CN111422332A - Launching type flexible fishing robot for marine suspended matters - Google Patents
Launching type flexible fishing robot for marine suspended matters Download PDFInfo
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- CN111422332A CN111422332A CN202010136397.2A CN202010136397A CN111422332A CN 111422332 A CN111422332 A CN 111422332A CN 202010136397 A CN202010136397 A CN 202010136397A CN 111422332 A CN111422332 A CN 111422332A
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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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- 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
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
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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
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
- B63C7/16—Apparatus engaging vessels or objects
- B63C7/18—Apparatus engaging vessels or objects using nets
Abstract
The invention discloses a launch type flexible fishing robot for marine suspended matters. The device comprises an autonomous submersible vehicle and a net throwing component; the autonomous underwater vehicle comprises a cylindrical shell, a propeller, a transmitter, an air bag and a connecting rope; three pairs of propellers are arranged on the peripheral surface of the cylindrical shell, and the propellers push the cylindrical shell to move underwater to realize the autonomous maneuvering of the robot; the air bag is arranged at the tail part of the cylindrical shell, explosive is filled in the air bag, the emitter is arranged at the head part of the cylindrical shell, the emitter is connected with the net throwing component, one end of the connecting rope is connected with the middle part of the front end of the cylindrical shell, and the other end of the connecting rope is connected with the middle part of the three-dimensional net throwing part connected with the net throwing component. The flexible fishing robot has the advantages of strong maneuvering capability, good fault tolerance, high fishing efficiency and the like.
Description
Technical Field
The invention relates to a fishing robot, in particular to a launch-type flexible fishing robot for marine suspended matters.
Background
On one hand, along with the increase of human activities, more and more garbage is accumulated in the ocean, and particularly, some garbage which is not easy to decompose is suspended in the ocean for a long time, so that the bad influence is caused on the quality of seawater and an ocean ecosystem; on the other hand, compared with land transportation and air transportation, sea transportation has the advantages of strong trafficability, low freight price, strong adaptability of one level, and the like, and has become the most important transportation mode in international trade. Therefore, the development of the marine fishing robot has wide application prospect in marine suspended matter fishing. At present, a rigid execution component such as a mechanical arm is generally adopted by the marine fishing robot, the problems of high fishing difficulty, low efficiency, poor reliability and the like exist, and the problem can be solved by considering the design of a novel flexible fishing robot taking a net or cloth as a capturing execution component.
Disclosure of Invention
The invention aims to provide a flexible capturing robot based on a throwing net type against the problems of high fishing difficulty, low efficiency, poor reliability and the like of a rigid fishing robot by taking marine suspended matters as a background, and the flexible capturing robot has the advantages of strong maneuvering capability, good fishing fault tolerance, high fishing efficiency and the like.
In order to achieve the purpose of the invention, the invention adopts the technical scheme that:
the invention comprises an autonomous submersible vehicle and a net throwing component; the autonomous underwater vehicle comprises a cylindrical shell, a propeller, a transmitter, an air bag and a connecting rope; three pairs of propellers are arranged on the peripheral surface of the cylindrical shell, and the propellers push the cylindrical shell to move underwater to realize the autonomous maneuvering of the robot; the air bag is arranged at the tail part of the cylindrical shell, explosive is filled in the air bag, the emitter is arranged at the head part of the cylindrical shell, the emitter is connected with the net throwing component, one end of the connecting rope is connected with the middle part of the front end of the cylindrical shell, and the other end of the connecting rope is connected with the middle part of the three-dimensional net throwing part connected with the net throwing component.
The air bag is a compression type air bag.
The net throwing component comprises four spherical blocks, a three-dimensional net throwing and a net collecting rope.
The spherical block comprises two rope control mechanisms, a spherical shell and an L-shaped supporting plate, wherein the two rope control mechanisms are vertically arranged, the L-shaped supporting plate is fixedly arranged in the spherical shell, two rope control mechanisms are respectively arranged on two side edges of the L-shaped supporting plate, the two rope control mechanisms are vertically arranged, and the bottom of the spherical shell is fixedly connected with a launching plug;
the rope control mechanism comprises a bottom transverse plate, a rope coiling component, a tension adjusting component and a rope walking component, wherein the bottom transverse plate is fixed on an L-shaped supporting plate at the bottom of the spherical shell, the rope coiling component and the rope walking component are respectively arranged on the inner side part and the outer side part of the bottom transverse plate, and the tension adjusting component is arranged on the middle part of the bottom transverse plate and is positioned between the rope coiling component and the rope walking component.
