CN113484059A - Deep-sea macrophyte trapping sampler and working method thereof - Google Patents
Deep-sea macrophyte trapping sampler and working method thereof Download PDFInfo
- Publication number
- CN113484059A CN113484059A CN202110623535.4A CN202110623535A CN113484059A CN 113484059 A CN113484059 A CN 113484059A CN 202110623535 A CN202110623535 A CN 202110623535A CN 113484059 A CN113484059 A CN 113484059A
- Authority
- CN
- China
- Prior art keywords
- servo motor
- chassis
- rod
- connecting rod
- sampler
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000008569 process Effects 0.000 claims abstract description 10
- 230000002093 peripheral effect Effects 0.000 claims abstract description 3
- 241001465754 Metazoa Species 0.000 claims description 3
- 239000000126 substance Substances 0.000 claims description 3
- 230000001960 triggered effect Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 abstract description 5
- 230000001681 protective effect Effects 0.000 abstract 1
- 239000000523 sample Substances 0.000 description 6
- 238000005070 sampling Methods 0.000 description 6
- 230000007246 mechanism Effects 0.000 description 5
- 241000251468 Actinopterygii Species 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 239000012472 biological sample Substances 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 230000035943 smell Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K69/00—Stationary catching devices
- A01K69/06—Traps
- A01K69/08—Rigid traps, e.g. lobster pots
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Landscapes
- Life Sciences & Earth Sciences (AREA)
- General Physics & Mathematics (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- Immunology (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Analytical Chemistry (AREA)
- Chemical & Material Sciences (AREA)
- Pathology (AREA)
- Hydrology & Water Resources (AREA)
- Biochemistry (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Health & Medical Sciences (AREA)
- Investigating Or Analysing Materials By Optical Means (AREA)
Abstract
The invention discloses a deep sea large-scale organism trapping sampler, wherein a plurality of upper and lower rods are uniformly distributed at intervals along the circumferential direction of a chassis, one end of each upper and lower rod is respectively rotatably connected with the peripheral surface of the chassis, one side of each upper and lower rod is respectively provided with a servo motor I, the servo motor I is arranged on the chassis and is connected with the corresponding upper and lower rods, a branched chain is respectively arranged between the two adjacent upper and lower rods, each branched chain is respectively movably connected with the other ends of the upper and lower rods at the two sides of the branched chain, one side of each branched chain is respectively provided with a servo motor II, the servo motors II are sequentially arranged on the upper and lower rods and are connected with the corresponding branched chain, and a trap, a load block, an infrared alarm and an integrated controller are respectively arranged on the chassis. Its working method is also disclosed. The sampler can have various different working forms, has no branched chain singularity or constraint singularity in the change process, and can be used as a protective framework or an actuator of submarine equipment to be applied to the fields of deep sea exploration, aerospace and other industrial applications.
Description
Technical Field
The invention relates to the field of deep-sea organism sampling, in particular to a deep-sea large organism trapping sampler and a working method thereof.
Background
The collection of biological samples from different depths of sea water is an important content of modern oceanographic research. With the continuous deepening of various marine science researches and marine resource development and utilization, how to quickly, conveniently and effectively investigate and sample marine organisms to obtain a first-hand marine organism scientific research sample and comprehensively know the biological resource condition of a specific sea area becomes a first priority. In the prior art, marine organism samplers are various in variety and structure, and methods such as trawling, net scattering, net pulling, net lifting and the like can be adopted when large-scale biological samples such as fishes are collected, but the methods have the following defects: firstly, the fish school is easy to frighten and frighten because of the loud sound when getting off the net; secondly, due to the structural design deficiency of the fishing net, the net can not be collected too fast, most of fishes can easily escape in the net collecting process, and the fishing success rate is not high; thirdly, the common netting gear is difficult to catch fish in deep water areas.
Disclosure of Invention
The purpose of the invention is as follows: in view of the above problems, the present invention provides a deep sea large-scale organism trapping sampler, and provides a working method thereof, which improves the working efficiency, is convenient and reliable, and can quickly, conveniently and effectively perform investigation and sampling on marine organisms.
