CN114600846B - Crab type snail catching device and method - Google Patents
Crab type snail catching device and method Download PDFInfo
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- CN114600846B CN114600846B CN202210347355.2A CN202210347355A CN114600846B CN 114600846 B CN114600846 B CN 114600846B CN 202210347355 A CN202210347355 A CN 202210347355A CN 114600846 B CN114600846 B CN 114600846B
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- 241000237858 Gastropoda Species 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 11
- 210000000707 wrist Anatomy 0.000 claims abstract description 31
- 241000534460 Ampullaria Species 0.000 claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 claims description 12
- 210000000080 chela (arthropods) Anatomy 0.000 claims description 8
- 210000004247 hand Anatomy 0.000 claims description 7
- 239000000843 powder Substances 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 239000003708 ampul Substances 0.000 claims description 2
- 230000000694 effects Effects 0.000 claims description 2
- 210000003414 extremity Anatomy 0.000 description 5
- 235000013601 eggs Nutrition 0.000 description 2
- 238000009423 ventilation Methods 0.000 description 2
- 241000238557 Decapoda Species 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 244000045947 parasite Species 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001850 reproductive effect Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K80/00—Harvesting oysters, mussels, sponges or the like
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Crushing And Pulverization Processes (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a crab-type snail catching device and method, which comprises a tray (1), wherein a walking device (2) is arranged at the lower part of the tray (1), a middle rack (3) is arranged at the upper part of the tray (1), a top cover (4) is arranged on the middle rack (3), a movable feeding piece (5) is arranged at the front side of the middle rack (3), a crushing mechanism (6) is arranged on the tray (1) and close to the movable feeding piece (5), a left clamping arm (7) and a right clamping arm (8) are respectively arranged at two sides of the middle rack (3), a clamping hand connecting piece (9) is arranged at the end part of the left clamping arm (7), and a wrist motor supporting frame (10) is arranged at the upper end of the clamping hand connecting piece (9). The invention can effectively capture the ampullaria gigas, improve the efficiency of capturing the ampullaria gigas and greatly improve the automation degree.
Description
Technical Field
The invention relates to the technical field of aquatic organism capture, in particular to a crab type snail capturing device and a method.
Background
The ampullaria gigas are originally produced in south America, and after being introduced into China in 1981, the ampullaria gigas cannot be eaten due to the fact that few natural enemies and strong reproductive capacity carry a large number of parasites, and cause huge damage to the ecological environment, particularly to agricultural ecology. In view of the above, research and development personnel design a tool for processing ampullaria gigas, for example, chinese utility model patent with publication number CN214316722U discloses a simple tool for trapping ampullaria gigas, which includes: the net bag comprises an arched net bag which is downwards propped open and a frame which is wrapped on the edge of the net bag, and traps are uniformly arranged in the net bag; the middle of the net bag is fixedly provided with a positioning rod, and one end of the positioning rod penetrating through the net bag is a tip end. However, the trapping device has low working efficiency and the trapping effect is not ideal.
Disclosure of Invention
The invention aims to provide a crab-type snail catching device and a crab-type snail catching method. The method can effectively capture the ampullaria gigas, improve the efficiency of capturing the ampullaria gigas and greatly improve the automation degree.
The technical scheme of the invention is as follows: the crab-type snail catching device comprises a tray, wherein a walking device is arranged at the lower part of the tray, a middle rack is arranged at the upper part of the tray, a top cover is arranged on the middle rack, a movable feeding piece is arranged at the front side of the middle rack, a crushing mechanism is arranged on the tray and close to the movable feeding piece, a left clamping arm and a right clamping arm are respectively arranged at two sides of the middle rack, a clamping hand connecting piece is arranged at the end part of the left clamping arm, a wrist motor supporting frame is arranged at the upper end of the clamping hand connecting piece, a wrist motor is arranged on the wrist motor supporting frame, the rotating end of the wrist motor extends downwards, a first linkage gear is arranged at the end part of the wrist motor supporting frame, a second linkage gear is arranged on the wrist motor supporting frame through a shaft, the first linkage gear is meshed with the second linkage gear, a clamping positioning seat is arranged at one side of the wrist motor supporting frame, clamping hands are arranged at two sides of the clamping positioning seat through a shaft, a first serpentine rod is arranged on the first linkage gear, a second linkage gear is arranged on the second linkage gear, and the first serpentine rod and the second serpentine rod are respectively correspondingly connected with the hands at two sides; the end part of the right clamping arm is provided with a right arm fixing seat, the right arm fixing seat is provided with a fixed clamping motor, the end part of the right arm fixing seat is provided with a fixed clamp body, the fixed clamp body is rotatably provided with a movable clamp body, the extending end of the fixed clamping motor is connected with a swing rod assembly, and the swing rod assembly is connected with the movable clamp body.