The rope reeling component comprises a speed measuring encoder, a motor brake, a rope reeling motor, a speed changer, a first mounting ear, a rope reeling drum and a second mounting ear, the bottoms of the first mounting ear and the second mounting ear are both mounted on the inner side part of the upper surface of the bottom transverse plate and are oppositely arranged, the speed measuring encoder, the motor brake, the rope reeling motor and the speed changer are sequentially and coaxially connected, the speed changer is fixedly mounted on the first mounting ear through an end face flange, an output shaft of the speed changer movably penetrates through the first mounting ear to be coaxially and fixedly connected with one end of the rope reeling drum, the other end of the rope reeling drum is rotatably supported and mounted on the second mounting ear, and the rope reeling drum is connected with a; the rope running part comprises a tension wheel, a rope running plate, a tension pulley, a bottom transverse plate, a long rope pulley and an auxiliary pulley, wherein the vertical rope running plate is arranged on the outer side part of the bottom transverse plate, and the auxiliary pulley, the tension pulley with the tension sensor, the long rope pulley with the long rope sensor and the tension wheel are sequentially arranged on the rope running plate from the position close to the rope coiling part to the outer side; the tension adjusting part comprises a tension motor, a first bearing support, a T-shaped gear cylinder, a motor gear and a second bearing support, the first bearing support and the second bearing support are fixed on the middle part of the bottom transverse plate and are oppositely arranged, the tension motor is fixedly installed at the bottom of the first bearing support, an output shaft of the tension motor penetrates through the first bearing support and then is coaxially and fixedly connected with the motor gear, the T-shaped gear cylinder mainly comprises a gear disc and a winding shaft which are coaxially connected, two ends of the T-shaped gear cylinder are movably sleeved in inner holes at the tops of the first bearing support and the second bearing support through the first bearing and the second bearing respectively, and the gear disc of the T-shaped gear cylinder and the motor gear are meshed with each other to form a gear pair.
Two ends of the net retracting rope respectively extend into the two spherical shells and are connected with one of the rope control mechanisms, and the net retracting rope is characterized in that: after entering the spherical shell from the through hole on the spherical shell, the end part of the net winding rope sequentially passes through the tension pulley, the rope long pulley, the tension pulley and the auxiliary guide wheel in an S-shaped winding mode, then passes through the through hole on the gear disc of the T-shaped cylinder, then is wound on the winding shaft of the T-shaped cylinder for a plurality of turns, and finally passes through the hole of the second bearing support to be fixedly connected on the inner wall of the rope winding cylinder; four spherical blocks are arranged at four corners of the rectangle, a net collecting rope is connected between two adjacent spherical blocks on the four sides of the rectangle, four net collecting ropes are formed in total, and the four sides of the three-dimensional net throwing are respectively connected with the four net collecting ropes.
The three-dimensional throwing net is a three-dimensional net with a trumpet-shaped structure, the small end of the trumpet-shaped structure is closed and is connected to the middle part of the autonomous submersible vehicle through a connecting rope, the large end of the trumpet-shaped structure is used as a net port, and the edge of the net port is connected with a net collecting rope; the rope control mechanism in the spherical block controls the net collecting rope to be collected and put to drive the spherical block to be close and separated, and then the opening and closing of the net mouth of the three-dimensional net throwing are realized.
The launcher comprises four launching ports, a launching plug is sleeved in each launching port, and the four launching plugs are fixedly connected to the outer walls of spherical shells of the four spherical blocks of the net throwing component respectively.
The head of the autonomous submerged vehicle is provided with the emitter, so that the emission of the net throwing component is realized; the tail part of the autonomous diving device is provided with an air bag, and the air bag can be inflated and expanded by controlling explosive in the air bag, so that floating of salvaged suspended matters is realized; the autonomous submersible vehicle is provided with three pairs of mutually vertical propellers, so that autonomous maneuvering of the robot is realized. The net throwing component comprises four spherical blocks, a three-dimensional net throwing component and net collecting ropes, the spherical blocks realize the net throwing expansion by utilizing the kinetic energy during the launching, a pair of rope control mechanisms which are vertical to each other are arranged inside the spherical blocks, and the net throwing component is closed by the net collecting ropes.
