats are connected with the upper layer frame and the lower layer frame through a driving rod, one of the driving rods is connected with two ends of a closed loop rope, the middle part of the closed loop rope is connected with a central upright post, the driving rods can rotate by controlling the closed loop rope, the upper layer frame and the lower layer frame are synchronously folded in the axial direction and the radial direction under the driving of the driving rod, so that the folding and unfolding of the mother net cage are realized;
the sub net cage comprises a sub frame, the sub frame is a plane folding mechanism, and the volume of the sub net cage is adjusted by folding the sub frame;
the buoyancy device is connected with the main net cage and used for providing buoyancy for the nested folding and unfolding main-auxiliary net cage frame.
The invention relates to a rigid-flexible coupling primary-secondary nested folding type ecological aquaculture net cage driven by ropes, which is characterized in that a triple symmetrical Bricard mechanism is used as a frame, a net cage folding and unfolding driving mechanism is constructed by utilizing the characteristic that the triple symmetrical Bricard mechanism takes the intersection line of three symmetrical planes as a folding and unfolding central axis, and a closed-loop rope in the net cage folding and unfolding driving mechanism is controlled to rotate a driving rod (one side rope stretches, one side rope lengthens, the driving rod rotates clockwise (anticlockwise), and a main frame folds (unfolds)) so as to realize folding and unfolding of a main net cage. On one hand, the triple-symmetric Bricard mechanism is used as a framework, the overall structure stability of the main net cage is good, on the other hand, the folding performance of the main net cage is good (the folded envelope is small in size and convenient to transport) and the folding operation is convenient, the use cost of the rigid-flexible coupling primary-secondary nested folding type ecological aquaculture net cage using the main net cage with the structure as a main body is low, meanwhile, the ecological aquaculture net cage can reasonably divide aquaculture space through the sub-net cages to form a plurality of independent space aquaculture, the centralized low-cost ecological community aquaculture of multiple species is realized, and the application scene is very good.
The folding and unfolding of the mother frame of the invention are carried out in space (folding and unfolding are carried out in the axial (longitudinal) direction and the radial (transverse) direction simultaneously) by driving the triple symmetrical Bricard mechanisms of the upper layer frame and the lower layer frame through the net cage folding and unfolding driving mechanism on the one hand, and the two sliding seats of the net cage folding and unfolding driving mechanism are close to each other on the other hand, so that the mother frame is further folded and unfolded in the axial direction.
As a preferred technical scheme:
according to the rope-driven rigid-flexible coupling primary-secondary nested foldable ecological aquaculture net cage, the upper layer frame and the lower layer frame are connected together through a steel wire rope (retractable and controlled by a winch); the upper frame and the lower frame are sleeved with the female netting, the female netting comprises six side rectangular nettings and a bottom regular hexagon netting, the female netting is fixed on the upper frame and the lower frame in a rope knot or hasp mode, the female netting can effectively guarantee the sealing performance and the safety of the aquaculture net cage, the upper portion of the female net cage is not connected with the netting, and therefore farmers can conveniently throw and catch feed and conveniently cultivate the feed. The steel wire rope between the upper layer frame and the lower layer frame can ensure that the upper layer frame and the lower layer frame can flexibly extend and retract in the axial (longitudinal) direction (the axial (longitudinal) folding and unfolding of the net cage).
According to the rope-driven rigid-flexible coupling primary-secondary nested folding type ecological aquaculture net cage, the upper-layer frame is of a regular hexagon structure formed by sequentially connecting six frame connecting rods end to end through revolute pairs, the sliding seat is connected with the three driving rods, the driving rods are connected with the revolute pairs, and in the clockwise rotation process of the driving rods, the upper-layer frame is gradually changed into a triangular structure from the regular hexagon structure and is finally completely folded into a six-rod parallel bundled state. The triple-symmetry Bricard mechanism is a single-degree-of-freedom over-constraint mechanism, the net cage can be folded and unfolded by driving any driving connecting rod, on one hand, the net cage has better structural rigidity to adapt to a complex marine environment, on the other hand, the net cage can be folded and unfolded by single driving, the driving difficulty is reduced, the structure of the net cage can be simplified, and the cost is reduced.