In the crab-type snail catching device, the walking device comprises a motor fixing frame arranged on two sides of the bottom of the tray, a walking motor is arranged on the motor fixing frame, a first walking gear is arranged at the extending end of the walking motor, an L-shaped connecting block is arranged on the lower side of the end part of the tray, a first cover plate is arranged at the lower end of the L-shaped connecting block, a cover plate connecting toothed shaft is arranged on one side of the first cover plate, a second cover plate is arranged at one end of the cover plate connecting toothed shaft, a toothed part on the cover plate connecting toothed shaft is meshed with the first walking gear, a plurality of crank shafts are arranged between the first cover plate and the second cover plate, a second walking gear is arranged in the middle of each crank shaft, the second walking gear is meshed with the toothed part of the cover plate connecting toothed shaft, and walking legs are arranged on two sides of each crank shaft.
In the crab-type snail catching device, the walking legs comprise a first walking rod and a second walking rod which are arranged on the crank shaft, upper triangular plates are arranged on two sides of the end part of the first walking rod, a twisting rod is arranged at the lower end of each upper triangular plate, the end part of the second walking rod is connected with the twisting rod, lower triangular plates are arranged on two sides of the lower end part of the twisting rod, rollers are arranged at the bottoms of the lower triangular plates, and baffle plates are arranged at the bottoms of the lower triangular plates and the upper ends of the lower triangular plates, which are close to the rollers.
In the crab-type snail catching device, the movable feeding part comprises an opening and closing motor arranged on the front side of the middle frame, a first mouth rod is arranged at the extending end of the opening and closing motor, a second mouth rod is hinged to the upper end of the first mouth rod, a feeding box is arranged on the front side of the middle frame in a rotating mode, a corner part is arranged on the feeding box and connected with the second mouth rod, a through groove is formed in one side of the feeding box, and the through groove corresponds to the crushing mechanism.
In the crab-type snail catching device, a plurality of vent holes are formed in the side part of the middle frame.
In the crab-type snail catching device, the crushing mechanism comprises a crushing motor support arranged on a tray, the crushing motor is arranged on the crushing motor support, the extending end of the crushing motor is provided with a driving gear, the inner side of the middle rack is provided with a crushing box, the bottom of the crushing box is provided with a blanking port, the two sides inside the crushing box are provided with driven shafts, the driven shafts are provided with a plurality of crushing teeth, the end parts of the driven shafts are provided with driven gears, the driven gears on the two sides are meshed with each other, the driven gears are meshed with the driving gear, the tray is provided with a crushing support frame, and one end of each driven shaft is erected on the crushing support frame.
In the crab-type snail catching device, the left clamp is got the arm and is including setting up the inboard left arm motor of middle frame, the end that stretches out of left arm motor is equipped with the steering wheel link, be equipped with the steering wheel on the steering wheel link, the one end of steering wheel is equipped with the left arm main part, be equipped with the swing arm motor in the left arm main part, the end that stretches out of swing arm motor is equipped with driving pulley, the tip of left arm main part is equipped with the rotator, the upper end of rotator is fixed with driven pulley, around having rotatory belt on driving pulley and the driven pulley, be equipped with the rotation motor in the rotator, tong connecting piece set up on the end that stretches out of rotating the motor.
The method for realizing the crab-type snail catching device comprises the following specific steps:
s1: firstly, starting a walking device, outputting power by a walking motor, driving a cover plate connecting gear shaft to rotate by a first walking gear, further driving a second walking gear to rotate, rotating a crank shaft, twisting a walking leg, and transversely moving the whole main body;
s2: positioning a seedling, moving a right clamping arm to the root of the seedling, starting a fixed clamping motor, swinging a movable clamp body to open a jaw and clamp the seedling, then working a left clamping arm, moving the left clamping arm to the upper part of the movable clamp body, simultaneously starting a wrist motor to drive linkage gears at two sides to be meshed to close a clamping hand, moving the left clamping arm upwards horizontally, and stroking a longevity screw on the seedling into the clamping hand; the opening and closing motor is started, the feed box is pulled downwards through the mouth rod, the ampullaria gigas in the clamping hands are poured into the feed box, the feed box is pushed upwards by the opening and closing motor, and the ampullaria gigas are pushed into the crushing mechanism;
s3: the crushing motor is started, the crushing teeth are rotated through the transmission of the gear, the ampullaria gigas is crushed in the crushing teeth, and the crushed powder falls in the field.