The technical scheme is as follows: a deep sea large-scale organism trapping sampler comprises a chassis, an upper rod, a lower rod, a trap, branched chains, a first servo motor, a second servo motor, an infrared alarm and an integrated controller, wherein the upper rod and the lower rod are uniformly distributed at intervals along the circumferential direction of the chassis, one end of each upper rod and one end of each lower rod are respectively rotatably connected with the outer circumferential surface of the chassis, one side of each upper rod and one side of each lower rod are respectively provided with the first servo motor, the first servo motor is arranged on the chassis and connected with the corresponding upper rod and the corresponding lower rod, the branched chains are respectively arranged between every two adjacent upper rods and between every two adjacent lower rods, each branched chain is respectively movably connected with the other ends of the upper rods and the lower rods on two sides, one side of each branched chain is respectively provided with the second servo motor, the second servo motors are sequentially arranged on the upper rods and connected with the corresponding branched chains, the trap, the infrared alarm and the integrated controller are respectively arranged on the upper surface of the chassis, and the first servo motors, the second servo motors, The infrared alarm is respectively in signal connection with the integrated controller.
Furthermore, the integrated controller comprises a signal receiver, an A/D converter, an industrial personal computer and a motion control card which are connected in sequence through signal wires in a signal connection mode, the signal receiver is connected with the infrared alarm in a signal connection mode, and the servo motor I and the servo motor II are respectively connected with the motion control card in a signal connection mode.
Furthermore, the branched chain comprises a first rotating shaft, a second rotating shaft, a first triangular connecting rod, a second triangular connecting rod, a third triangular connecting rod and a connecting swing rod, the first triangular connecting rod, the second triangular connecting rod and the third triangular connecting rod are connected pairwise to form an equilateral triangle structure, a vertex angle A between the second triangular connecting rod and the third triangular connecting rod is connected with the upper end of one of the two adjacent upper and lower rods through the first rotating shaft, a corresponding servo motor second is connected with the first rotating shaft, a sliding groove is formed in the outer side surface of the first triangular connecting rod, the connecting swing rod is arranged in the sliding groove, one end of the connecting swing rod is hinged with a vertex angle C between the first triangular connecting rod and the second triangular connecting rod, and the other end of the connecting swing rod is connected with the upper end of the other of the two adjacent upper and lower rods through the second rotating shaft.
Preferably, the lengths of the triangular connecting rod I, the triangular connecting rod II, the triangular connecting rod III and the connecting swing rod IV are equal.
Preferably, the relation between the length L of the first triangular connecting rod and the radius a of the chassis is
Optimally, the length K of the upper and lower rods has a relation with the radius a of the chassis
Furthermore, the sampler also comprises a collection net, and the plane between two adjacent upper and lower rods is respectively provided with one collection net.
Furthermore, the number of the upper rods and the lower rods is 6-8, and the number of the branched chains is equal to that of the upper rods and the lower rods.
Further, the trap comprises a sound wave emitter, a light emitter and a chemical substance storage chamber which are integrally installed on the upper surface of the chassis.
The working method of the deep-sea macrophyte trapping sampler comprises the following steps:
s1: when marine animals enter a certain range above the chassis, the infrared alarm is triggered and sends an alarm signal outwards;
s2: the wireless signal receiver receives the alarm signal and transmits the alarm signal to the industrial personal computer through the A/D converter;
s3: the industrial control computer sends an instruction to the motion control card, and the motion control card sends a cycloid motion equation of
The pulse signal of the servo motor is sent to a servo motor I, the working time length is set to be equal to one period of the motion equation, and the servo motor follows the cycloid motion equation according to the instruction of the pulse signal
Velocity of
The servo motor stops when working for one period; at the moment, the upper and lower rods are turned to a position vertical to the chassis, the branched chain forms an equilateral triangle, wherein a vertex angle C points outwards, and then the next step of instruction is waited;
s4: the industrial personal computer and the motion control card control a second servo motor according to the working time and the motion equation in S3, and the second servo motor controls the second servo motor according to the cycloidal motion equation
Velocity of
The servo motor II drives the branched chains to rotate, the servo motor II stops working for one period, at the moment, the branched chains complete 180-degree overturning, the vertex angle C on each branched chain is opposite in angle point, a closed regular hexagon shape is formed and is parallel to the chassis, the sampler is in a closed state, and marine organisms are captured;
s5: after marine organisms are taken out, a reset button on the industrial personal computer is clicked, the industrial personal computer sends an instruction to the motion control card, the servo motor II and the servo motor I are controlled in sequence to be reversed according to the motion equation and time in S3, the trapping sampler is restored to the initial state, the S1 is returned, and the process is repeated.