The folding and unfolding process of the mother frame (folded state → unfolded state) is as follows:
the upper frame is unfolded to the plane regular hexagon by six-rod parallel (folding state), and when the upper frame is unfolded, the lower frame moves downwards along the central upright post to be unfolded until the lower frame is unfolded to the plane regular hexagon, so that the regular hexagon net cage is formed.
According to the rope-driven rigid-flexible coupling primary-secondary nested folding ecological aquaculture net cage, the frame connecting rod is provided with the sub-frame mounting holes for mounting the sub-frames, the sub-frames are fixed on the sub-frame mounting holes on the frame connecting rod through the pin shafts, the design can enable the sub-frames to be synchronously unfolded and folded along with the main frame, the sub-frames deform in a self-adaptive mode when being folded along with the main frame and do not interfere with the folding and unfolding of the main frame, when the main frame is unfolded, the sub-frames are unfolded again through the restoring action of the flexible hinges, the steel wire ropes are rigidized under the action of tension under the action of gravity and form rigid polyhedrons with the horizontal frame, and the foldable steel wire ropes are driven by the winch to longitudinally unfold;
the side of the frame connecting rod, which is far away from the frame, is provided with a connecting ring;
the buoyancy device is connected with the connecting ring of the upper layer frame.
The rope-driven rigid-flexible coupling primary-secondary nested foldable ecological aquaculture net cage comprises a central upright post, a sliding seat, a driving rod and a driving motor, wherein the central upright post is arranged on the upper portion of the main body;
driving motor installs on central pillar, actuating lever one end is connected with the slide, and the other end passes through universal joint and upper frame or lower floor frame attach, the slide and the actuating lever symmetrical arrangement who is connected with it are equipped with first rope stiff end and second rope stiff end respectively at central pillar's both ends on the actuating lever, closed loop rope is connected with first rope stiff end, driving motor and second rope stiff end in proper order, and the length that can adjust closed loop rope through control driving motor drives the actuating lever and rotates folding mother's frame in space and then realize the exhibition of folding mother's box with a net.
The rope-driven rigid-flexible coupling primary-secondary nested folding ecological aquaculture net cage is annular, and mainly comprises a plurality of assemblies which are connected end to end, wherein the assemblies comprise flexible hinges and rigid hollow pipe profiles, and the sectional area of the sub-frame can be changed by folding or extending the flexible hinges, namely the sub-frame is folded in a plane, so that the volume of the sub-net cage is adjusted. The sub-frame is a plane flexible folding device which is arranged on the upper layer frame or the lower layer frame and is folded and unfolded together with the main frame. When the main frame is folded, the sub-frame is folded to be parallel to the six rods along with the main frame mechanism by means of self flexible deformation, and the sub-frame is unfolded under the restoring action of the flexible hinge after the main frame is unfolded, so that the sub-net cage is driven to be folded and unfolded in a large range by the small displacement of the flexible hinge. The flexible hinge is deformed in a small range, so that the sub network box can be folded and unfolded in a large range. The invention realizes the nested folding of the primary frame and the secondary frame by the mutual matching of the planar folding and unfolding of the secondary frame, the spatial folding and unfolding of the primary frame and the axial (longitudinal) folding and unfolding of the primary frame through the steel wire ropes between the upper frame and the lower frame, and has the advantages of large folding range, simple operation and good application scene.
According to the rope-driven rigid-flexible coupling primary-secondary nested folding type ecological aquaculture net cage, the sub net cage comprises the sub frames which are respectively positioned at the corresponding positions of the upper layer frame and the lower layer frame, the sub net clothes are sleeved outside the sub frames and fixed on the sub frames in a rope knot or hasp mode, the sub net clothes can divide the space in the main net cage into a plurality of mutually independent spaces so as to meet the requirement of diversified aquaculture of aquatic products, meanwhile, the upper part of the sub net cage is not connected with the net clothes, so that farmers can conveniently put in and catch feed, and the aquaculture is convenient.
According to the rope-driven rigid-flexible coupling primary-secondary nested folding type ecological aquaculture net cage, the buoyancy device comprises the flexible skin and the supporting mechanism connected with the flexible skin, the supporting mechanism is formed by symmetrically and reversely buckling and connecting two umbrella structures, the volume of a space defined by the flexible skin is changed by adjusting the unfolding angle of the umbrella structures, and the size of buoyancy generated is further controlled.