The invention has the beneficial effects that:
1. compared with the prior rigid fishing robot, the invention has the advantages of good fault tolerance, high capturing efficiency and the like.
2. The invention realizes the expansion and the furling of the throwing net through the autonomous maneuvering of the four autonomous spherical submerging devices, can improve the fishing reliability and reduce the complexity of control.
3. In the invention, two ends of each section of net retracting rope are respectively connected to the two rope retracting control modules, and the net opening can be still folded even if one rope retracting control module fails in the working process, thereby improving the reliability.
4. The length and the tension of the tied rope are respectively controlled by the rope coiling part and the tension adjusting part, and the rope length can be controlled while the rope tension is controlled.
5. The invention combines the airbag technology, saves the umbilical cord rope which is directly wound by the marine salvage robot and the mother ship in the past, has no risk of winding the umbilical cord rope, and improves the stability of the salvage robot.
Drawings
Fig. 1 is a partial cross-sectional view of the present invention.
FIG. 2 is a three-dimensional view of the autonomous vehicle of the present invention.
Fig. 3 is a plan view of the cord retraction control module of the present invention.
FIG. 4 is a schematic view of the fishing robot of the present invention prior to fishing.
Fig. 5 is a schematic view of the fishing robot of the present invention during fishing.
Fig. 6 is a schematic view of the fishing robot of the present invention after the fishing net mouth is closed.
FIG. 7 is a schematic drawing of the fishing robot of the present invention after fishing and dragging float.
In the figure, 1, an autonomous vehicle, 2, a net throwing component, 1.1, a cylindrical shell, 1.2, a propeller, 1.3, a launcher, 1.4, an air bag, 1.5, a connecting rope, 2.1, a spherical shell, 2.2, L-shaped supporting plates, 2.3, a speed measuring encoder, 2.4, a motor brake, 2.5, a rope winding motor, 2.6, a speed changer, 2.7, a first mounting ear, 2.8, a rope winding drum, 2.9, a second mounting ear, 2.10, a tension sensor, 2.11, a rope length sensor, 2.12, a tensioner, 2.13, a rope running plate, 2.14, a tension pulley, 2.15, a bottom transverse plate, 2.16, a rope length pulley, 2.17, an auxiliary pulley, 2.18, a launching plug, 2.19, a tension motor, 2.20, a first bearing support, 2.21, a first bearing, 2.22, a T-shaped gear drum, 2.23, a gear support, 2.26, a second bearing net, a three-dimensional net taking-up motor, a rope.
Detailed Description
The invention is further illustrated by the following figures and examples.
The embodied robot comprises an autonomous vehicle 1 and a throwing net component 2.
As shown in fig. 3 and 4, the autonomous vehicle 1 comprises a cylindrical casing 1.1, a propeller 1.2, a launcher 1.3, an airbag 1.4 and a connecting rope 1.5; three pairs of propellers 1.2 are arranged on the peripheral surface of the cylindrical shell 1.1, the three pairs of propellers 1.2 are uniformly distributed at intervals along the circumference, and the propellers 1.2 push the cylindrical shell 1.1 to move underwater to realize the autonomous maneuvering of the robot; as shown in fig. 5, the air bag 1.4 is mounted at the rear of the cylindrical housing 1.1, and the air bag 1.4 is a compression type air bag. Explosive is filled in the air bag 1.4, the air bag 1.4 is inflated and expanded through the explosive in the air bag 1.4, and floating of salvaged suspended matters is realized; the emitter 1.3 is arranged at the head of the cylindrical shell 1.1, the emitter 1.3 is connected with the net throwing component 2, and the emitter 1.3 realizes the emission of the net throwing component 2; as shown in fig. 7, one end of the connecting rope 1.5 is connected with the middle part of the front end of the cylindrical shell 1.1, and the other end is connected with the middle part of the three-dimensional net throwing 2.27 connected with the net throwing component 2;
as shown in fig. 1 and 2, the net throwing component 2 comprises four spherical blocks, a three-dimensional net throwing 2.1 and a net collecting rope 2.2.