Has the advantages that: compared with the prior art, the invention has the advantages that:
1. the deep-sea large-scale organism trapping sampler provided by the invention can trap and sample deep-sea organisms by changing the shape of the sampler to pass through a plurality of slit areas, the sampler enters a space configuration from a plane configuration after the sample reaches the position, and then the sampler is sealed, so that the sampling action is completed, the response is rapid, the noise is reduced, and the sample is prevented from escaping. The pressure maintaining equipment mounted on the structure is matched, so that the pressure maintaining sampling of the deep sea sample can be realized.
2. The invention can realize structure transformation and space adjustment according to the change of load, is in a stable state under the completely expanded and completely contracted states, has zero degree of freedom, and can keep a fixed state without an additional locking mechanism under the expanded and contracted states. Meanwhile, the sampler is consistent with the sampler in an initial state and a closed state, so that the space is saved, and the arrangement of other mechanisms is facilitated.
3. The invention can reconstruct the space form according to the change of environment and working condition and task requirement. The structure is symmetrical, the branched chains have the same structure, and the forming is stable and reliable. When the structure is used as seabed fixed detection equipment, the purpose of protecting the equipment in the frame in the transportation process can be achieved through the change of the shape of the structure. Meanwhile, after the destination is reached, the mechanism is deformed to enable the mechanism to enter a working state, for example, the extending rod is used as a communication antenna.
4. The invention adopts a cycloidal equation of motion
Driving a servo motor according to the equation of motion
And equation of acceleration
The rotation, speed equation and acceleration equation are trigonometric functions with the same period, and the initial time and the tail time in one period are both 0, so that the whole working process of the servo motor has no impact and vibration, and the working process of the trapping sampler has no impact and vibration, thereby avoiding damaging the captured organisms and prolonging the service life of the trapping sampler.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the mounting structure of any of the branches;
FIG. 3 is a schematic perspective view of a branched chain;
FIG. 4 is a diagram of an initial state of a sampler;
FIG. 5 is a view of the sampler link in a flattened state;
FIG. 6 is a state diagram of the sampler being tightened;
FIG. 7 is a diagram of a sampler sampling closed state;
fig. 8 is a flow chart of sampler control.
Detailed Description
The present invention will be further illustrated with reference to the following figures and specific examples, which are to be understood as merely illustrative and not restrictive of the scope of the invention.
A deep-sea large-scale organism trapping sampler comprises a chassis 1, an upper rod 2, a lower rod 2, a trap 3, a branched chain 4, a servo motor II 5, an integrated controller, a collecting net 14, a servo motor I15 and an infrared alarm 16, as shown in figures 1-7. The integrated controller comprises a signal line 6, a signal receiver 8, an A/D converter 9, an industrial personal computer 10 and a motion control card 11.
The upper and lower rods 2 are uniformly distributed along the circumferential direction of the chassis 1 at intervals, the number of the upper and lower rods 2 is 6-8, the number of the branched chains 4 is equal to that of the upper and lower rods 2, and if six branched chains are arranged, the number of the first servo motor 15, the number of the branched chains 4 and the number of the second servo motor 5 are six. One end of each upper and lower rod 2 is rotatably connected with the outer peripheral surface of the chassis 1, one side of each upper and lower rod 2 is provided with a servo motor one 15, the servo motor one 15 is installed on the chassis 1 and is connected with the corresponding upper and lower rod 2 to drive the upper and lower rods 2 to move, an acquisition net 14 is arranged between every two adjacent upper and lower rods 2 to ensure that an acquired organism is placed in a net cage, and a certain space is reserved during assembly of the acquisition net to meet the change of mechanisms.
A branched chain 4 is respectively arranged between two adjacent upper and lower rods 2, each branched chain 4 is respectively movably connected with the other ends of the upper and lower rods 2 at two sides of the branched chain 4, one side of each branched chain 4 is respectively provided with a servo motor II 5, and the servo motors II 5 are sequentially arranged on the upper and lower rods 2 and are connected with the corresponding branched chain 4.