The rope-driven rigid-flexible coupling primary-secondary nested folding type ecological aquaculture net cage comprises a central column, wherein a first fixed end is arranged at one end of the central column, a first sliding part, a second sliding part and a second fixed end sequentially penetrate through the other end of the central column, and the first sliding part and the second sliding part can slide along the axial direction of the central column;
the first fixed end and the second fixed end are uniformly provided with N supporting rods with the same number, and the end parts of the N supporting rods of the first fixed end are rotatably connected with the end parts of the supporting rods at the corresponding positions on the second fixed end through connecting pieces;
evenly be provided with a N drive connecting rod of the same quantity on first slider and the second slider, the tip of a N drive connecting rod of first slider is connected with the pole portion of the bracing piece that first stiff end corresponds the position, the tip of a N drive connecting rod of second slider is connected with the pole portion of the bracing piece that second stiff end corresponds the position.
The rope-driven rigid-flexible coupling primary-secondary nested folding type ecological aquaculture net cage further comprises one or more anchoring devices, the anchoring devices are used for fixing the net cage in an aquaculture sea area through self gravity and comprise gravity anchor bodies, chain locks and normal bearing members, the gravity anchor bodies are connected with one ends of the normal bearing members through a plurality of chain locks, and the other ends of the normal bearing members are connected with connecting rings of all frame connecting rods on a lower-layer frame through the chain locks.
Has the advantages that:
(1) according to the rope-driven rigid-flexible coupling primary-secondary nested folding type ecological aquaculture net cage, the folding and unfolding concept is introduced into the design of the net cage, a hexagonal triple-symmetric Bricard mechanism, a planar flexible mechanism and a retractable steel wire rope are combined to form a net cage frame, the sub net cage culture volume is adaptively adjusted through folding and unfolding of a sub frame, the net cage is driven to be folded and unfolded integrally by folding and unfolding of a main frame mechanism, and the net cage has smaller envelope volume when being completely folded, so that the transportation of the net cage is facilitated; the net cage is completely unfolded, has stable structure and strong wind and wave resistance, provides stable feeding environment for the cultured fishes, and is convenient to drive due to the single degree of freedom;
(2) according to the rope-driven rigid-flexible coupling primary-secondary nested folding type ecological aquaculture net cage, a primary-secondary type net cage design is adopted, a plurality of secondary net cages are installed in a primary net cage, the internal space of the aquaculture net cage is divided, ecological aquaculture area combination is realized, the improvement of aquaculture yield and aquaculture variety of fish is facilitated, centralized management is realized, the artificial feeding cost is reduced, and the economic benefit is improved;
(3) according to the rope-driven rigid-flexible coupling primary-secondary nested folding type ecological aquaculture net cage, a net cage folding and unfolding driving mechanism is constructed according to the motion characteristic of a triple symmetrical Bricard mechanism, namely three symmetrical surfaces of the mechanism are always intersected on a fixed straight line, the fixed straight line is taken as a symmetrical folding and unfolding central axis, and three axes of six rotating pairs are intersected at one point and move on the folding and unfolding central axis; the closed loop rope is adopted for driving, and the driving rod is driven to rotate through the forward and reverse rotation of the motor so as to fold and unfold the net cage; the closed loop rope driving system (the closed loop rope and the driving motor) has uniform transmission acting force, good driving flexibility, light overall system weight and long force transmission distance, and meets the requirements of the expansion and contraction driving of the net cage.
