CN111012541B - Long thorn starfish is syringe under water and integration platform of controlling thereof - Google Patents
Long thorn starfish is syringe under water and integration platform of controlling thereof Download PDFInfo
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- CN111012541B CN111012541B CN201911402469.7A CN201911402469A CN111012541B CN 111012541 B CN111012541 B CN 111012541B CN 201911402469 A CN201911402469 A CN 201911402469A CN 111012541 B CN111012541 B CN 111012541B
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- medicine
- needle head
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61D—VETERINARY INSTRUMENTS, IMPLEMENTS, TOOLS, OR METHODS
- A61D7/00—Devices or methods for introducing solid, liquid, or gaseous remedies or other materials into or onto the bodies of animals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
Abstract
The invention discloses an underwater syringe of a long-thorn starfish, which comprises a medicine drawing unit and an injection unit, wherein the injection unit comprises a needle head, a needle head protective tube sleeved outside the needle head and a first driving unit for driving the needle head and the needle head protective tube to move relatively, the first driving unit in the injection unit is connected with the needle head and drives the needle head to reciprocate along the needle head protective tube so as to realize the extension or retraction of the needle head from the needle head protective tube, the needle head is connected with the medicine drawing unit, the medicine drawing unit is used for drawing medicine liquid and conveying the drawn medicine liquid to the needle head, and the injection unit is used for injecting the drawn medicine liquid into an underwater organism. The underwater biological automatic catching and killing device has the advantages that automatic catching and killing of underwater organisms is realized, a diver does not need to submerge into water, long-time catching and killing of the underwater organisms in deeper sea areas can be realized, the hit rate is high, the catching and killing effect is good, and the needle head is well protected. Simultaneously, the integrated control platform for the long starfish underwater injector is disclosed, and the long starfish underwater injector can be simply and quickly fixed on an underwater robot through the integrated control platform.
Description
The technical field is as follows:
the invention belongs to the technical field of underwater equipment, and particularly relates to a starfish underwater injector and an integrated control platform thereof.
Background art:
coral reefs play an important role in marine ecosystems, and provide a comfortable living environment for young fish, worms, mollusks, sponges, echinoderm organisms, crustaceans and many other animals and plants. It is estimated that about 25% of all marine species live in coral reef areas worldwide. Acanthopanax senticosus, also called as "coral killer", can engulf about 2 squares of coral a day after the adult acanthopanax senticosus, and the coral reef that is being visited by acanthopanax senticosus only has a white coral skeleton left. Acanthopanax japonicus has strong vitality, even if all the tentacles are cut off or most parts of the body are destroyed, the acanthopanax japonicus still cannot die, and broken pieces can still grow into complete acanthopanax japonicus.
The present invention discloses a pesticide for killing acanthaster, which is an injection pesticide for killing acanthaster caused by coral enemy as disclosed in patent CN 110178855A. At present, a diver generally needs to submerge into the sea bottom and inject liquid medicine into the starfishes for killing. With the gradual rise of labor cost and higher danger coefficient of diving into the sea bottom, acanthopoda starfish easily stabs divers, and a starfish catching and killing device capable of being carried on an underwater robot is absolutely needed.
The invention content is as follows:
the invention aims to overcome the defects in the prior art, and seeks to design an underwater starfish injector and an integrated control platform thereof, so that the problem that the existing underwater organisms are difficult to automatically kill is solved, and the problem that a needle head is exposed and easily damaged is solved.
In order to achieve the purpose, the invention relates to an underwater syringe of a long-thorn starfish, which comprises a medicine drawing unit and an injection unit, wherein the injection unit comprises a needle head, a needle head protective tube sleeved outside the needle head and a first driving unit for driving the needle head and the needle head protective tube to move relatively, the first driving unit in the injection unit is connected with the needle head, the needle head is driven to reciprocate along the needle head protective tube to realize the extension or retraction of the needle head from the needle head protective tube, the needle head is connected with the medicine drawing unit, the medicine drawing unit is used for drawing medicine liquid and conveying the drawn medicine liquid to the needle head, and the injection unit is used for injecting the drawn medicine liquid into an underwater organism.
The first driving unit comprises a sealing shell, a driving assembly and a transmission assembly, the driving assembly is connected with the transmission assembly and used for driving the transmission assembly to work, and the driving assembly and the transmission assembly are arranged in the sealing shell.
The sealing shell comprises a front end cover, an end cover sealing ring, a barrel and a rear end cover, wherein the front end cover and the rear end cover are fixed at the front end and the rear end of the barrel in a sealing mode through the end cover sealing ring.
Specifically, the drive assembly includes a motor fixed within a sealed housing.