The spherical block comprises two rope control mechanisms which are vertically arranged, a spherical shell 2.1, an L-shaped supporting plate 2.2 and a launching plug 2.18, wherein the L-shaped supporting plate 2.2 is fixedly arranged in the spherical shell 2.1, two sides of the L-shaped supporting plate 2.2 are respectively provided with one rope control mechanism, the two rope control mechanisms are vertically arranged, and the bottom of the spherical shell 2.1 is fixedly connected with the launching plug 2.18.
The rope control mechanism comprises a bottom transverse plate 2.15, a rope coiling part, a tension adjusting part and a rope walking part, wherein the bottom transverse plate 2.15 is fixed on an L-shaped supporting plate 2.2 at the bottom of the spherical shell 2.1, the rope coiling part and the rope walking part are respectively arranged on the inner side and the outer side of the bottom transverse plate 2.15, the tension adjusting part is arranged on the middle part of the bottom transverse plate 2.15 and is positioned between the rope coiling part and the rope walking part, the inner side of the bottom transverse plate 2.15 is a side close to the middle part of the L-shaped supporting plate 2.2, and the outer side of the bottom transverse plate 2.15 is a side far away from the middle part of the L.
The rope coiling part comprises a speed measuring encoder 2.3, a motor brake 2.4, a rope coiling motor 2.5, a speed changer 2.6, a first mounting ear 2.7, a rope coiling drum 2.8 and a second mounting ear 2.9, the bottom of the first installation lug 2.7 and the bottom of the second installation lug 2.9 are both installed on the inner side of the upper surface of the bottom transverse plate 2.15 and are arranged oppositely, the speed measuring encoder 2.3, the motor brake 2.4, the rope winding motor 2.5 is sequentially and coaxially connected with the speed changer 2.6, the motor brake 2.4 drives the rope winding motor 2.5 to stop moving, the speed measuring encoder 2.3 detects the working rotating speed and the state of the rope winding motor 2.5, the speed changer 2.6 is fixedly installed on the first installation lug 2.7 through an end face flange, the output shaft of the speed changer 2.6 penetrates through the first installation lug 2.7 to be coaxially and fixedly connected with one end of the rope winding drum 2.8, the other end of the rope winding drum 2.8 is rotatably supported and installed on the bearing inner ring of the second installation lug 2.9, and the rope winding drum 2.8 is connected with.
The rope travelling component comprises a tension pulley 2.12, a rope travelling plate 2.13, a tension pulley 2.14, a bottom transverse plate 2.15, a rope length pulley 2.16 and an auxiliary pulley 2.17, wherein the outer side part of the bottom transverse plate 2.15 is provided with the vertical rope travelling plate 2.13, and the rope travelling plate 2.13 is sequentially provided with the auxiliary pulley 2.17, the tension pulley 2.14 with the tension sensor 2.10, the rope length pulley 2.16 with the rope length sensor 2.11 and the tension pulley 2.12 from the part close to the rope reeling component to the outer side.
The tension adjusting component comprises a tension motor 2.19, a first bearing support 2.20, a T-shaped gear cylinder 2.22, a motor gear 2.23 and a second bearing support 2.25, the first bearing support 2.20 and the second bearing support 2.25 are fixed on the middle portion of the bottom transverse plate 2.15 and are oppositely arranged, the tension motor 2.19 is fixedly installed at the bottom of the first bearing support 2.23, an output shaft of the tension motor 2.19 penetrates through the first bearing support 2.20 and then is coaxially and fixedly connected with the motor gear 2.23, the T-shaped gear cylinder 2.22 is mainly formed by coaxially connecting a gear disc and a winding shaft, two ends of the T-shaped gear cylinder 2.22 are movably sleeved in inner holes in the tops of the first bearing support 2.20 and the second bearing support 2.25 through the first bearing 2.21 and the second bearing 2.24 respectively, and the gear disc of the T-shaped gear cylinder 2.22 and the motor gear 2.23 are mutually meshed to form a gear pair.