The branched chain 4 comprises a first rotating shaft 4-1, a second rotating shaft 4-4, a triangular connecting rod I4-3, a triangular connecting rod II 4-7, a triangular connecting rod III 4-9 and a connecting swing rod 4-5, wherein the triangular connecting rod I4-3, the triangular connecting rod II 4-7 and the triangular connecting rod III 4-9 are sequentially connected in pairs to form an equilateral triangle structure, the vertex angles of the equilateral triangle structure are respectively a vertex angle A4-8, a vertex angle B4-2 and a vertex angle C4-6, the vertex angle A4-8 between the triangular connecting rod II 4-7 and the triangular connecting rod III 4-9 is connected with the upper end of one of two adjacent upper and lower rods 2 through the first rotating shaft 4-1, a corresponding servo motor II 5 is connected with the first rotating shaft 4-1 to drive the first rotating shaft 4-1 to rotate, the outer side surface of the first triangular connecting rod 4-3 is provided with a sliding groove, the connecting swing rod 4-5 is arranged in the sliding groove, one end of the connecting swing rod is hinged with a vertex angle C4-6 between the first triangular connecting rod 4-3 and the second triangular connecting rod 4-7, and the other end of the connecting swing rod is connected with the upper end of the other of the two adjacent upper and lower rods 2 through a second rotating shaft 4-4. When the sampler works, the connecting swing rod 4-5 enters the chute and is in contact fit with the triangular connecting rod I4-3, so that the sampler is compact and reliable in structure.
Triangle connecting rod one 4-3, triangleThe lengths of the two 4-7 connecting rods, the three 4-9 connecting rods and the 4-5 connecting swing rods are all equal, the invention has strict size proportion relation on the premise of ensuring reasonable and reliable structure, and the size proportion relation of all the parts of the trapping sampler is as follows: the radius of the chassis 1 is a, and the length of the upper and lower rods 2 is
The length of the connecting swing rod 4-5 is
The length of the triangular connecting rod I4-3, the length of the triangular connecting rod II 4-7 and the length of the triangular connecting rod III 4-9 are all equal
The trapper 3, the infrared alarm 16 and the integrated controller are respectively arranged on the upper surface of the chassis 1, and the servo motor I15, the servo motor II 5 and the infrared alarm 16 are respectively in signal connection with the integrated controller. The integrated controller comprises a signal receiver, an A/D converter, an industrial personal computer and a motion control card which are sequentially connected through signal wires in a signal mode, the signal receiver is connected with the infrared alarm 16 in a signal mode, and the servo motor I15 and the servo motor II 5 are respectively connected with the motion control card in a signal mode. The trap 3 is equipped with a sound wave emitter, a light emitter and a chemical storage chamber, and can emit attractive sound waves, color lights or smells according to the life habits of marine organisms to be trapped.
The process of capturing organisms in the invention successively goes through the initial state of the sampler, the flattening state of the connecting rod of the sampler, the sampling tightening state of the sampler and the closing state of the sampler.
Initial state of sampler: the 6 lower connecting rods 2 are vertical to the chassis 1, the connecting swing rods 4-5 slide into the chutes of the triangular connecting rods I4-3, the branched chain 4 becomes an equilateral triangle, the plane of the equilateral triangle is parallel to the chassis 1, and the vertex angle C4-6 of the equilateral triangle structure faces outwards.
The sampler connecting rod is in a flattening state: 6 servo motors I and 15 drive 6 upper and lower rods 2 to rotate 90 degrees anticlockwise around the chassis 1, the chutes of the triangular connecting rods I and II are completely separated from the connecting swing rods 4 and 5, the branched chains 4 are completely unfolded, and the sampler is in a flattening state. At this point, the plane formed by the 6 branches 4 and the 6 upper and lower bars 2 are coplanar with the chassis 1.
The sampler samples the tightening state: after the sampler is in the connecting rod flattening state, the sampler continues to act continuously, the servo motor I15 drives the lower connecting rod 2 to rotate 90 degrees anticlockwise, the connecting swing rod 4-5 completely slides into the chute of the triangular connecting rod I4-3, and the branched chain 4 forms an equilateral triangle again, so that the sampler tightening state is obtained. At this time, the 6 servo motors one 15 stop working, and the 6 lower links 2 are perpendicular to and held by the chassis 1. The state of the sampler is the same as the initial state, but the overall structure and the initial state structure are axially symmetrical along the plane of the chassis 1.
