CN111455953B - Dragging type device and method for fishing marine suspended matters through throwing net - Google Patents
Dragging type device and method for fishing marine suspended matters through throwing net Download PDFInfo
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- CN111455953B CN111455953B CN202010137698.7A CN202010137698A CN111455953B CN 111455953 B CN111455953 B CN 111455953B CN 202010137698 A CN202010137698 A CN 202010137698A CN 111455953 B CN111455953 B CN 111455953B
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- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
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Abstract
The invention discloses a dragging type device and a method for fishing suspended matters thrown into a net. The automatic net throwing device comprises an automatic submersible vehicle and a net throwing component of a rope traction winch; the autonomous underwater vehicle comprises a cylindrical shell, a propeller, a transmitter 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 tail of the cylindrical shell is fixedly connected to a rope traction winch through a traction rope, the emitter is installed at the head of the cylindrical shell and connected with a net throwing component, one end of the connecting rope is connected with the middle of the front end of the cylindrical shell, and the other end of the connecting rope is connected with the middle of a three-dimensional net throwing component. The net throwing fishing device has the advantages of strong maneuverability, good reliability, high fishing efficiency and the like.
Description
Technical Field
The invention relates to a fishing and net throwing fishing device, in particular to a dragging type marine suspended matter net throwing fishing device and method.
Background
Compared with land transportation and air transportation, sea transportation has the advantages of strong trafficability, low freight price, strong first-level adaptability and the like, the sea transportation is the most main transportation mode in international trade, with the increase of sea transportation, the accident of cargo ships is more and more, and a plurality of cargos fall into the sea and are suspended in the sea or the sea for a long time. Therefore, the development of the marine fishing net throwing fishing device has wide application prospect in marine suspended matter fishing. At present, rigid execution components such as mechanical arms are generally adopted in the marine fishing and throwing net fishing device, 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 and throwing net fishing device which takes a net or cloth as a capturing execution component.
Disclosure of Invention
The invention aims to provide a flexible capturing throwing net fishing device and method based on a throwing net type against the problems of high fishing difficulty, low efficiency, poor reliability and the like of a rigid fishing throwing net fishing device by taking marine suspended matters as background, and has the advantages of strong maneuverability, 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 utility model provides a net fishing device is thrown to towed marine suspended solid:
the device comprises a rope traction winch, an autonomous submersible vehicle and a net throwing component; the autonomous underwater vehicle comprises a cylindrical shell, a propeller, a transmitter, a dragging rope 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 tail of the cylindrical shell is fixedly connected to a sonar cable of the rope traction winch through a traction rope, the emitter is installed at the head of the cylindrical shell, the emitter is connected with and installed with a net throwing component, one end of the connection rope is connected with the middle of the front end of the cylindrical shell, the other end of the connection rope is connected with the middle of a three-dimensional net throwing component, and the traction rope is coiled by the rope traction winch to realize recovery of suspended matters.
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 which are vertically arranged, a spherical shell and an L-shaped supporting plate; an 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 a launching plug is fixedly connected to the bottom of the spherical shell.
The rope control mechanism comprises a bottom transverse plate, a rope reeling component, a tension adjusting component and a rope running component, wherein the bottom transverse plate is fixed on an L-shaped supporting plate at the bottom of the spherical shell, the rope reeling component and the rope running 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 reeling component and the rope running component.
Rope batch part include speed encoder, motor brake, the serving motor, the derailleur, first installation ear, a serving section of thick bamboo and second installation ear, first installation ear and second installation ear bottom are all installed at the upper surface inside lateral part and the mutual disposition of end diaphragm, speed encoder, motor brake, the serving motor and derailleur coaxial coupling in proper order, the derailleur passes through end flange fixed mounting on first installation ear, the output shaft activity of derailleur passes first installation ear and is linked firmly with serving section of thick bamboo one end is coaxial, the serving section of thick bamboo other end rotates the support and installs in second installation ear, the serving section of thick bamboo is connected and is received the net rope.