Compared with the prior art, the invention has the following advantages:
1. in the invention, a walking device works to locate a seedling, a right clamping arm runs, a clamp at the end moves to the root of the seedling, a fixed clamping motor is started, a movable clamp body is driven to rotate by a swing rod component to clamp the seedling, a left clamping arm runs, a wrist motor at the end of the wrist motor rotates to drive two linkage gears at the lower end to be meshed, a clamping hand is closed, the left clamping arm moves upwards and horizontally, the ampullaria gigas on the seedling are stroked into the clamping hand, after stroking out, a movable feeding part is opened, collected snails are poured into the movable feeding part, the snails are fed into a crushing mechanism by the movable feeding part, and the crushing mechanism crushes the snails; through the collection and the crushing of the components, the ampullaria gigas are effectively processed, the snail capturing efficiency is improved, and the automation degree is greatly improved.
2. In the walking device, the walking motors on the two sides rotate in the same direction, and the crank shaft rotates, the walking legs twist, the main body moves transversely, and when the walking motors on the two sides turn in opposite directions, the whole walking device can rotate to change the direction.
3. The lateral part of the middle frame is provided with a plurality of vent holes, so that the ventilation performance of the device is improved.
Drawings
FIG. 1 is a schematic view of the structure of the present invention;
FIG. 2 is a schematic view of a walking device;
FIG. 3 is a schematic structural view of a cover plate connecting gear shaft;
FIG. 4 is a schematic view of the right clamp arm;
FIG. 5 is a schematic view of the left grasping arm;
FIG. 6 is a schematic view of a rotating electric machine;
FIG. 7 is a schematic view of a second serpentine rod;
FIG. 8 is a schematic view of a movable feeder;
FIG. 9 is a schematic view of a shredder mechanism;
FIG. 10 is a schematic view of a blanking port;
fig. 11 is a schematic view of a through slot.
Description of the reference symbols in the drawings: 1-a tray, 2-a walking device, 3-an intermediate frame, 301-a vent hole, 4-a top cover, 5-a movable feeding piece, 6-a crushing mechanism, 7-a left clamping arm, 8-a right clamping arm, 9-a clamping hand connecting piece, 10-a wrist motor supporting frame, 11-a wrist motor, 12-a first linkage gear, 13-a second linkage gear, 14-a clamping hand positioning seat, 15-a clamping hand, 151-a clamping side limb, 152-a semi-circular groove, 153-a semi-concave part, 154-a circular through groove, 16-a first serpentine rod, 17-a second serpentine rod, 19-a right arm fixing seat, 20-a fixed clamping motor, 21-a fixed clamp body, 22-a movable clamp body, 23-a swinging rod component, 201-a motor fixing frame, 202-a walking motor, 203-first running gear, 204-L-shaped connecting block, 205-first cover plate, 206-cover plate connecting gear shaft, 207-second cover plate, 208-crank shaft, 209-second running gear, 210-running leg, 221-first running rod, 222-second running rod, 223-upper triangular plate, 224-torsion rod, 225-lower triangular plate, 226-roller, 227-baffle, 501-opening and closing motor, 502-first mouth rod, 503-second mouth rod, 504-feeding box, 505-corner piece, 506-through groove, 601-grinding motor support, 602-grinding motor, 603-driving gear, 604-grinding box, 605-falling port, 606-driven shaft, 607-grinding gear, 608-driven gear, 609-crushing support frame, 701-left arm motor, 702-steering engine connecting frame, 703-steering engine, 704-left arm main body, 705-swing arm motor, 706-driving pulley, 707-rotating body, 708-driven pulley, 709-rotating belt and 710-rotating motor.
Detailed Description
The invention is further illustrated by the following figures and examples, but is not to be construed as being limited thereto.