The closed state of the sampler: after the sampler enters a metamorphic tightening state, 6 upper and lower rods 2 are perpendicular to the sampler chassis 1 and are not moved, the servo motor II 5 starts to work, the first rotating shaft 4-1 is driven to rotate to drive the branched chains 4 to integrally turn over by 180 degrees, at the moment, the vertex angles C4-6 of the 6 equilateral triangle structures are opposite, the 6 branched chains 4 form a closed regular hexagon shape and are parallel to the chassis 1, the sampler is in a closed state, and the whole capturing process is completed.
The control method of the deep sea large-scale organism trapping sampler, as shown in fig. 8, comprises the following steps:
s1: when marine animals enter a certain range above the chassis 1, the infrared alarm 16 is triggered and sends an alarm signal outwards;
s2: the wireless signal receiver 8 receives the alarm signal and transmits the alarm signal to the industrial personal computer 10 through the A/D converter 9;
s3: the industrial control computer 10 sends an instruction to the motion control card 11, and the motion control card 11 sends a cycloid motion equation of
The pulse signal of the first servo motor 15 is set to be equal to one period of the motion equation, and the first servo motor 15 follows the cycloid motion equation according to the instruction of the pulse signal
Velocity of
The servo motor works for 15 working cycles and stops. At the moment, the upper rod 2 and the lower rod 2 are turned to positions vertical to the chassis 1, the connecting swing rod 4-5 completely slides into a sliding groove of the connecting rod (1)4-3 of the first triangular connecting rod, the branched chain 4 forms an equilateral triangle, and the vertex angle C4-6 of the first triangular connecting rod points outwards. Then waiting for the next step of instruction;
s4: the industrial personal computer 10 and the motion control card 11 control the second servo motor 5 according to the working time and the motion equation in S3, and the second servo motor 5 controls the motion equation of the cycloid according to the cycloid
Velocity of
The servo motor II 5 drives the first rotating shaft 4-1 to rotate, the servo motor II 5 stops working for one period, at the moment, the branched chain 4 is turned over for 180 degrees, the vertex angles C4-6 of the 6 first triangular connecting rods are opposite to form a closed regular hexagon shape and are parallel to the chassis 1, the sampler is in a closed state, and marine organisms are captured;
s5: after marine organisms are taken out, a reset button on the industrial personal computer 10 is clicked, the industrial personal computer 10 sends an instruction to the motion control card 11, the servo motor II 5 and the servo motor I15 are controlled in sequence to be inverted according to the motion equation and time in the S3, the trapping sampler is restored to the initial state, the S1 is returned, and the process is repeated.
Claims (10)
1. The utility model provides a deep sea macrobiosis traps sample thief which characterized in that: comprises a chassis, an upper rod, a lower rod, a trap, a branched chain, a first servo motor and a second servo motor, the infrared alarm device comprises an infrared alarm device and an integrated controller, wherein a plurality of upper rods and lower rods are uniformly distributed at intervals along the circumferential direction of a chassis, one end of each upper rod and one end of each lower rod are respectively rotatably connected with the peripheral surface of the chassis, one side of each upper rod and one side of each lower rod are respectively provided with a servo motor I, the servo motors I are installed on the chassis and are connected with the corresponding upper rod and the corresponding lower rod, a branched chain is respectively arranged between every two adjacent upper rods and the lower rod, each branched chain is respectively movably connected with the other ends of the upper rods and the lower rods on the two sides of each branched chain, one side of each branched chain is respectively provided with a servo motor II, the servo motors II are sequentially installed on the upper rods and are connected with the corresponding branched chains, the trap device, the infrared alarm device and the integrated controller are respectively installed on the upper surface of the chassis, and the servo motors I, the servo motors II and the infrared alarm device are respectively in signal connection with the integrated controller.
2. The deep-sea macrophyte trap sampler of claim 1, wherein: the integrated controller comprises a signal receiver, an A/D converter, an industrial personal computer and a motion control card which are connected in sequence through signal wires in a signal connection mode, the signal receiver is connected with the infrared alarm in a signal connection mode, and the servo motor I and the servo motor II are respectively connected with the motion control card in a signal connection mode.