Drawings
FIG. 1 is a schematic structural diagram of a rope-driven rigid-flexible coupling child-mother nested foldable ecological aquaculture net cage;
FIG. 2 is a schematic view showing a regular hexagon of a female frame mechanism of the foldable ecological aquaculture net cage in an unfolded state after a netting is removed;
FIG. 3 is a schematic diagram showing a longitudinal furled state of a female frame mechanism after a netting is removed from the foldable ecological aquaculture net cage;
FIG. 4 is a schematic view of the foldable ecological aquaculture net cage with the netting removed and the female frame mechanism folded from a regular hexagonal state to a triangular state;
FIG. 5 is a schematic view showing a fully closed state of a female frame mechanism after a netting is removed from the foldable ecological aquaculture net cage;
FIGS. 6 to 8 are schematic views illustrating the folding and unfolding process of the upper frame or the lower frame, respectively, according to the present invention;
FIGS. 9-10 are schematic views of a sub-frame folding process according to the present invention;
fig. 11 is a schematic view of a driving mechanism for folding and unfolding the net cage according to the present invention;
FIGS. 12-14 are schematic views of the closed loop cable driving mechanism of the driving mechanism for folding and unfolding the net cage according to the present invention;
FIG. 15 is a schematic view of the buoyancy device of the present invention;
FIG. 16 is a schematic view of an anchoring device of the present invention;
FIGS. 17 and 18 are schematic views of a female and a male mesh, respectively, of the present invention;
1-nested folding and unfolding composite net cage frame, 2-buoyancy device, 3-anchoring device, 4-netting, 11-mother frame, 12-child frame, 13-net cage folding and unfolding driving mechanism, 14-steel wire rope, 21-flexible skin, 22-supporting mechanism, 31-normal force bearing component, 32-chain, 33-gravity anchor body, 41-mother net clothing, 42-child net clothing, 111-frame connecting rod, 112-revolute pair, 113-child frame mounting hole, 114-connecting ring, 121-flexible hinge, 122-rigid hollow pipe section bar, 131-central column, 132-sliding seat; 133-drive rod, 134-universal joint, 135-drive motor, 136-first rope-fixed end, 137-second rope-fixed end.
Detailed Description
The following further describes the embodiments of the present invention with reference to the attached drawings.
A rope-driven rigid-flexible coupling primary-secondary nested foldable ecological aquaculture net cage is shown in figure 1 and comprises a nested folded primary-secondary net cage frame 1, a buoyancy device 2, an anchoring device 3 and a netting 4;
as shown in fig. 2 to 5, the nested, folded and unfolded son-mother type net cage frame 1 comprises a mother net cage and a son net cage, wherein a plurality of son net cages are arranged in the mother net cage;
the main net cage comprises a main frame 11 and a net cage folding and unfolding driving mechanism 13, the main frame comprises an upper layer frame and a lower layer frame, the upper layer frame and the lower layer frame are connected together through a steel wire rope 14, the upper layer frame and the lower layer frame are identical in size and shape and are parallel to each other and are triple symmetrical Bricard mechanisms, and the net cage folding and unfolding driving mechanism 13 is positioned between the upper layer frame and the lower layer frame;
the upper layer (lower layer) frame is a regular hexagon structure formed by sequentially connecting six frame connecting rods 111 end to end through revolute pairs 112, a sub-frame mounting hole 113 for mounting a sub-frame is formed in each frame connecting rod 111, the sub-frame 12 is fixed on the sub-frame mounting hole 113 in each frame connecting rod 111 through a pin shaft, a connecting ring 114 is arranged on the side, far away from the frame, of each frame connecting rod, and the buoyancy device is connected with the connecting ring 114 of the upper layer frame;
as shown in fig. 11, the net cage folding and unfolding driving mechanism 13 includes a central upright 131, a sliding seat 132, a driving rod 133 connected to the sliding seat 132, and a driving motor 135;
the driving motor 135 is installed on the central upright column 131, the central upright column 131 is perpendicular to the plane of the upper frame, two sliding seats 132 are sleeved on the central upright column 131, the sliding seats 132 are connected with the upper frame and the lower frame through driving rods 133, and one sliding seat 132 is connected with three driving rods 133;
one end of a driving rod 133 is connected with the sliding seat 132, the other end of the driving rod is connected with the upper layer frame or the lower layer frame through a universal joint, a first rope fixing end 136 and a second rope fixing end 137 are respectively arranged on the driving rod 133, a closed-loop rope is sequentially connected with the first rope fixing end 136, the driving motor 135 and the second rope fixing end 137, the length of the rope can be adjusted by controlling the rotation of the driving motor 135 to drive the driving rod 133 to move, so that the space of the female frame 11 is folded and unfolded, further, the folding and unfolding of the female net cage are realized, when the driving rod 133 rotates clockwise, the female frame 11 is gradually changed into a triangular structure from a regular hexagonal structure, and finally, the female frame is completely folded into a six-rod parallel bundled state;