Specifically, a first bearing 2.21 is mounted inside the first bearing support 2.20, an inner ring of the first bearing 2.21 is in interference fit with a left shaft of a t-shaped gear cylinder 2.22, a right shaft of the t-shaped gear cylinder 2.22 is in interference fit with an inner ring of a second bearing 2.24, and the second bearing 2.24 is fixedly mounted inside a second bearing support 2.25.
Two ends of the net retracting rope 2.26 respectively extend into the two spherical shells 2.1 and are connected with one rope control mechanism, and the method specifically comprises the following steps: after entering the spherical shell 2.1 from the through hole on the spherical shell 2.1, the end part of the net collecting rope 2.26 is wound by a tension pulley 2.12, a rope length pulley 2.16, a tension pulley 2.14 and an auxiliary guide wheel 2.17 in sequence in an S-shaped winding manner, then passes through the through hole on a gear disc of a T-shaped cylinder 2.22, is wound on the winding shaft of the T-shaped cylinder 2.22 for a plurality of turns, and finally passes through the hole of a second bearing support 2.25 to be fixedly connected on the inner wall of the rope winding cylinder 2.8; the net retracting ropes 2.26 are connected with the rope control mechanisms in the adjacent spherical blocks in the same way. Four spherical blocks are arranged at four corners of the rectangle, a net collecting rope 2.26 is connected between every two adjacent spherical blocks on the four sides of the rectangle to form four net collecting ropes 2.26 in total, the four sides of the three-dimensional throwing net 2.1 are respectively connected with the four net collecting ropes 2.26, namely the net collecting ropes 2.2 enclose the four sides of the three-dimensional throwing net 2.1 to drive the three-dimensional throwing net 2.1 to be folded and unfolded.
The rope winding motor 2.5 of the rope winding part works to drive the rope winding drum 2.8 to rotate, and further drives the net winding rope 2.26 fixed and tied on the rope winding drum 2.8 to wind, collect or release. Four wheels of the rope going part guide the net retracting rope 2.26 and assist in tensioning the net retracting rope 2.26, and the tension sensor 2.10 and the rope length sensor 2.11 measure the tension of the net retracting rope 2.26 and the position of winding, retracting or releasing, respectively. The tension motor 2.19 work of tension adjustment part, drive the circumference position of the through-hole on the rotatory control self toothed disc of T section of thick bamboo 2.22 through the gear pair, because receive net rope 2.26 and pass the through-hole on the toothed disc of T section of thick bamboo 2.22, and then drive the relative position between the through-hole department that adjusts receive net rope 2.26 and rope drum 2.8, the tension that adjustment was received net rope 2.26 realizes tension and adjusts.
Therefore, the rope winding and unwinding control can be realized through the rope winding component, the number of turns of the rope wound on the T-shaped cylinder is controlled through the tension adjusting component to realize rope tension control, and the rope running component realizes the functions of measuring the length and the tension of the rope and guiding the rope.
As shown in fig. 7, the three-dimensional throwing net 2.27 is a three-dimensional net with a trumpet-shaped structure, the small end of the trumpet-shaped structure is closed and is connected to the middle part of the autonomous submersible vehicle 1 through a connecting rope 1.5, the large end of the trumpet-shaped structure is used as a net port, and the edge of the net port is connected with a net collecting rope 2.26; the rope control mechanism in the spherical block controls the net collecting rope 2.26 to be collected and released to drive the spherical block to be close and separated, and then the opening and closing of the net opening of the three-dimensional net throwing 2.17 are realized.
As shown in fig. 4, the launcher 1.3 includes four launching ports, the four launching ports are uniformly distributed along the circumference at intervals, a launching plug 2.18 is sleeved in each launching port, and the four launching plugs 2.18 are respectively and fixedly connected to the outer walls of the spherical shells 2.1 of the four spherical blocks of the net throwing component 2.
The implementation working process of the invention is as follows:
before capture, as shown in fig. 3, four spherical blocks are installed on a launching cylinder of a launcher 1.3 through a launching plug 2.18 at the lower part of a spherical shell 2.1, a three-dimensional throwing net 2.27 is in a compressed and folded state and is stored in the middle of a space surrounded by the four spherical blocks, and a fishing robot approaches to suspended matters through a propeller 1.2 on an autonomous submersible vehicle 1.