3. The deep-sea macrophyte trap sampler of claim 1, wherein: the branched chain comprises a first rotating shaft, a second rotating shaft, a first triangular connecting rod, a second triangular connecting rod, a third triangular connecting rod and a connecting swing rod, the first triangular connecting rod, the second triangular connecting rod and the third triangular connecting rod are connected pairwise in sequence to form an equilateral triangle structure, a vertex angle A between the second triangular connecting rod and the third triangular connecting rod is connected with the upper ends of one of the two adjacent upper and lower rods through the first rotating shaft, a corresponding second servo motor is connected with the first rotating shaft, a sliding groove is formed in the outer side surface of the first triangular connecting rod, the connecting swing rod is arranged in the sliding groove, one end of the connecting swing rod is hinged with a vertex angle C between the first triangular connecting rod and the second triangular connecting rod, and the other end of the connecting swing rod is connected with the upper end of the other of the two adjacent upper and lower rods through the second rotating shaft.
4. The deep-sea macrophyte trap sampler of claim 3, wherein: the lengths of the triangular connecting rod I, the triangular connecting rod II, the triangular connecting rod III and the connecting swing rod IV are equal.
5. The deep-sea macrophyte trap sampler of claim 4, wherein: the relation between the length L of the first triangular connecting rod and the radius a of the chassis is
6. The deep-sea macrophyte trap sampler of claim 1, wherein: the length K of the upper and lower rods and the radius a of the chassis are in the relationship
7. The deep-sea macrophyte trap sampler of claim 1, wherein: the collecting net is arranged in a plane between every two adjacent upper rods and every two adjacent lower rods.
8. The deep-sea macrophyte trap sampler of claim 1, wherein: the number of the upper and lower rods is 6-8, and the number of the branched chains is equal to that of the upper and lower rods.
9. The deep-sea macrophyte trap sampler of claim 1, wherein: the trap comprises a sound wave emitter, a light emitter and a chemical substance storage chamber which are integrally installed on the upper surface of the chassis.
10. The working method of the deep sea large organism trapping sampler according to claim 2, characterized by comprising the steps of:
s1: when marine animals enter a certain range above the chassis, the infrared alarm is triggered and sends an alarm signal outwards;
s2: the wireless signal receiver receives the alarm signal and transmits the alarm signal to the industrial personal computer through the A/D converter;
s3: the industrial personal computer sends an instruction to the motion controlThe card, the motion control card sends out a cycloid motion equation of
The pulse signal of the servo motor is sent to a servo motor I, the working time length is set to be equal to one period of the motion equation, and the servo motor follows the cycloid motion equation according to the instruction of the pulse signal
Velocity of
The servo motor stops when working for one period; at the moment, the upper and lower rods are turned to a position vertical to the chassis, the branched chain forms an equilateral triangle, wherein a vertex angle C points outwards, and then the next step of instruction is waited;
s4: the industrial personal computer and the motion control card control a second servo motor according to the working time and the motion equation in S3, and the second servo motor controls the second servo motor according to the cycloidal motion equation
Velocity of
The servo motor II drives the branched chains to rotate, the servo motor II stops working for one period, at the moment, the branched chains complete 180-degree overturning, the vertex angle C on each branched chain is opposite in angle point, a closed regular hexagon shape is formed and is parallel to the chassis, the sampler is in a closed state, and marine organisms are captured;
s5: after marine organisms are taken out, a reset button on the industrial personal computer is clicked, the industrial personal computer sends an instruction to the motion control card, the servo motor II and the servo motor I are controlled in sequence to be reversed according to the motion equation and time in S3, the trapping sampler is restored to the initial state, the S1 is returned, and the process is repeated.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110623535.4A CN113484059B (en) | 2021-06-04 | 2021-06-04 | Deep-sea macrophyte trapping sampler and working method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110623535.4A CN113484059B (en) | 2021-06-04 | 2021-06-04 | Deep-sea macrophyte trapping sampler and working method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113484059A true CN113484059A (en) | 2021-10-08 |