the folding and unfolding process of the mother net cage is shown in fig. 2-5, and the folding and unfolding process of the mother net cage mainly has the following forms: the net cage folding and unfolding driving mechanism comprises a regular hexagon completely unfolded state, an upper layer frame and a lower layer frame longitudinally folded state, a triangle excessively folded state and a six-rod parallel completely folded state, wherein the folding and unfolding process of the upper layer frame or the lower layer frame in the folding and unfolding process is shown in fig. 6-8, the closed loop rope driving process of the net cage folding and unfolding driving mechanism is shown in fig. 12-14, specifically, when a driving motor 135 rotates clockwise, a rope on one side of a first rope fixing end 136 contracts, a rope on one side 137 lengthens, a driving rod 133 rotates clockwise, and a female frame 11 is folded; otherwise, the female frame 11 is unfolded;
when the net cage is completely unfolded, the upper layer frame and the lower layer frame are unfolded at the same time, wherein the frame connecting rods 111 are unfolded to a plane regular hexagon state, the sub frames are unfolded to a state shown in fig. 10, the mother net cover 41 and the son net cover 42 are unfolded to fig. 17 and 18, the upper layer frame and the lower layer frame are unfolded to a plane state, the lower layer frame moves downwards along the central upright column 131 through the release of the steel wire rope to realize longitudinal unfolding, the mechanism is locked to form a stable net cage structure after the net cage is unfolded in place, and at the moment, the net cage is completely unfolded as shown in fig. 2; when the net cage is folded, the steel wire rope 14 drives the lower layer framework to move upwards through the winch to realize the longitudinal folding of the net cage, the framework connecting rod 111 is also in a planar regular hexagon state in the process, and the net cage after the longitudinal folding is shown in fig. 3; when the net cage moves from the longitudinal folding state to the fully folded state, the net cage folding and unfolding driving mechanism 13 drives the main frame 11 and the sub frame 12 to fold towards the central upright post 131 through the driving rod 134, and in the process, the shape of the frame connecting rod 111 is firstly folded from the plane regular hexagon state (shown in fig. 3) to the triangular state (shown in fig. 4), and then folded from the triangular transition state (shown in fig. 4) to the six-rod parallel fully folded state (shown in fig. 5); when the net cage is completely folded, the frame connecting rods 111 are folded to be in a state that the six rods are parallel to form a bundle, and the net cage has the minimum enveloping volume;
the sub net cage comprises sub frames which are respectively arranged at corresponding positions of the upper layer frame and the lower layer frame, the sub frames are annular as shown in figures 9-10 and mainly formed by connecting a plurality of components end to end, the components comprise flexible hinges 121 and rigid hollow pipe section bars 122, and the sectional areas of the sub frames 12 can be changed by folding or extending the flexible hinges 121 so as to adjust the volume of the sub net cage;
as shown in fig. 15, the buoyancy device 2 comprises a flexible skin 21 and a support mechanism 22 connected with the flexible skin, wherein the support mechanism is formed by symmetrically and reversely connecting two umbrella structures, the volume of a space surrounded by the flexible skin is changed by adjusting the unfolding angle of the umbrella structures, and the buoyancy is further controlled to be generated;
n supporting rods with the same number are uniformly arranged on the first fixed end and the second fixed end, and the end parts of the N supporting rods on the first fixed end are rotatably connected with the end parts of the supporting rods at the corresponding positions on the second fixed end through connecting pieces;
n driving connecting rods with the same number are uniformly arranged on the first sliding part and the second sliding part, the end parts of the N driving connecting rods of the first sliding part are connected with the rod parts of the supporting rods at the positions corresponding to the first fixed ends, and the end parts of the N driving connecting rods of the second sliding part are connected with the rod parts of the supporting rods at the positions corresponding to the second fixed ends;
the anchoring device 3 is used for fixing the net cage in a culture sea area through self gravity, and comprises a gravity anchor body 33, a chain 32 and a normal bearing component 31, wherein the gravity anchor body 33 is connected with one end of the normal bearing component 31 through a plurality of chains 32, and the other end of the normal bearing component 31 is connected with a connecting ring of each frame connecting rod on a lower frame through the chain 32;
the upper layer frame and the lower layer frame are externally sleeved with a female net 41 shown in fig. 17, the female net 41 comprises six side rectangular nets and a bottom regular hexagon net, and the six side rectangular nets and the bottom regular hexagon net are fixed on the upper layer frame and the lower layer frame in a knot or hasp mode; the sub-frame 12 is externally covered with a sub-net 42 as shown in fig. 18, which is fixed on the sub-frame by means of a rope or a hasp, and the sub-frame is used for supporting the net into a certain shape, so that the net can be synchronously folded and unfolded along with the frame, and meanwhile, the net cage frame provides support for the net, so that the net cage can resist sea storms with corresponding degrees.
Although specific embodiments of the present invention have been described above, it will be appreciated by those skilled in the art that these embodiments are merely illustrative and various changes or modifications may be made without departing from the principles and spirit of the invention.
Claims (9)
1. A rope-driven rigid-flexible coupling primary-secondary nested foldable ecological aquaculture net cage is characterized by comprising a nested folded primary-secondary net cage frame and one or more buoyancy devices;
the nested folding and unfolding combined net cage frame comprises a main net cage and sub net cages, and one or more sub net cages are arranged in the main net cage;
the female net cage comprises a female frame and a net cage folding and unfolding driving mechanism, the female frame comprises an upper layer frame and a lower layer frame, the upper layer frame and the lower layer frame are the same in size and shape and are parallel to each other, the upper layer frame and the lower layer frame are triple symmetric Bricard mechanisms, the net cage folding and unfolding driving mechanism is positioned between the upper layer frame and the lower layer frame and comprises a central stand column, a slide seat, a driving rod connected with the slide seat, a closed loop rope and a driving motor, the central stand column is perpendicular to the plane of the upper layer frame, the central stand column is sleeved with two slide seats, the slide seats are connected with the upper layer frame and the lower layer frame through the driving rod, the driving motor is installed on the central stand column, one end of the driving rod is connected with the slide seat, the other end of the driving rod is connected with the upper layer frame or the lower layer frame through a universal joint, the slide seat and the driving rod connected with the slide seat are symmetrically arranged at two ends of the central stand column, a driving rod is respectively provided with a first rope fixing end and a second rope fixing end, the closed-loop rope is sequentially connected with the first rope fixing end, the driving motor and the second rope fixing end, the length of the closed-loop rope can be adjusted by controlling the driving motor to drive the driving rod to rotate, the upper-layer frame and the lower-layer frame are synchronously folded in the axial direction and the radial direction, namely the mother frame is folded in space, and then the folding and unfolding of the mother net cage are realized;
the sub net cage comprises a sub frame, the sub frame is a plane folding mechanism, and the volume of the sub net cage is adjusted by folding the sub frame;
the buoyancy device is connected with the main net cage and used for providing buoyancy for the nested folding and unfolding main-auxiliary net cage frame.
2. The rope-driven rigid-flexible coupling child-mother nested foldable ecological aquaculture net cage of claim 1, wherein the upper frame and the lower frame are further connected together through a steel rope; the upper layer frame and the lower layer frame are sleeved with female net clothes, the female net clothes comprise six side rectangular net clothes and one bottom regular hexagonal net clothes, and the female net clothes are fixed on the upper layer frame and the lower layer frame in a knot or hasp mode.
3. The rope-driven rigid-flexible coupling child-mother nested folding ecological aquaculture net cage according to claim 2, wherein the upper frame is of a regular hexagon structure formed by sequentially connecting six frame connecting rods end to end through revolute pairs, three driving rods are connected to one sliding seat, the driving rods are connected with the revolute pairs, and in the clockwise rotation process of the driving rods, the upper frame is gradually changed into a triangular structure from the regular hexagon structure and is finally completely folded into a six-rod parallel bundling state.
4. The rope-driven rigid-flexible coupling child-mother nested foldable ecological aquaculture net cage according to claim 3, wherein the frame connecting rod is provided with a subframe mounting hole for mounting a subframe, the subframe is fixed on the subframe mounting hole on the frame connecting rod through a pin shaft, and the side of the frame connecting rod away from the frame is provided with a connecting ring;
the buoyancy device is connected with the connecting ring of the upper layer frame.
5. The rope-driven rigid-flexible coupling child-mother nested foldable ecological aquaculture net cage according to claim 1, wherein the sub-frame is ring-shaped and mainly formed by connecting a plurality of components end-to-end, the components comprise flexible hinges and rigid hollow pipe profiles, and the cross-sectional area of the sub-frame can be changed by folding or extending the flexible hinges, namely the sub-frame is folded in a plane, so that the volume of the sub-net cage can be adjusted.
6. The rope-driven rigid-flexible coupling child-mother nesting folding type ecological aquaculture net cage according to claim 5, wherein the sub net cage comprises sub frames respectively positioned at corresponding positions of the upper layer frame and the lower layer frame, and a sub net is sleeved outside the sub frames and is fixed on the folding mechanism in a rope knot or buckle mode.
7. The rope-driven rigid-flexible coupling child-mother nested foldable ecological aquaculture net cage according to claim 1, wherein the buoyancy device comprises a flexible skin and a support mechanism connected with the flexible skin, the support mechanism is formed by symmetrically and reversely buckling and connecting two umbrella structures, and the volume of a space surrounded by the flexible skin is changed by adjusting the unfolding angle of the umbrella structures, so that the buoyancy is controlled.
8. The rope-driven rigid-flexible coupling child-mother nested foldable ecological aquaculture net cage of claim 7, wherein the supporting mechanism comprises a central pillar, one end of the central pillar is provided with a first fixed end, the other end of the central pillar sequentially passes through a first sliding part, a second sliding part and a second fixed end, and the first sliding part and the second sliding part can slide along the axial direction of the central pillar;
the first fixed end and the second fixed end are uniformly provided with N supporting rods with the same number, and the end parts of the N supporting rods of the first fixed end are rotatably connected with the end parts of the supporting rods at the corresponding positions on the second fixed end through connecting pieces;
evenly be provided with a N drive connecting rod of the same quantity on first slider and the second slider, the tip of a N drive connecting rod of first slider is connected with the pole portion of the bracing piece that first stiff end corresponds the position, the tip of a N drive connecting rod of second slider is connected with the pole portion of the bracing piece that second stiff end corresponds the position.
9. The rope-driven rigid-flexible coupling primary-secondary nested folding ecological aquaculture net cage according to claim 1, further comprising one or more anchoring devices, wherein the anchoring devices are used for fixing the net cage in an aquaculture sea area through self gravity, each anchoring device comprises a gravity anchor body, a chain and a normal bearing component, the gravity anchor body is connected with one end of the normal bearing component through a plurality of chains, and the other end of the normal bearing component is connected with the connecting ring of each frame connecting rod on the lower frame through the chain.
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| CN111567454B (en) * | 2020-05-19 | 2021-11-19 | 上海工程技术大学 | Novel foldable deep sea aquaculture net cage capable of absorbing wave energy |
| CN111496819B (en) * | 2020-06-16 | 2021-08-24 | 山东大学 | Scalable robot trunk and bionic quadruped robot |
| JP2023531015A (en) * | 2020-06-19 | 2023-07-20 | ザ コースロン インスティテュート トラスト ボード | Apparatus, assembly and method for use in high energy marine environments |
| CN112514859B (en) * | 2020-11-17 | 2022-09-06 | 海南省海洋与渔业科学院 | Device for efficiently catching deep-sea net cage |
| CN113455435B (en) * | 2021-06-23 | 2022-11-29 | 江苏科技大学 | Variable-volume deep sea butterfly-shaped net cage and regulation and control method thereof |
| CN115199914B (en) * | 2022-06-16 | 2023-06-02 | 上海工程技术大学 | Easily hidden investigation equipment carries on platform |
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| CA2617862C (en) * | 2005-09-15 | 2013-09-24 | Nv Bekaert Sa | Foldable aquaculture net |
| GB201417161D0 (en) * | 2014-09-29 | 2014-11-12 | Oxford Space Systems Ltd | Deployable structure |
| CN106078681A (en) * | 2016-06-27 | 2016-11-09 | 天津大学 | A kind of telescopic six prism frame structure |
| CN208370674U (en) * | 2018-05-25 | 2019-01-15 | 广东海洋大学 | A kind of extension type aquaculture net cage |
| CN109681824B (en) * | 2018-12-06 | 2020-12-11 | 永康市久久科技有限公司 | Street lamp capable of shading sun and shielding rain |
| CN110036959B (en) * | 2019-04-25 | 2021-10-22 | 上海工程技术大学 | Multifunctional primary-secondary type marine ecological breeding net cage |
| CN110115239B (en) * | 2019-06-21 | 2021-09-21 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Foldable floating marine fishery culture platform |
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