During capturing, as shown in fig. 5, the autonomous vehicle 1 throws out the net throwing component 2 integrally through the emitter 1.3, the four spherical blocks are emitted at a certain angle to drive the three-dimensional net throwing 2.27 to gradually expand to the maximum state, as shown in fig. 6, after the underwater suspended matters are completely wrapped, the rope control mechanisms inside the four spherical blocks act to take up the rope, so that the net mouth of the three-dimensional net throwing 2.27 is furled, and after the net mouth is furled completely, the rope winding drum 2.8 is locked by the action of the motor brake 2.4 to lock the net mouth of the three-dimensional net throwing 2.27.
After capture, as shown in fig. 7, the explosive in the air bag 1.4 is detonated by the detonator in the cylindrical shell 1.1, the air bag 1.4 is inflated to the maximum instantly, and the robot is lifted and dragged to the water surface.
Claims (5)
1. The utility model provides a flexible fishing robot of transmission formula marine suspended solid which characterized in that: the automatic net throwing device comprises an automatic submersible vehicle (1) and a net throwing component (2); the autonomous vehicle submerging device (1) comprises a cylindrical shell (1.1), a propeller (1.2), a transmitter (1.3), an air bag (1.4) and a connecting rope (1.5); three pairs of propellers (1.2) are arranged on the peripheral surface of the cylindrical shell (1.1), and the propellers (1.2) push the cylindrical shell (1.1) to move underwater to realize the autonomous maneuvering of the robot; the air bag (1.4) is arranged at the tail of the cylindrical shell (1.1), explosive is filled in the air bag (1.4), the launcher (1.3) is arranged at the head of the cylindrical shell (1.1), the launcher (1.3) is connected with the net throwing component (2), one end of the connecting rope (1.5) is connected with the middle part of the front end of the cylindrical shell (1.1), and the other end of the connecting rope is connected with the middle part of the three-dimensional net throwing component (2.27) connected with the net throwing component (2).
2. The launch-type marine suspended matter flexible fishing robot of claim 1, wherein:
the air bag (1.4) is a compression type air bag.
3. The launch-type marine suspended matter flexible fishing robot of claim 1, wherein:
the net throwing component (2) comprises four spherical blocks, a three-dimensional net throwing (2.1) and a net collecting rope (2.2);
the spherical block comprises two rope control mechanisms which are vertically arranged, a spherical shell (2.1) and an L-shaped supporting plate (2.2), wherein the L-shaped supporting plate (2.2) is fixedly arranged in the spherical shell (2.1), two sides of the L-shaped supporting plate (2.2) are respectively provided with one rope control mechanism, the two rope control mechanisms are vertically arranged, and the bottom of the spherical shell (2.1) is fixedly connected with a launching plug (2.18);
the rope control mechanism comprises a bottom transverse plate (2.15), a rope reeling component, a tension adjusting component and a rope running component, wherein the bottom transverse plate (2.15) is fixed on an L-shaped supporting plate (2.2) at the bottom of the spherical shell (2.1), the rope reeling component and the rope running component are respectively arranged on the inner side and the outer side of the bottom transverse plate (2.15), and the tension adjusting component is arranged on the middle part of the bottom transverse plate (2.15) and is positioned between the rope reeling component and the rope running component;
the rope coiling part comprises a speed measuring encoder (2.3), a motor brake (2.4), a rope coiling motor (2.5), a speed changer (2.6), a first mounting ear (2.7), a rope coiling drum (2.8) and a second mounting ear (2.9), the bottom of each first mounting ear (2.7) and the bottom of each second mounting ear (2.9) are arranged on the inner side of the upper surface of the bottom transverse plate (2.15) and are arranged oppositely, the speed measuring encoder (2.3), the motor brake (2.4), the rope winding motor (2.5) and the speed changer (2.6) are sequentially and coaxially connected, the speed changer (2.6) is fixedly mounted on the first mounting ear (2.7) through an end face flange, an output shaft of the speed changer (2.6) movably penetrates through the first mounting ear (2.7) and is coaxially and fixedly connected with one end of a rope winding drum (2.8), the other end of the rope winding drum (2.8) is rotatably supported and mounted on the second mounting ear (2.9), and the rope winding drum (2.8) is connected with a net winding rope (2.26);
the rope walking part comprises a tension wheel (2.12), a rope walking plate (2.13), a tension pulley (2.14), a bottom transverse plate (2.15), a long rope pulley (2.16) and an auxiliary pulley (2.17), wherein the vertical rope walking plate (2.13) is arranged on the outer side part of the bottom transverse plate (2.15), the auxiliary pulley (2.17), the tension pulley (2.14) with the tension sensor (2.10), the long rope pulley (2.16) with the long rope sensor (2.11) and the tension wheel (2.12) are sequentially arranged on the rope walking plate (2.13) from the position close to the rope coiling part to the outer side;
the tension adjusting component comprises a tension motor (2.19), a first bearing support (2.20), a T-shaped gear cylinder (2.22), a motor gear (2.23) and a second bearing support (2.25), the first bearing support (2.20) and the second bearing support (2.25) are fixed on the middle part of a bottom transverse plate (2.15) and are oppositely arranged, the tension motor (2.19) is fixedly arranged at the bottom of the first bearing support (2.23), an output shaft of the tension motor (2.19) penetrates through the first bearing support (2.20) and then is coaxially and fixedly connected with the motor gear (2.23), the T-shaped gear cylinder (2.22) is mainly formed by coaxially connecting a gear disc and a winding shaft, two ends of the T-shaped gear cylinder (2.22) are movably sleeved in inner holes at the tops of the first bearing support (2.20) and the second bearing support (2.25) through a first bearing (2.21) and a second bearing (2.24), a gear disc of the T-shaped gear drum (2.22) and a motor gear (2.23) are meshed with each other to form a gear pair;
two ends of the net retracting rope (2.26) respectively extend into the two spherical shells (2.1) to be connected with one rope control mechanism, and the method specifically comprises the following steps: after the end part of the net winding rope (2.26) enters the spherical shell (2.1) from the through hole on the spherical shell (2.1), the net winding rope sequentially passes through a tension pulley (2.12), a rope long pulley (2.16), a tension pulley (2.14) and an auxiliary guide wheel (2.17) in an S-shaped winding mode, then passes through the through hole on a gear disc of the T-shaped cylinder (2.22), is wound on a winding shaft of the T-shaped cylinder (2.22) for a plurality of turns, and finally passes through a hole of a second bearing support (2.25) to be fixedly connected on the inner wall of the rope winding cylinder (2.8); four spherical blocks are arranged at four corners of the rectangle, a net collecting rope (2.26) is connected between every two adjacent spherical blocks on the four sides of the rectangle, four net collecting ropes (2.26) are formed in total, and four sides of the three-dimensional net throwing (2.1) are respectively connected with the four net collecting ropes (2.26).
4. The launch-type marine suspended matter flexible fishing robot of claim 1, wherein:
the three-dimensional throwing net (2.27) is a three-dimensional net with a trumpet-shaped structure, the small end of the trumpet-shaped structure is closed and is connected to the middle part of the autonomous submersible vehicle (1) through a connecting rope (1.5), the large end of the trumpet-shaped structure is used as a net port, and the edge of the net port is connected with a net collecting rope (2.26); the rope control mechanism in the spherical block controls the retraction of the net retracting rope (2.26) to drive the spherical block to close and separate, so that the opening and closing of the net opening of the three-dimensional net throwing (2.17) are realized.
5. The launch-type marine suspended matter flexible fishing robot of claim 1, wherein:
the launcher (1.3) comprises four launching ports, a launching plug (2.18) is sleeved in each launching port, and the four launching plugs (2.18) are respectively and fixedly connected to the outer walls of spherical shells (2.1) of four spherical blocks of the throwing net component (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110365948A (en) * | 2019-08-14 | 2019-10-22 | 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） | A kind of marine equipment lays monitoring system |
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Application publication date: 20200717 Assignee: Taizhou Jingzhi Electromechanical Technology Co.,Ltd. Assignor: HANGZHOU DIANZI University Contract record no.: X2021330000773 Denomination of invention: A launching flexible fishing robot for marine suspended solids Granted publication date: 20210330 License type: Common License Record date: 20211124 |