The rope walking part comprises a tension wheel, a rope walking plate, a tension pulley, a bottom transverse plate, a long rope pulley and an auxiliary pulley, wherein the vertical rope walking 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 walking 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.
Secondly, a dragging type ocean suspended matter net throwing and fishing method:
1) before capture, the four spherical blocks are installed on a launching cylinder of the launcher through a launching plug at the lower part of a spherical shell, the three-dimensional throwing net is in a compressed and folded state and is stored in the middle of a space surrounded by the four spherical blocks, and the fishing net salvaging device is realized to be close to suspended matters through a propeller on the autonomous vehicle;
2) during capturing, the autonomous submersible vehicle throws out the throwing net component integrally through the emitter, the four spherical blocks are emitted at a certain angle to drive the three-dimensional throwing net to be gradually unfolded to the maximum state, after underwater suspended matters are completely wrapped, the rope control mechanisms in the four spherical blocks act to perform rope withdrawing action, so that the three-dimensional throwing net port is furled, and after the net port is furled completely, the rope winding drum is locked through motor braking action to lock the three-dimensional throwing net port;
3) after the suspension is captured, the suspension is recovered by winding a dragging rope by a rope dragging winch and pulling the dragging rope back to the autonomous submersible vehicle.
The invention has the beneficial effects that:
1. compared with the prior rigid fishing net throwing fishing device, the invention has the advantages of good fault tolerance, high catching efficiency and the like.
2. The invention realizes the dragging and recovery of the captured combination body through the connecting rope fixed on the water surface ship, and has the advantages of reliable fishing and strong load capacity.
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.
Drawings
Fig. 1 is an overall structural view of the present invention.
Fig. 2 is an overall configuration diagram of the rope hoisting winch of the present invention.
FIG. 3 is a three-dimensional view of the autonomous vehicle of the present invention.
FIG. 4 is a schematic view of the pre-fishing apparatus of the present invention.
FIG. 5 is a schematic view of the fishing of the present invention.
FIG. 6 is a schematic representation of the invention after fishing.
Fig. 7 is a three-dimensional view of a spherical block of the present invention.
Fig. 8 is a plan view of the cord retraction control module of the present invention.
In the figure: a. rope traction winch, b, an autonomous vehicle, c, a net throwing component, 1.1, a cylindrical shell, 1.2, a propeller, 1.3, a transmitter, 1.4, a dragging rope, 1.5, a connecting rope, 2.1, a spherical shell, 2.2, an L-shaped support plate, 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 installation ear, 2.8, a rope winding drum, 2.9, a second installation ear, 2.10, a tension sensor, 2.11, a rope length sensor, 2.12, a tensioner, 2.13, a rope walking 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 transmitting 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 second bearing support, 2.26, a three-dimensional net receiving motor, a rope net and a three-dimensional net.
Detailed Description
The invention is further illustrated by the following figures and examples.
The embodied robot comprises a rope traction winch a, an autonomous submersible vehicle b and a throwing net component c.
As shown in fig. 3 and 4, the autonomous vehicle b comprises a cylindrical casing 1.1, a propeller 1.2, a launcher 1.3, a towing rope 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; the tail part of the cylindrical shell 1.1 is fixedly connected to a sonar rope of a rope traction winch a through a traction rope 1.4, and the suspended matters are recovered by winding the traction rope 1.4 through the rope traction winch a. The emitter 1.3 is arranged at the head of the cylindrical shell 1.1, the emitter 1.3 is connected with and provided with a net throwing component c, and the emitter 1.3 realizes the emission of the net throwing component c; 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 c;
as shown in fig. 1 and 2, the net throwing component c 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 support plate 2.2 and a launching plug 2.18; an L-shaped supporting plate 2.2 is fixedly arranged in the spherical shell 2.1, two rope control mechanisms are respectively arranged on two side edges of the L-shaped supporting plate 2.2, the two rope control mechanisms are vertically arranged, and the bottom of the spherical shell 2.1 is fixedly connected with an emission 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 walking 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 walking component are respectively arranged on the inner side part and the outer side part 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 walking component; the inner side of the bottom transverse plate 2.15 is the 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 the side far away from the middle part of the L-shaped supporting plate 2.2.