The embodiment is as follows: crab type snail catching device, as shown in fig. 1, comprises a tray 1, a walking device 2 is arranged at the lower part of the tray 1, a middle frame 3 is arranged at the upper part of the tray 1, a plurality of vent holes 301 are arranged at the side part of the middle frame 3, the ventilation of a lifting device is used for reducing water flow remaining on the device, a top cover 4 is arranged on the middle frame 3, a scanning camera is arranged on the top cover, whether the snail eggs in good life exist on the seedlings in front can be automatically identified in the moving process, the specific position coordinates of the eggs are issued to each part through a control program, a movable feeding part 5 is arranged at the front side of the middle frame 3, a crushing mechanism 6 is arranged on the tray 1 and close to the movable feeding part 5, a left clamping arm 7 and a right clamping arm 8 are respectively arranged at the two sides of the middle frame 3, as shown in fig. 4 and 5, a clamping connecting part 9 is arranged at the end part of the left clamping arm 7, a wrist motor support frame 10 is arranged at the upper end of the clamping hand connecting piece 9, a wrist motor 11 is arranged on the wrist motor support frame 10, the rotating end of the wrist motor 11 extends downwards, a first linkage gear 12 is arranged at the end part of the rotating end, a second linkage gear 13 is arranged on the wrist motor support frame 10 through a shaft, as shown in fig. 6 and 7, the first linkage gear 12 is meshed with the second linkage gear 13, a clamping hand positioning seat 14 is arranged at one side of the wrist motor support frame 10, clamping hands 15 are arranged at two sides of the clamping hand positioning seat 14 through a shaft, the clamping hands 15 comprise clamping side limbs 151 arranged at two sides, a semicircular groove 152 is arranged in the clamping side limbs 151, a semicircular groove 153 is arranged at the inner side of the clamping side limbs 151, the semicircular grooves 153 at two sides are folded to form a circular through groove 154, after the clamping side limbs are combined, seedlings are in a cylindrical groove, and after the whole arm moves upwards, ampulla snails are stroked into the semicircular groove; a first serpentine rod 16 is arranged on the first linkage gear 12, a second serpentine rod 17 is arranged on the second linkage gear 13, and the first serpentine rod 16 and the second serpentine rod 17 are respectively and correspondingly connected with the clamping hands 15 on the two sides; the tip of right centre gripping arm 8 is equipped with right arm fixing base 19, is equipped with fixed centre gripping motor 20 on the right arm fixing base 19, and the 19 tip of right arm fixing base is equipped with the fixed pincers body 21, rotates on the fixed pincers body 21 and is equipped with the movable pincers body 22, and the end that stretches out of fixed centre gripping motor 20 is connected with swinging arms subassembly 23, and swinging arms subassembly 23 is connected with the movable pincers body 22.
The walking device 2 comprises a motor fixing frame 201 arranged on two sides of the bottom of the tray 1, a walking motor 202 is arranged on the motor fixing frame 201, as shown in fig. 2 and 3, a first walking gear 203 is arranged at the extending end of the walking motor 202, an L-shaped connecting block 204 is arranged on the lower side of the end portion of the tray 1, a first cover plate 205 is arranged at the lower end of the L-shaped connecting block 204, a cover plate connecting toothed shaft 206 is arranged on one side of the first cover plate 205, a second cover plate 207 is arranged at one end of the cover plate connecting toothed shaft 206, a toothed part on the cover plate connecting toothed shaft 206 is meshed with the first walking gear 203, a plurality of crank shafts 208 are arranged between the first cover plate 205 and the second cover plate 207, a second walking gear 209 is arranged in the middle part of the crank shafts 208, the second walking gear 209 is meshed with the toothed part of the cover plate connecting toothed shaft 206, walking legs 210 are arranged on two sides of the crank shafts 208, the walking legs are four groups in total, when the crank shafts rotate, the walking legs swing and further transversely move, when the two walking motors are opposite in the rotation direction, the two pairs of the walking legs are driven by the gear meshing with the crank shafts, the crank mechanisms, the walking motors, the walking legs can move forwards, when the two pairs of the turning motors are the turning directions are the same, the turning directions of the two sides, the two pairs of the walking motors are opposite directions, and the whole walking device can be adjusted, and the whole walking device can be realized, and the turning of the walking device can be adjusted, and the device can be realized. The walking legs 210 comprise a first walking rod 221 and a second walking rod 222 which are arranged on the crank shaft 208, two sides of the end portion of the first walking rod 221 are provided with upper triangular plates 223, the lower end of each upper triangular plate 223 is provided with a twisting rod 224, the end portion of the second walking rod 222 is connected with the twisting rod 224, two sides of the lower end portion of the twisting rod 224 are provided with lower triangular plates 225, the bottom of each lower triangular plate 225 is provided with a roller 226, and the bottom of each lower triangular plate 225 and the upper end close to the roller 226 are provided with a baffle 227. The walking legs are generally four-bar mechanisms, swing is generated during working, transverse movement is achieved, and walking of crabs is simulated.