Further, the transmission assembly comprises a pull rod, a bearing fixing seat, a bearing, a transmission nut, a locking nut and a coupler, the motor is connected with one end of the transmission nut through the coupler, one end of the pull rod is in threaded connection with a through hole formed in the inner side of the other end of the transmission nut, the front end and the rear end of the transmission nut are fixed on the bearing fixing seat through the bearing, the bearing seat is fixed on the inner side of the barrel, the locking nut is connected to the transmission nut close to one side of the coupler and used for locking the transmission nut, and the other end of the pull rod extends out of the center of the front end cover of the sealing shell.
The injection unit further comprises a sliding block, a connecting pipe and a liquid conveying pipe, the rear end of the needle head protective pipe is fixed on a front end cover of the sealing shell, the stretching end of the pull rod is connected with the sliding block, the liquid conveying pipe is inserted into a through hole in the center of the sliding block, the connecting pipe connected with the output end of the medicine drawing unit is connected with one end of the liquid conveying pipe arranged in the sliding block, the needle head is fixedly connected with one end of the liquid conveying pipe stretching out of the sliding block, the needle head, the sliding block, the connecting pipe and the liquid conveying pipe are arranged in a cavity formed in the needle head protective pipe, and the needle head is driven by the stretching end of the pull rod to move back and forth along the cavity so as to stretch out or retract from the needle head protective pipe.
The first pipeline, the cavity that the syringe needle pillar was seted up is constituted to second pipeline and fluting, the internal diameter of first pipeline is less than the internal diameter of second pipeline, set up the fluting that is linked together with the second pipeline on the syringe needle pillar lateral wall, first pipeline and the second pipeline of coaxial are linked together and run through the syringe needle pillar, preceding slider and back slider constitute the slider, the diameter of preceding slider is less than the diameter of back slider, link to each other with preceding slider and the back slider of coaxial, back slider stretches out the end with the pull rod and is connected, when out of work, back slider rear end supports and leans on second pipeline rear end, syringe needle and preceding slider front end are all arranged in first pipeline, in operation, back slider front end supports and leans on second pipeline front end, preceding slider stretches into in the first pipeline, the syringe needle stretches out first pipeline, the gliding in-process of slider, the connecting pipe moves along the fluting.
The medicine drawing unit comprises a first driving unit and a medicine drawing assembly, the first driving unit comprises a sealing shell, a driving assembly and a transmission assembly, the driving assembly is connected with the transmission assembly and used for driving the transmission assembly to work, the extending end of a pull rod in the transmission assembly is connected with the medicine drawing assembly and used for driving the medicine drawing assembly to draw medicine liquid and convey the drawn medicine liquid to the injection unit, and the driving assembly and the transmission assembly are arranged in the sealing shell.
The medicine drawing assembly comprises a first one-way valve, a second one-way valve, a medicine collecting head, a glass tube, a piston, an injector fixing seat and a medicine bag; the rear end of a syringe fixing seat is fixed at the front end of a sealing shell, the rear end of a glass tube is fixed at the front end of the syringe fixing seat, the front end of the glass tube is connected with a medicine collecting head, the extending end of a pull rod penetrates through the syringe fixing seat and is connected with a piston which is arranged in the glass tube and reciprocates along the inner wall of the glass tube, the length of the syringe fixing seat is larger than or equal to the stroke of the piston in reciprocating motion, the medicine collecting head comprises a medicine inlet tube and a medicine outlet tube, one end of the medicine outlet tube is communicated with the front end of the glass tube, the other end of the medicine outlet tube is communicated with a transfusion tube through a connecting tube, one end of the medicine inlet tube is communicated with a medicine bag, the other end of the medicine inlet tube is connected onto the medicine outlet tube, a second one-way valve and a first one-way valve are respectively arranged in the medicine inlet tube and the medicine outlet tube, when the piston moves forwards along the inner wall of the glass tube, the first one-way valve is switched on, and when the piston moves backwards along the inner wall of the glass tube, the first one-way valve is switched on.
The second sealing gasket is arranged in a groove formed in the front end of the injector fixing seat, the rear end of the injector locking sleeve arranged outside the glass tube is in threaded connection with the groove formed in the front end of the injector fixing seat, the second sealing gasket is compressed, the front end of the injector locking sleeve is coated above the joint of the medicine outlet tube and the glass tube, and the first sealing gasket is arranged at the joint of the medicine outlet tube, the glass tube and the injector locking sleeve.
The long-thorn starfish underwater injector further comprises a control unit, the control unit is respectively connected with a control system of the underwater robot, a circuit board of the medicine drawing unit and a circuit board of the injection unit, and the control unit respectively drives the motor to drive the pull rod to move through the work of the driving circuit board so as to draw/inject the medicine liquid and extend/retract the needle head.
The utility model provides a long thorn starfish underwater injector integrates and controls platform, including the roof, the curb plate, the connecting plate, draw the medicine unit fixed block, inject the unit fixed block, a fixed base, the connecting rod, the electronic seal cabin, the clamp, body and medicine bag, the roof left and right sides is connected with a curb plate respectively, the electronic seal cabin passes through the clamp to be fixed in the lower part of roof, the control unit is arranged in the electronic seal cabin, draw the medicine unit to fix on the upper portion of roof through drawing the medicine unit fixed block, the injection unit fixed block with injection unit tail end fixed connection rotates with the fixed base of fixing in the roof lower part to be connected, another injection unit fixed block is connected with injection unit first half, it rotates with the fixed base of fixing in the roof lower part through the connecting rod to be connected, curb plate upper portion is passed through the connecting plate and is connected with underwater robot main body frame.