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 b 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 c.
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 b.
During capturing, as shown in fig. 5, the autonomous vehicle b throws out the net throwing component c 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 be gradually unfolded 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.
3) After the catching, the suspension is recovered by winding the tow rope 1.4 by means of the rope hoist a.
Claims (4)
1. The utility model provides a net fishing device is thrown to towed marine suspended solid which characterized in that: the automatic net throwing device comprises a rope traction winch (a), an automatic submersible vehicle (b) and a net throwing component (c); the autonomous vehicle (b) comprises a cylindrical shell (1.1), a propeller (1.2), a transmitter (1.3), a dragging rope (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 tail of the cylindrical shell (1.1) is fixedly connected to a sonar cable of the rope traction winch (a) through a traction rope (1.4), the emitter (1.3) is installed at the head of the cylindrical shell (1.1), the emitter (1.3) is connected with the net throwing component (c), one end of the connection rope (1.5) is connected with the middle of the front end of the cylindrical shell (1.1), the other end of the connection rope is connected to the middle of the three-dimensional net throwing component (2.27), and the traction rope (1.4) is reeled by the rope traction winch (a) to realize recovery of suspended matters;
the net throwing component (c) comprises four spherical blocks, a three-dimensional net throwing (2.27) and a net collecting rope (2.26);
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); an L-shaped support plate (2.2) is fixedly arranged in the spherical shell (2.1), two side edges of the L-shaped support plate (2.2) are respectively provided with a rope control mechanism, the two rope control mechanisms are vertical to each other, 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 walking component, wherein the bottom transverse plate (2.15) is fixed on an L-shaped support plate (2.2) at the bottom of the spherical shell (2.1), the rope reeling component and the rope walking component are respectively arranged on the inner side part and the outer side part 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 walking 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 (2.20), 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 pulley (2.17) in an S-shaped winding mode, then passes through the through hole on a gear disc of a T-shaped gear drum (2.22), is wound on a winding shaft of the T-shaped gear drum (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 drum (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 (2.27) are respectively connected with the four net collecting ropes (2.26).
2. The towed marine suspended solid throwing net fishing device 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 (b) 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 (2.27) are realized.
3. The towed marine suspended solid throwing net fishing device 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 (c).
4. The dragging type marine suspended matter net throwing and fishing method applied to the device of claim 1 is characterized in that:
1) before capture, the four spherical blocks are installed on a launching cylinder of a launcher (1.3) through launching plugs (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 enclosed by the four spherical blocks, and the three-dimensional throwing net (2.27) is close to suspended matters through a propeller (1.2) on an autonomous submersible vehicle (b) to realize throwing net salvage of a throwing net salvage device;
2) during capturing, the autonomous submersible vehicle (b) throws out the net throwing component (c) integrally through the emitter (1.3), the four spherical blocks are emitted out to drive the three-dimensional net throwing (2.27) to be gradually unfolded to the maximum state, after the underwater suspended matters are completely wrapped, the rope control mechanisms in the four spherical blocks act to carry out rope collecting action, so that the net mouth of the three-dimensional net throwing (2.27) is collected, and after the net mouth is completely collected, 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);
3) after the suspension is captured, the rope traction winch (a) winds the traction rope (1.4) and pulls back the autonomous submersible vehicle (b) to recover the suspension.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
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| CN111455953A (en) | 2020-07-28 |
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Application publication date: 20200728 Assignee: Taizhou Jingzhi Electromechanical Technology Co.,Ltd. Assignor: HANGZHOU DIANZI University Contract record no.: X2021330000773 Denomination of invention: A towed marine suspended matter throwing net fishing device and method Granted publication date: 20210608 License type: Common License Record date: 20211124 |