The movable feeding member 5 includes an opening and closing motor 501 arranged at the front side of the middle frame 3, as shown in fig. 8, an extending end of the opening and closing motor 501 is provided with a first mouth rod 502, the upper end of the first mouth rod 502 is hinged with a second mouth rod 503, the front side of the middle frame 3 is rotatably provided with a feeding box 504, the feeding box 504 is provided with a corner piece 505, the corner piece 505 is connected with the second mouth rod 503, one side of the feeding box 504 is provided with a through groove 506, and the through groove 506 corresponds to the crushing mechanism 6, as shown in fig. 11. The opening and closing motor is started to drive the linkage of the two nozzle rods, so that the feeding box rotates, the ampullaria gigas collected by the left clamping arm are poured into the feeding box, and the ampullaria gigas are fed into the crushing mechanism by the feeding box.
The crushing mechanism 6 comprises a crushing motor support 601 arranged on the tray 1, as shown in fig. 9 and 10, a crushing motor 602 is arranged on the crushing motor support 601, a driving gear 603 is arranged at the extending end of the crushing motor 602, a crushing box 604 is arranged on the inner side of the middle rack 3, a blanking port 605 is arranged at the bottom of the crushing box 604, driven shafts 606 are arranged on two sides inside the crushing box 604, a plurality of crushing teeth 607 are arranged on the driven shafts 606, a driven gear 608 is arranged at the end part of the driven shaft 606, the driven gears 608 on two sides are meshed with each other, the driven gear 608 is meshed with the driving gear 603, a crushing support 609 is arranged on the tray 1, one end of each driven shaft 606 is erected on the crushing support 609, the crushing motor is driven by gears to enable the crushing teeth to rotate, the crushing teeth on two sides are arranged in a staggered mode, the ampullaria gigas are extruded and crushed, and crushed powder falls in a field.
The left clamping arm 7 comprises a left arm motor 701 arranged on the inner side of the middle rack 3, as shown in fig. 5, a steering engine connecting frame 702 is arranged at the extending end of the left arm motor 701, a steering engine 703 is arranged on the steering engine connecting frame 702, a left arm main body 704 is arranged at one end of the steering engine 703, a swing arm motor 705 is arranged in the left arm main body 704, a driving belt pulley 706 is arranged at the extending end of the swing arm motor 705, a rotating body 707 is arranged at the end part of the left arm main body 704, a driven belt pulley 708 is fixed at the upper end of the rotating body 707, a rotating belt 709 is wound on the driving belt pulley 706 and the driven belt pulley 708, a rotating motor 710 is arranged in the rotating body 707, the wrist motor supporting frame 10 is arranged at the extending end of the rotating motor 710, the motor and the steering engine are arranged to realize that the left clamping arm can move in multiple directions to simulate the rotation of multiple joints of a crab, the clamping hand is in a box shape, and a screw can fall into the clamping hand when the seedling is used for clamping.
The method for realizing the crab-type snail catching device comprises the following specific steps: s1: firstly, starting a walking device, outputting power by a walking motor, driving a cover plate connecting gear shaft to rotate by a first walking gear, further driving a second walking gear to rotate, rotating a crank shaft, twisting a walking leg, and transversely moving the whole main body; s2: positioning a seedling, moving a right clamping arm to the root of the seedling, starting a fixed clamping motor, swinging a movable clamp body to open a jaw and clamp the seedling, then working a left clamping arm, moving the left clamping arm to the upper part of the movable clamp body, simultaneously starting a wrist motor to drive linkage gears at two sides to be meshed to close a clamping hand, moving the left clamping arm upwards horizontally, and stroking a longevity screw on the seedling into the clamping hand; the opening and closing motor is started, the feed box is pulled downwards through the mouth rod, the ampullaria gigas in the clamping hand is poured into the feed box, the feed box is pushed upwards by the opening and closing motor, and the ampullaria gigas are pushed into the crushing mechanism; s3: the crushing motor is started, the crushing teeth are rotated through the transmission of the gear, the ampullaria gigas is crushed in the crushing teeth, and the crushed powder falls in the field.
Claims (8)
1. Crab type snail catching device is characterized in that: comprises a tray (1), a walking device (2) is arranged at the lower part of the tray (1), a middle frame (3) is arranged at the upper part of the tray (1), a top cover (4) is arranged on the middle frame (3), a movable feeding piece (5) is arranged at the front side of the middle frame (3), a crushing mechanism (6) is arranged on the tray (1) and close to the movable feeding piece (5), a left clamping arm (7) and a right clamping arm (8) are respectively arranged at two sides of the middle frame (3), a clamping hand connecting piece (9) is arranged at the end part of the left clamping arm (7), a wrist motor supporting frame (10) is arranged at the upper end of the clamping hand connecting piece (9), a wrist motor (11) is arranged on the wrist motor supporting frame (10), a first linkage gear (12) extends downwards from the rotating end of the wrist motor (11) and is arranged at the end part of the wrist motor, a second linkage gear (13) is arranged on the wrist motor supporting frame (10) through a shaft, a snake-shaped first linkage gear (12) and a second linkage gear (13) are meshed, a second linkage gear (13) is arranged at one side of the wrist motor supporting frame (10), a second linkage gear (16) is arranged at one side of the wrist clamping positioning seat (14), and a second linkage gear (15) is arranged on the second linkage gear (17) and a second linkage gear (16) is arranged on the wrist motor shaft, the first serpentine rod (16) and the second serpentine rod (17) are respectively correspondingly connected with the clamping hands (15) at two sides; the tip of right side centre gripping arm (8) is equipped with right arm fixing base (19), is equipped with fixed centre gripping motor (20) on right arm fixing base (19), and right arm fixing base (19) tip is equipped with fixed pincers body (21), rotates on the fixed pincers body (21) and is equipped with movable pincers body (22), and the end that stretches out of fixed centre gripping motor (20) is connected with swinging arms subassembly (23), and swinging arms subassembly (23) are connected with movable pincers body (22).
2. A crab-type snail catching apparatus according to claim 1, wherein: the walking device (2) comprises a motor fixing frame (201) arranged on two sides of the bottom of a tray (1), a walking motor (202) is arranged on the motor fixing frame (201), a first walking gear (203) is arranged at the extending end of the walking motor (202), an L-shaped connecting block (204) is arranged on the lower side of the end portion of the tray (1), a first cover plate (205) is arranged at the lower end of the L-shaped connecting block (204), a cover plate connecting gear shaft (206) is arranged on one side of the first cover plate (205), a second cover plate (207) is arranged at one end of the cover plate connecting gear shaft (206), a tooth-shaped portion on the cover plate connecting gear shaft (206) is meshed with the first walking gear (203), a plurality of crank shafts (208) are arranged between the first cover plate (205) and the second cover plate (207), a second walking gear (209) is arranged in the middle of the crank shafts (208), the second walking gear (209) is meshed with the tooth-shaped portion of the cover plate connecting gear shaft (206), and walking legs (210) are arranged on two sides of the crank shafts (208).
3. A crab-type snail catching apparatus according to claim 2, wherein: walking leg (210) are including setting up first walking pole (221) and second walking pole (222) on crank axle (208), the tip both sides of first walking pole (221) are equipped with three corner pieces (223), the lower extreme of going up three corner pieces (223) is equipped with wrench rod (224), second walking pole (222) tip is connected with wrench rod (224), wrench rod (224) lower tip both sides are equipped with down three corner pieces (225), the bottom of lower three corner pieces (225) is equipped with gyro wheel (226), the bottom of lower three corner pieces (225) and the upper end that is close to gyro wheel (226) are equipped with baffle (227).
4. A crab-type snail catching apparatus according to claim 1, wherein: activity feed member (5) including setting up motor (501) that opens and shuts in middle frame (3) front side, the end that stretches out of motor (501) that opens and shuts is equipped with first mouth pole (502), first mouth pole (502) upper end articulates there is second mouth pole (503), middle frame (3) front side rotates and is equipped with into magazine (504), be equipped with corner fittings (505) on pan feeding box (504), corner fittings (505) are connected with second mouth pole (503), pan feeding box (504) one side is equipped with logical groove (506), it corresponds rubbing crusher structure (6) to lead to groove (506).
5. A crab-type snail catching apparatus according to claim 1, wherein: the side part of the middle frame (3) is provided with a plurality of vent holes (301).
6. A crab-type snail catching apparatus according to claim 1, wherein: rubbing crusher constructs (6) including setting up crushing motor support (601) on tray (1), be equipped with crushing motor (602) on crushing motor support (601), the end that stretches out of crushing motor (602) is equipped with driving gear (603), the inboard of middle frame (3) is equipped with crushing box (604), the bottom of crushing box (604) is equipped with blanking mouth (605), the inside both sides of crushing box (604) are equipped with driven shaft (606), be equipped with a plurality of crushing teeth (607) on driven shaft (606), the tip of driven shaft (606) is equipped with driven gear (608), the driven gear (608) of both sides mesh mutually, driven gear (608) mesh with driving gear (603), be equipped with crushing support frame (609) on tray (1), driven shaft (606) one end erects on crushing support frame (609).
7. A crab-type snail catching apparatus according to claim 1, wherein: the left clamping arm (7) comprises a left arm motor (701) arranged on the inner side of a middle rack (3), a steering engine connecting frame (702) is arranged at the extending end of the left arm motor (701), a steering engine (703) is arranged on the steering engine connecting frame (702), a left arm main body (704) is arranged at one end of the steering engine (703), a swing arm motor (705) is arranged in the left arm main body (704), a driving belt wheel (706) is arranged at the extending end of the swing arm motor (705), a rotating body (707) is arranged at the end part of the left arm main body (704), a driven belt wheel (708) is fixed at the upper end of the rotating body (707), a rotating belt (709) is wound on the driving belt wheel (706) and the driven belt wheel (708), a rotating motor (710) is arranged in the rotating body (707), and a clamping hand connecting piece (9) is arranged at the extending end of the rotating motor (710).
8. Method for realising a crab-type snail catching apparatus according to any one of claims 1 to 7, characterized in that: the method comprises the following specific steps:
s1: firstly, a walking device (2) is started, a walking motor (202) outputs power, a first walking gear (203) drives a cover plate connecting gear shaft (206) to rotate, a second walking gear (209) is further driven to rotate, a crank shaft (208) rotates, walking legs (210) twist, and the whole main body moves transversely;
s2: positioning a seedling, moving a right clamping arm (8) to the root of the seedling, starting a fixed clamping motor (20), swinging a movable clamp body (22) to open a jaw, clamping the seedling, then working a left clamping arm (7), moving the left clamping arm (7) to the upper part of the movable clamp body (22), simultaneously starting a wrist motor (11) to drive linkage gears at two sides to be meshed, closing a clamping hand (15), horizontally moving the left clamping arm (7) upwards, and stroking a ampulla on the seedling into the clamping hand (15); the opening and closing motor (501) is started, the feed box (504) is pulled downwards through the mouth rod, the ampullaria gigas in the clamping hand (15) are poured into the feed box (504), the feed box (504) is pushed upwards by the opening and closing motor (501), and the ampullaria gigas are pushed into the crushing mechanism (6);
s3: the crushing motor (602) is started, the crushing teeth (607) are rotated through the transmission of the gear, the ampullaria gigas are crushed in the crushing teeth (607), and the crushed powder falls in the field.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210347355.2A CN114600846B (en) | 2022-04-01 | 2022-04-01 | Crab type snail catching device and method |
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| CN202210347355.2A CN114600846B (en) | 2022-04-01 | 2022-04-01 | Crab type snail catching device and method |
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| CN114600846B true CN114600846B (en) | 2022-12-23 |
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Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107751124B (en) * | 2017-11-16 | 2023-09-05 | 钦州学院 | Robot for excavating and picking conch |
| CN108207827A (en) * | 2018-03-02 | 2018-06-29 | 周佰平 | A kind of colored clam fishing robot |
| CN211153424U (en) * | 2019-11-29 | 2020-08-04 | 四川省疾病预防控制中心 | Catch spiral shell and press from both sides convenient to survey spiral shell and distribute |
| CN111972367B (en) * | 2020-08-14 | 2022-04-19 | 鹏城实验室 | Foldable bionic mouth and capture device |
| CN112841140A (en) * | 2020-12-28 | 2021-05-28 | 南京法艾菲贸易有限公司 | Electric ship for clearing ampullaria gigas eggs |
| CN215188917U (en) * | 2021-07-30 | 2021-12-17 | 安徽工业大学 | Device for catching and collecting crabs on land |
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