Further, a floating body is fixed on the long sea star underwater injector tool.
The trapping and killing device has good trapping and killing effect on the underwater organisms moving slowly, such as starfishes, and is certainly suitable for trapping and killing other underwater organisms.
Compared with the prior art, the invention has the following beneficial effects: the underwater biological automatic catching and killing device has the advantages that automatic catching and killing of underwater organisms is realized, a diver does not need to submerge into water, long-time catching and killing of the underwater organisms in deeper sea areas can be realized, the hit rate is high, the catching and killing effect is good, and the needle head is well protected.
Description of the drawings:
fig. 1 is a sectional view of an underwater syringe of starfish according to example 1.
Fig. 2 is a perspective view of the long starfish underwater injector according to embodiment 1.
FIG. 3 is a schematic view of the normal state of the injection unit in example 1.
FIG. 4 is a schematic view of the operation state of the injection unit in embodiment 1.
Fig. 5 is a perspective view of the long starfish underwater injector according to embodiment 2.
Fig. 6 is a side view of fig. 5.
Fig. 7 is a broken view of the injection unit according to embodiment 2.
The specific implementation mode is as follows:
the invention is further illustrated by the following specific examples in combination with the accompanying drawings.
Example 1:
the terms "front" and "rear" in the present invention are for convenience of description, and are defined with reference to the use state of the trap.
The embodiment relates to a long-thorn starfish underwater injector, which comprises a medicine drawing unit and an injection unit, wherein the injection unit comprises a needle head 2, a needle head protective tube 1 sleeved outside the needle head 2 and a second driving unit for driving the needle head 2 and the needle head protective tube 1 to move relatively, the second driving unit is connected with the needle head protective tube 1 and drives the needle head protective tube 1 to reciprocate along the needle head 2, so that the needle head 2 extends out of or retracts into the needle head protective tube 1, the needle head 2 is connected with a medicine drawing unit, the medicine drawing unit is used for drawing liquid medicine and conveying the liquid medicine to the needle head, and the injection unit is used for injecting the drawn liquid medicine into an underwater organism.
The second driving unit comprises a protective tube guide sleeve 3, a spring 4, a sensor fixing plate 5, a sensor 6, a needle locking sleeve 7 and a sensor trigger 38; the protective tube guide sleeve 3 is arranged outside the needle protective tube 1, one end of the needle 2 is communicated with the medicine drawing unit, the needle locking sleeve 7 is fixed on a central hole of the sensor fixing plate 5, the free end of the needle passes through the central hole of the needle locking sleeve 7, the needle 2 is locked and fixed by the needle locking sleeve 7 and then inserted into the needle protective tube 1, the spring 4 is sleeved outside the needle 2, one end of the spring is abutted against the needle locking sleeve 7, the other end of the spring extends into a groove arranged on the inner side of the bottom of the needle protective tube 1, the needle protective tube 1 comprises a front tube 39 and a rear tube 40 which have the same inner diameter, the outer diameter of the rear tube 40 is larger than that of the front tube 39, a boss is formed at the outer side of the connection part after the front tube 39 and the rear tube 40 are coaxially and fixedly connected, the front tube 39 is inserted into the protective tube guide sleeve 3, the sensor 6 is fixed on one side of the sensor fixing plate 5, a sensor trigger 38 matched with the sensor 6 is fixed on the rear tube 40, the needle protective tube 1 moves back and forth in a cavity in the middle part of the protective tube guide sleeve 3 relative to the needle 2, when the sensor trigger 38 moves to the foremost end, the boss abuts against the protective tube guide sleeve 3, the spring is in a free extension state and moves backwards to drive the sensor trigger to move to the sensing range of the sensor, and the spring is compressed. The sensor may be an underwater proximity switch and the corresponding sensor trigger 38 is a sensing strip.
Under the normal state, under the elasticity of the spring 4, the needle protection tube 1 protects the needle outside the needle 2. Under the action of external force, the needle protecting tube 1 overcomes the elasticity of the spring 4 and moves backwards in the working state, and the needle is exposed.
The medicine drawing unit comprises a first driving unit and a medicine drawing assembly, the first driving unit comprises a sealing shell, a driving assembly and a transmission assembly, the driving assembly is connected with the transmission assembly and used for driving the transmission assembly to work, the extending end of a pull rod in the transmission assembly is connected with the medicine drawing assembly and used for driving the medicine drawing assembly to draw medicine liquid and convey the drawn medicine liquid to the injection unit, and the driving assembly and the transmission assembly are arranged in the sealing shell.
The sealing shell comprises a front end cover 22, an end cover sealing ring 23, a cylinder body 24 and a rear end cover 34, wherein the front end cover 22 and the rear end cover 34 are fixed at the front end and the rear end of the cylinder body 24 through the end cover sealing ring 23 in a sealing mode.
Specifically, the driving assembly is a motor 31 and a circuit board 33, one end of the circuit board 33 is connected with the motor 31, the motor 31 is fixed in the sealed shell through a motor fixing plate 30, and the circuit board 33 is arranged at the rear end of the sealed shell.
Further, the transmission assembly comprises a pull rod 19, a bearing fixing seat 25, a bearing 26, a transmission nut 27, a locking nut 28 and a coupler 29, a motor 31 is connected with one end of the transmission nut 27 through the coupler 29, one end of the pull rod 19 is in threaded connection with a through hole formed in the inner side of the other end of the transmission nut 27, the front end and the rear end of the transmission nut 27 are fixed on the bearing fixing seat 25 through the bearing 26, a bearing seat is fixed on the inner side of the cylinder 24, the locking nut 28 is connected to the transmission nut 27 close to one side of the coupler 29 and used for locking the transmission nut 27, and the other end of the pull rod 19 extends out of the center of the front end cover of the sealing shell. In order to ensure the sealing performance, a groove is arranged on the front end cover, and the star ring 21 is sleeved on the pull rod 19 and is pressed in the groove through the baffle plate 20.
Further, the medicine drawing assembly comprises a first one-way valve 9, a second one-way valve 10, a medicine collecting head 11, a glass tube 14, a piston 15, an injector fixing seat 18 and a medicine bag; the rear end of a syringe fixing seat 18 is fixed at the front end of a sealing shell, the rear end of a glass tube 14 is fixed at the front end of the syringe fixing seat 18, the front end of the glass tube 14 is connected with a medicine collecting head 11, the extending end of a pull rod 19 penetrates through the syringe fixing seat 18 and is connected with a piston 15 which is arranged in the glass tube 14 and reciprocates along the inner wall of the glass tube 14, the length of the syringe fixing seat 18 is larger than or equal to the stroke of the piston in reciprocating motion, the medicine collecting head 11 comprises a medicine inlet tube 37 and a medicine outlet tube 36, one end of the medicine outlet tube 36 is communicated with the front end of the glass tube 14, the other end of the medicine inlet tube 36 is communicated with a medicine bag, the other end of the medicine inlet tube 37 is connected with the medicine outlet tube 36, a second one-way valve 10 and a first one-way valve 9 are respectively arranged in the medicine inlet tube 37 and the medicine outlet tube 36, when the piston moves forwards along the inner wall of the glass tube 14, the first one-way valve 9 is conducted, the second one-way valve 10 is stopped, and when the piston moves backwards along the inner wall of the glass tube 14, the first check valve 9 is closed and the second check valve 10 is open. The front end of the injector fixing seat 18 is connected with the sensor fixing plate 5 through 4 upright posts 8 on the circumferential direction, and the medicine drawing assembly is arranged in a space surrounded by the upright posts. The sensor fixing plate is supported by the upright posts, and the medicine drawing assembly is protected.
In order to ensure the tightness of the connection between the glass tube 14 and the medicine outlet tube 36 and the syringe fixing seat 18. The second sealing gasket 17 is arranged in a groove formed in the front end of the injector fixing seat 18, the rear end of the injector locking sleeve 13 arranged outside the glass tube 14 is in threaded connection with the groove formed in the front end of the injector fixing seat 18, the second sealing gasket 17 is pressed tightly, the front end of the injector locking sleeve 13 is coated above the joint of the medicine outlet tube 36 and the glass tube 14, and the first sealing gasket 12 is arranged at the joint of the medicine outlet tube 36, the glass tube 14 and the injector locking sleeve 13. Further, a piston packing 16 is provided at the joint of the piston 15 and the glass tube 14.
The long-thorn starfish underwater injector further comprises a control unit, and the control unit is respectively connected with a control system of the underwater robot, a circuit board of the medicine drawing unit and a sensor.
The long starfish underwater injector comprises the following specific working processes: the underwater robot carries the long-thorn starfish underwater injector to move to the side of an organism to be killed, such as a starfish, the needle head 2 is penetrated into the starfish body, under the action of pressure, the needle head protection tube 1 moves backwards to drive the induction sheet to move backwards, the spring is compressed, when the induction sheet moves into the induction range of the underwater proximity switch 6, the underwater proximity switch 6 sends a signal to the control unit, the control unit sends a signal to the circuit board, the circuit board 33 drives the motor 31 to work, the motor 31 rotates forwards (or reversely), the drive nut 27 is driven to rotate around the bearing 26 through the coupler 29, as the drive nut 27 is in threaded connection with the pull rod 19, the pull rod 19 moves forwards to drive the piston 15 to move forwards along the inner wall of the glass tube 14, the liquid in the glass tube 14 is compressed, the second one-way valve 10 is closed, the first one-way valve 9 is switched on, the liquid medicine in the glass tube 14 is pushed to flow into the needle head 2 from the medicine outlet tube 36, and then enter the starfish body to complete the injection. The needle head 2 is pulled out, the needle head protective tube 1 moves forwards and returns under the action of the spring, and the needle head protective tube is arranged outside the needle head 2 to avoid the damage of the needle head under the action of external force. After injection is completed, the control unit sends a signal to the circuit board, the circuit board 33 drives the motor 31 to work, the motor 31 rotates in the reverse direction (or in the forward direction), the transmission nut 27 is driven to rotate around the bearing 26 through the coupler 29, the pull rod 19 moves backwards due to the threaded connection of the transmission nut 27 and the pull rod 19, the pull rod 19 moves backwards, the piston 15 is driven to move backwards along the inner wall of the glass tube 14, vacuum is formed in the glass tube 14, the second one-way valve 10 is switched on, the first one-way valve 9 is switched off, and liquid medicine in the medicine bag enters the glass tube through the medicine inlet tube 38 to wait for next injection.
Example 2
As shown in fig. 1, the long starfish underwater injector described in embodiment 1 is directly fixed to the underwater robot body. The underwater injector is limited by the space structure of the underwater robot, the loading and disassembling processes are complicated, and due to the fact that the trap is long, an obstacle avoidance plate needs to be additionally arranged, and the collision of the long-thorn starfish underwater injector is avoided. In addition, because the needle 2 in the injection unit is fixed, the needle protection tube 1 contracts under the action of external force, the needle 2 is exposed, and the injection is completed. The needle protection tube 1 can be contracted when touching any object on the seabed, and when touching a hard object such as a stone or a pipeline, the needle 2 is particularly easy to bend and damage, thereby influencing normal use.
For this reason, the present embodiment contemplates another long starfish underwater injector.
The embodiment relates to a long-thorn starfish underwater injector, which comprises a medicine drawing unit and an injection unit, wherein the injection unit comprises a needle head, a needle head protective tube 1 sleeved outside the needle head and a first driving unit for driving the needle head and the needle head protective tube 1 to move relatively, the first driving unit in the injection unit is connected with the needle head 2, the needle head 2 is driven to reciprocate along the needle head protective tube 1, the needle head 2 is extended out or retracted from the needle head protective tube 1, the needle head is connected with the medicine drawing unit, the medicine drawing unit is used for drawing liquid medicine and conveying the drawn liquid medicine to the needle head, and the injection unit is used for injecting the drawn liquid medicine into an underwater organism.
The first driving unit is the same as that in embodiment 1.
The injection unit further comprises a sliding block 51, a connecting pipe 52 and a liquid conveying pipe 53, the rear end of the needle head protective pipe 1 is fixed on a front end cover of the sealing shell, the extending end of the pull rod 19 is connected with the sliding block, the liquid conveying pipe 53 is inserted into a through hole in the center of the sliding block, the connecting pipe 52 connected with the output end of the medicine drawing unit is connected with one end of the liquid conveying pipe 53 arranged in the sliding block, the needle head is fixedly connected with one end of the liquid conveying pipe 53 extending out of the sliding block, the needle head, the sliding block 51, the connecting pipe 52 and the liquid conveying pipe 53 are arranged in a cavity formed in the needle head protective pipe 1, and the needle head 2 moves back and forth along the cavity under the driving of the extending end of the pull rod 19, so that the needle head 2 extends out of or retracts from the needle head protective pipe 1.
The first pipeline, the cavity that syringe needle pillar 1 was seted up is constituted to second pipeline and fluting, the internal diameter of first pipeline is less than the internal diameter of second pipeline, set up the fluting that is linked together with the second pipeline on the syringe needle pillar lateral wall, it runs through the syringe needle pillar to be linked together with the first pipeline of axle center and second pipeline, preceding slider and back slider constitute the slider, the diameter of preceding slider is less than the diameter of back slider, link to each other with the preceding slider of axle center and back slider, back slider stretches out the end with the pull rod and is connected, when out of work, back slider rear end supports and leans on second pipeline rear end, syringe needle and preceding slider front end are all arranged in first pipeline, in operation, back slider front end supports and leans on second pipeline front end, preceding slider stretches into in the first pipeline, the syringe needle stretches out first pipeline.
The medicine drawing unit comprises a first driving unit and a medicine drawing assembly, the first driving unit comprises a sealing shell, a driving assembly and a transmission assembly, the driving assembly is connected with the transmission assembly and used for driving the transmission assembly to work, the extending end of a pull rod in the transmission assembly is connected with the medicine drawing assembly and used for driving the medicine drawing assembly to draw medicine liquid and convey the drawn medicine liquid to the injection unit, and the driving assembly and the transmission assembly are arranged in the sealing shell.
The first driving unit is the same as that in embodiment 1.
The medicine drawing assembly comprises a first one-way valve 9, a second one-way valve 10, a medicine collecting head 11, a glass tube 14, a piston 15, an injector fixing seat 18 and a medicine bag; the rear end of a syringe fixing seat 18 is fixed at the front end of a sealing shell, the rear end of a glass tube 14 is fixed at the front end of the syringe fixing seat 18, the front end of the glass tube 14 is connected with a medicine collecting head 11, the extending end of a pull rod 19 penetrates through the syringe fixing seat 18 and is connected with a piston 15 which is arranged in the glass tube 14 and reciprocates along the inner wall of the glass tube 14, the length of the syringe fixing seat 18 is larger than or equal to the stroke of the piston in reciprocating motion, the medicine collecting head 11 comprises a medicine inlet tube 37 and a medicine outlet tube 36, one end of the medicine outlet tube 36 is communicated with the front end of the glass tube 14, the other end of the medicine outlet tube is communicated with a transfusion tube 53 through a connecting tube 52, one end of the medicine inlet tube 37 is communicated with a medicine bag, the other end of the medicine outlet tube 36 is connected with the medicine outlet tube 36, a second one-way valve 10 and a first one-way valve 9 are respectively arranged in the medicine inlet tube 37 and the medicine outlet tube 36, when the piston moves forwards along the inner wall of the glass tube 14, the first one-way valve 9 is conducted, the second one-way valve 10 is stopped, when the piston moves backwards along the inner wall of the glass tube 14, the first check valve 9 is closed and the second check valve 10 is open.
In order to ensure the tightness of the connection between the glass tube 14 and the medicine outlet tube 36 and the syringe fixing seat 18. The second sealing gasket 17 is arranged in a groove formed in the front end of the injector fixing seat 18, the rear end of the injector locking sleeve 13 arranged outside the glass tube 14 is in threaded connection with the groove formed in the front end of the injector fixing seat 18, the second sealing gasket 17 is pressed tightly, the front end of the injector locking sleeve 13 is coated above the joint of the medicine outlet tube 36 and the glass tube 14, and the first sealing gasket 12 is arranged at the joint of the medicine outlet tube 36, the glass tube 14 and the injector locking sleeve 13. Further, a piston packing 16 is provided at the joint of the piston 15 and the glass tube 14.
The long-thorn starfish underwater injector further comprises a control unit, the control unit is respectively connected with a control system of the underwater robot, a circuit board of the medicine drawing unit and a circuit board of the injection unit, and the control unit respectively drives the motor to drive the pull rod to move through the work of the driving circuit board so as to draw/inject the medicine liquid and extend/retract the needle head.
The long starfish underwater injector comprises the following specific working processes: the underwater robot carries the long-thorn starfish underwater injector to move to the side of an organism to be killed, such as a starfish, the underwater robot sends a signal to the control unit, the control unit drives a motor corresponding to the control unit to rotate in the forward direction (or in the reverse direction) through a circuit board in the injection unit, the drive nut 27 is driven to rotate around the bearing 26 through the coupler 29, and the pull rod 19 moves forwards due to the threaded connection of the drive nut 27 and the pull rod 19, and the needle extends out to penetrate into the body of the starfish. Then, under the control of the control unit, the motor in the medicine drawing unit rotates in the forward direction (or rotates in the reverse direction), the transmission nut 27 is driven to rotate around the bearing 26 through the coupler 29, the transmission nut 27 is in threaded connection with the pull rod 19, the pull rod 19 moves forward, the piston 15 is driven to move forward along the inner wall of the glass tube 14, liquid in the glass tube 14 is compressed, the second one-way valve 10 is closed, the first one-way valve 9 is opened, and medicine liquid in the glass tube 14 is pushed to flow into the needle head 2 from the medicine outlet tube 39 and then enter the starfish body, so that injection is completed. After completion, under the control of the control unit, the circuit board in the injection unit drives the motor corresponding to the circuit board to rotate in the reverse direction (or in the forward direction), the drive nut 27 is driven to rotate around the bearing 26 through the coupling 29, and the pull rod 19 moves backwards due to the threaded connection between the drive nut 27 and the pull rod 19, so that the needle is retracted into the needle protection tube. Meanwhile, under the control of the control unit, the motor in the medicine drawing unit rotates in the reverse direction (or rotates in the forward direction), the transmission nut 27 is driven to rotate around the bearing 26 through the coupler 29, the transmission nut 27 is in threaded connection with the pull rod 19, the pull rod 19 moves backwards, the piston 15 is driven to move backwards along the inner wall of the glass tube 14, vacuum is formed in the glass tube 14, the second one-way valve 10 is switched on, the first one-way valve 9 is switched off, and medicine liquid in the medicine bag enters the glass tube through the medicine inlet tube 38 to wait for next injection.
An integrated control platform of a long-thorn starfish underwater injector comprises a top plate 45, side plates 42, a connecting plate 40, a medicine drawing unit fixing block 41, an injection unit fixing block 47, a fixing base 48, a connecting rod 46, an electronic sealed cabin 50, a hoop 49, a floating body 43 and a medicine bag 44, wherein the left side and the right side of the top plate 45 are respectively connected with the side plates 42, the electronic sealed cabin 50 is fixed at the lower part of the top plate 45 through the hoop 49, a control unit is arranged in the electronic sealed cabin 50, the medicine drawing unit is fixed at the upper part of the top plate 45 through the medicine drawing unit fixing block 41, the injection unit fixing block 47 fixedly connected with the tail end of the injection unit is rotatably connected with the fixing base 48 fixed at the lower part of the top plate 45, the other injection unit fixing block 47 is connected with the front part of the injection unit and is rotatably connected with the fixing base 48 fixed at the lower part of the top plate 45 through the connecting rod 46, and the injection angle of the injection unit can be adjusted by adjusting the length of the connecting rod 46, the upper part of the side plate 42 is connected with the main body frame of the underwater robot through the connecting plate 40. The long sea star underwater injector is convenient and quick to mount and dismount only by dismounting and mounting the bolts on the connecting plate.
Further, the floating body 43 is fixed on the long sea starfish underwater injector integrated operation platform to reduce the weight of the underwater equipment in water.
Claims (8)
1. The long-thorn starfish underwater injector is characterized by comprising a medicine drawing unit, an injection unit and a control unit, wherein the injection unit comprises a needle head, a needle head protective tube sleeved outside the needle head and a first driving unit for driving the needle head and the needle head protective tube to move relatively;
the drug drawing unit comprises a first driving unit and a drug drawing assembly, wherein the extension end of the first driving unit is connected with the drug drawing assembly and is used for driving the drug drawing assembly to draw drug liquid and conveying the drawn drug liquid to the injection unit;
the first driving unit comprises a sealing shell, a driving assembly and a transmission assembly, the driving assembly is connected with the transmission assembly and used for driving the transmission assembly to work, and the driving assembly and the transmission assembly are arranged in the sealing shell;
the medicine drawing component comprises a first one-way valve, a second one-way valve, a medicine collecting head, a glass tube, a piston, an injector fixing seat and a medicine bag; the rear end of a syringe fixing seat is fixed at the front end of a sealing shell, the rear end of a glass tube is fixed at the front end of the syringe fixing seat, the front end of the glass tube is connected with a medicine collecting head, the extending end of a pull rod of a first driving unit penetrates through the syringe fixing seat and is connected with a piston which is arranged in the glass tube and reciprocates along the inner wall of the glass tube, the length of the syringe fixing seat is more than or equal to the stroke of the piston in reciprocating motion, the medicine collecting head comprises a medicine inlet tube and a medicine outlet tube, one end of the medicine outlet tube is communicated with the front end of the glass tube, the other end of the medicine outlet tube is communicated with a transfusion tube through a connecting tube, one end of the medicine inlet tube is communicated with a medicine bag, the other end of the medicine inlet tube is connected to the medicine outlet tube, a second one-way valve and a first one-way valve are respectively arranged in the medicine inlet pipe and the medicine outlet pipe, when the piston moves forwards along the inner wall of the glass tube, the first one-way valve is switched on, the second one-way valve is switched off, and when the piston moves backwards along the inner wall of the glass tube, the first one-way valve is switched off and the second one-way valve is switched on;
the control unit is respectively connected with a control system of the underwater robot, a circuit board of the medicine drawing unit and a circuit board of the injection unit, and the pull rod is driven to move by driving the circuit boards to work so as to draw/inject the medicine liquid and extend/retract the needle head;
the underwater robot carries the long-thorn starfish underwater injector to move to the side of an organism to be killed, the underwater robot sends a signal to the control unit, the control unit controls the driving assembly in the injection unit to work, the driving assembly controls the corresponding transmission assembly to work, the pull rod in the transmission assembly moves forwards, the needle head extends out to penetrate into the organism, then, under the control of the control unit, the driving assembly in the medicine drawing unit works, the driving assembly drives the corresponding transmission assembly to work, the pull rod in the transmission assembly moves forwards to drive the piston to move forwards along the inner wall of the glass tube, liquid in the glass tube is compressed, the second one-way valve is stopped, the first one-way valve is switched on to push liquid medicine in the glass tube to flow into the needle head from the medicine outlet tube and further enter the organism, injection is completed, and under the control of the control unit, the driving assembly in the injection unit works, the drive assembly controls the corresponding transmission assembly to work, the pull rod in the transmission assembly moves backwards, the needle retracts into the needle head protection tube, meanwhile, under the control of the control unit, the drive assembly in the medicine drawing unit works, the drive assembly controls the corresponding transmission assembly to work, the pull rod in the transmission assembly moves backwards to drive the piston to move backwards along the inner wall of the glass tube, vacuum is formed in the glass tube, the second one-way valve is switched on, the first one-way valve is switched off, and medicine liquid in the medicine bag enters the glass tube through the medicine inlet tube to wait for next injection.
2. The long-thorn starfish underwater injector according to claim 1, wherein the injection unit further comprises a slider, a connecting pipe and an infusion pipe, the rear end of the needle head protective pipe is fixed on the front end cover of the sealing shell, the extending end of the pull rod is connected with the slider, the infusion pipe is inserted into a through hole in the center of the slider, the connecting pipe connected with the output end of the medicine drawing unit is connected with one end of the infusion pipe arranged in the slider, the needle head is fixedly connected with one end of the infusion pipe extending out of the slider, the needle head, the slider, the connecting pipe and the infusion pipe are arranged in a cavity formed in the needle head protective pipe, and the needle head moves back and forth along the cavity under the driving of the extending end of the pull rod, so that the needle head extends out of or retracts back into the needle head protective pipe.
3. The underwater Long Neptune injector of claim 1, wherein the first tube, the second tube and the slot form a cavity defined by the needle guard, the first tube having an inner diameter smaller than that of the second tube, the side wall of the needle head protective tube is provided with a groove communicated with the second pipeline, the first pipeline and the second pipeline which are coaxial are communicated and penetrate through the needle head protective tube, the front sliding block and the rear sliding block form a sliding block, the diameter of the front sliding block is smaller than that of the rear sliding block, the front sliding block and the rear sliding block which are coaxial are connected, the rear sliding block is connected with the extending end of the pull rod, when the needle head protective tube does not work, the rear end of the rear slide block is abutted against the rear end of the second pipeline, the needle head and the front end of the front slide block are both arranged in the first pipeline, when in work, the back slider front end supports and leans on at the second pipeline front end, and preceding slider stretches into first pipeline in, and the syringe needle stretches out first pipeline, the gliding in-process of slider, the connecting pipe removes along the fluting.
4. The long-thorn starfish underwater injector according to claim 1, wherein the sealing shell comprises a front end cover, an end cover sealing ring, a cylinder body and a rear end cover, the front end cover and the rear end cover are fixed at the front end and the rear end of the cylinder body in a sealing mode through the end cover sealing ring, the driving assembly comprises a motor, and the motor is fixed in the sealing shell.
5. The long-thorn starfish underwater injector according to claim 1, wherein the transmission assembly comprises a pull rod, a bearing fixing seat, a bearing, a transmission nut, a locking nut and a coupler, the motor is connected with one end of the transmission nut through the coupler, one end of the pull rod is in threaded connection with a through hole formed in the inner side of the other end of the transmission nut, the front end and the rear end of the transmission nut are fixed on the bearing fixing seat through the bearing, the bearing seat is fixed on the inner side of the cylinder, the locking nut is connected to the transmission nut close to one side of the coupler and used for locking the transmission nut, and the other end of the pull rod extends out of the center of a front end cover of the sealing shell.
6. The underwater syringe of claim 1, wherein the second gasket is disposed in a groove formed at the front end of the syringe holder, the rear end of the syringe locking sleeve disposed outside the glass tube is in threaded connection with the groove formed at the front end of the syringe holder, the second gasket is compressed, the front end of the syringe locking sleeve covers the connection between the drug discharge tube and the glass tube, and the first gasket is disposed at the connection between the drug discharge tube, the glass tube and the syringe locking sleeve.
7. An integrated manipulation platform for the long spine starfish underwater injector of any one of claims 1 to 6, it is characterized by comprising a top plate, side plates, a connecting plate, a medicine suction unit fixing block, an injection unit fixing block, a fixing seat, a connecting rod, an electronic sealed cabin, a hoop, a floating body and a medicine bag, wherein the left side and the right side of the top plate are respectively connected with the side plates, the electronic sealed cabin is fixed at the lower part of the top plate through the hoop, a control unit is arranged in the electronic sealed cabin, the medicine suction unit is fixed at the upper part of the top plate through the medicine suction unit fixing block, an injection unit fixing block fixedly connected with the tail end of the injection unit is rotatably connected with a fixing seat fixed at the lower part of the top plate, the other injection unit fixing block is connected with the front half part of the injection unit, the underwater robot is rotatably connected with a fixed seat fixed on the lower part of a top plate through a connecting rod, and the upper part of a side plate is connected with a main body frame of the underwater robot through a connecting plate.
8. The integrated handling platform of claim 7, wherein the float is secured to the long sea starfish underwater injector integrated handling platform.
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| CN114365737A (en) * | 2022-01-10 | 2022-04-19 | 国家海洋环境监测中心 | Device for underwater inactivation of starfish |
| CN114287364A (en) * | 2022-01-10 | 2022-04-08 | 国家海洋环境监测中心 | Underwater inactivation process for starfish |
| CN114667973B (en) * | 2022-03-24 | 2023-03-14 | 自然资源部第三海洋研究所 | Collection system of coral reef area acanthoceras echinata |
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