| CN113484059B CN113484059B (en) | 2023-03-28 |
Family
ID=77934607
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110623535.4A Active CN113484059B (en) | 2021-06-04 | 2021-06-04 | Deep-sea macrophyte trapping sampler and working method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113484059B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201219428Y (en) * | 2008-07-08 | 2009-04-15 | 张志会 | Boat shaped net cage for breeding fish in river |
| CN101936826A (en) * | 2010-09-25 | 2011-01-05 | 厦门大学 | Microorganism sampler without pressure mutation in deep sea |
| US20120079990A1 (en) * | 2009-06-17 | 2012-04-05 | Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V. | Method and apparatus for conserving deep-sea organisms |
| CN207885510U (en) * | 2018-02-11 | 2018-09-21 | 吴瑞雄 | Ecological balance selectivity fishing device |
| CN109959525A (en) * | 2019-03-21 | 2019-07-02 | 浙江大学 | A kind of deep-sea heat preservation biological sampling device |
| CN212436998U (en) * | 2020-05-22 | 2021-02-02 | 泉州信息工程学院 | Sea and air monitoring fishing device |
-
2021
- 2021-06-04 CN CN202110623535.4A patent/CN113484059B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201219428Y (en) * | 2008-07-08 | 2009-04-15 | 张志会 | Boat shaped net cage for breeding fish in river |
| US20120079990A1 (en) * | 2009-06-17 | 2012-04-05 | Fraunhofer-Gesellschaft Zur Foerderung Der Angewandten Forschung E.V. | Method and apparatus for conserving deep-sea organisms |
| CN101936826A (en) * | 2010-09-25 | 2011-01-05 | 厦门大学 | Microorganism sampler without pressure mutation in deep sea |
| CN207885510U (en) * | 2018-02-11 | 2018-09-21 | 吴瑞雄 | Ecological balance selectivity fishing device |
| CN109959525A (en) * | 2019-03-21 | 2019-07-02 | 浙江大学 | A kind of deep-sea heat preservation biological sampling device |
| CN212436998U (en) * | 2020-05-22 | 2021-02-02 | 泉州信息工程学院 | Sea and air monitoring fishing device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113484059B (en) | 2023-03-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210642061U (en) | Standing type benthonic animal quantitative acquisition device | |
| CN111252215B (en) | Underwater collection robot capable of preventing aquatic plants from winding and collection method thereof | |
| CN113484059B (en) | Deep-sea macrophyte trapping sampler and working method thereof | |
| CN111483605A (en) | Grabbing device suitable for flying perching robot | |
| CN112577772B (en) | Controllable thorn claw attaching and grabbing mechanism for small celestial body detection and working method | |
| CN110608768A (en) | Biological safety monitoring and evaluating device and system for livestock and poultry farm | |
| CN211554312U (en) | Automatic investigating and monitoring device for aquatic animal community structure | |
| CN202653013U (en) | Fish living body sample collection device | |
| CN113071640B (en) | Underwater detection bionic robot fish and system control method thereof | |
| Nagy et al. | Internet of Birds (IoB): Song Based Bird Sensing via Machine Learning in the Cloud: How to sense, identify, classify birds based on their songs? | |
| CN112931344A (en) | Marine ranching device for deep sea breeding area | |
| CN110122435B (en) | Fish catching tool and fishing device using same | |
| CN110495429B (en) | Artificial substrate benthonic animal collection system | |
| CN114304092B (en) | Intelligent visual capturing pressure maintaining device for sampling deep-sea benthos | |
| CN216392724U (en) | Benthos sampling and washing device with help of ship speed | |
| CN210905944U (en) | Clinical laboratory shakes even device with test tube | |
| CN215339053U (en) | Sampling device for detecting underwater soil pollution | |
| US4739579A (en) | Sea animal trap assembly | |
| CN113001561B (en) | Robot for capturing and biopsy of deep-sea organisms | |
| CN210406773U (en) | Fish covering tool and fishing device applying same | |
| CN104872083A (en) | Visual multi-connected sampling system of plankton and use method thereof | |
| CN210929220U (en) | Swimming biological trap based on ROV platform | |
| CN220191878U (en) | Capturing equipment for water area biological investigation | |
| CN207784041U (en) | A kind of special fishing net of cyclic culture bucket | |
| CN204682233U (en) | The visual multi-joint sampling system of a kind of plankton |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |