CN201281906Y - Machine fish teaching model for cleaning water surface rubbish - Google Patents
Machine fish teaching model for cleaning water surface rubbish Download PDFInfo
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- CN201281906Y CN201281906Y CNU2008200907945U CN200820090794U CN201281906Y CN 201281906 Y CN201281906 Y CN 201281906Y CN U2008200907945 U CNU2008200907945 U CN U2008200907945U CN 200820090794 U CN200820090794 U CN 200820090794U CN 201281906 Y CN201281906 Y CN 201281906Y
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- fish
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- sensor
- water surface
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Abstract
The utility model relates to a fishing teaching model of a water dust cleaner. Nowadays, China attaches great importance to education, so that suitable teaching equipment is required. The fishing teaching model of the water dust cleaner comprises a fish head (1), wherein, the fish head comprises a fish head searching sensor (2) and a fish mouth rubbish-swallowing device (3), the fish head is connected with a fish body (4), the fish body is provided with a fish belly transportation and rubbish-dumping device (5), and the fish body is connected with a fish tail (6). The utility model is taken as a teaching model.
Description
Technical field:
The utility model relates to a kind of teaching mode, in particular for robot teaching's machine fish teaching model for cleaning water surface rubbish.
Background technology:
Now, " prospering the nation with science and education " strategy starts comprehensively, and country attaches great importance to educational undertaking, and improving the quality of teaching becomes the emphasis of each colleges and universities link.Improving the quality of teaching to have good qualified teachers on the one hand, also handy teaching equipment will be arranged on the other hand.
Summary of the invention:
The purpose of this utility model provides a kind of brand-new machine fish teaching model for cleaning water surface rubbish, adopts modular design, fully shows the robotization and the intellectuality of robot, can improve student's interest, reaches better teaching efficiency.
Above-mentioned purpose realizes by following technical scheme:
Machine fish teaching model for cleaning water surface rubbish, its composition comprises: fish head, described fish head comprise that a fish acquisition sensor, Yu Zui engulf the rubbish device, and described fish head connects the fish body, described fish body has fish belly transportation dumping gear, and described fish body connects fish tail.
Described machine fish teaching model for cleaning water surface rubbish, a described fish acquisition sensor comprise each one group sensor in parallel respectively of fish mouth upper jaw left and right side, and the fish mouth upper jaw of described fish head has the barrier of keeping away sensor; Described fish mouth is engulfed the rubbish device and is comprised the fish mouth upper jaw, fish mouth lower jaw, has fish mouth rubbish detecting sensor in the described fish mouth.
Described machine fish teaching model for cleaning water surface rubbish, described fish mouth lower jaw connects the slope guide rod in the fish body, described slope guide rod connects the rubbish tipping bucket by slide block mechanism, described slide block mechanism connects the upset cotton rope, described slide block mechanism is walked around pulley by rope and is connected bobbin, be wound with the clockwork spring that resets in the other direction with described rope on the described bobbin, the described clockwork spring that resets connects described slide block mechanism by fish fixed block on one's body, guide rod upper end, described slope has limit switch, it is corresponding that described fish has the position of garbage can when toppling over the upset of described rubbish tipping bucket on one's body, have the rubbish detecting sensor on the described garbage can, described fish has control panel on one's body and is connected by corresponding circuit with above-mentioned each sensor; Described fish body bottom has highly faired hull.
Described machine fish teaching model for cleaning water surface rubbish, described fish tail comprises screw propeller and impeller.
The beneficial effects of the utility model:
1. the utility model has merged multi-subject knowledges such as mechanism design, Electric Machine Control, software programming and sensor technology.This product can off-line operation, makes decisions on one's own, and has fully showed the robotization and the intellectuality of robot, can improve student's interest, reaches better teaching efficiency.
2. the utility model adopts a fish acquisition sensor parallel connection, because the hunting zone of a sensor is limited, thus in parallel respectively each one group of sensor of left and right side, both increased the hunting zone, increased sensitivity and reliability again.
3. this product fish mouth upper jaw maintains static, and fish mouth lower jaw is can Zhang Degeng low, the swallowing of the rubbish of being more convenient for.
4. highly faired hull is adopted in the fish body bottom of this product, in the time of on the water surface, can guarantee robust motion, direction accuracy, and can assist the fish tail regular route that moves about.
Description of drawings:
Accompanying drawing 1 is the structural representation of this product.
Accompanying drawing 2 is structural representations of this product fish mouth.
Accompanying drawing 3 is structural representations of this product slope guide rod and rubbish tipping bucket.
Accompanying drawing 4 is structural representations of this product bobbin coiling.
Accompanying drawing 5 is process flow diagrams of this control of product intralamellar part program.
Embodiment:
Embodiment 1:
Machine fish teaching model for cleaning water surface rubbish, its composition comprises: fish 1, and described fish head comprises that a fish acquisition sensor 2, Yu Zui engulf rubbish device 3, described fish head connects fish body 4, described fish body has fish belly transportation dumping gear 5, and described fish body connects fish tail 6.
Embodiment 2:
Above-mentioned machine fish teaching model for cleaning water surface rubbish, a described fish acquisition sensor comprise each one group sensor in parallel respectively of fish mouth upper jaw left and right side, and the fish mouth upper jaw 7 of described fish head has keeps away barrier sensor 8; Described fish mouth is engulfed the rubbish device and is comprised the fish mouth upper jaw 7, fish mouth lower jaw 9, has fish mouth rubbish detecting sensor 10 in the described fish mouth.Described fish mouth adopts bionic principle, adopts bilateral linkage assembly parallel connection, and two motors are also in parallel, drive the bilateral connecting rod of fish mouth lower jaw and move up and down simultaneously, and the upper jaw maintains static, and lower jaw is can Zhang Degeng low, so that the swallowing of rubbish.
Embodiment 3:
Above-mentioned machine fish teaching model for cleaning water surface rubbish, described fish mouth lower jaw connects the slope guide rod 11 in the fish body, described slope guide rod connects rubbish tipping bucket 12 by slide block mechanism 26, described slide block mechanism connects upset cotton rope 18, described slide block mechanism is walked around pulley 14 by rope 13 and is connected bobbin 15, be wound with the clockwork spring 16 that resets in the other direction with described rope on the described bobbin, the described clockwork spring that resets connects described slide block mechanism 26 by fish fixed block 17 on one's body, guide rod upper end, described slope has limit switch 19, it is corresponding that described fish has the position of garbage can 20 when toppling over the upset of described rubbish tipping bucket on one's body, have rubbish detecting sensor 21 on the described garbage can, described fish has control panel 22 on one's body and is connected by corresponding circuit with above-mentioned each sensor; Described fish body bottom has highly faired hull 23.Adopt slope guide rod bucket tipping gear, the method for two motor parallels, the rotation of driven by motor bobbin realizes moving up and down of rubbish tipping bucket.In order to allow the rubbish tipping bucket produce flip-flop movement, we hold a upset rope below the rubbish tipping bucket simultaneously, and when tipping bucket rose to peak, rope was stretching, and the upset of traction tipping bucket realizes the motion of dumping rubbish.
If it is insecure only leaning on the gravity of rubbish tipping bucket to make it slide to the bottom, so employing clockwork, again because the clockwork spring strength when crossing pine that resets is pulled to minimum point to the rubbish tipping bucket inadequately, though and when tension, can be pulled to minimum point to the rubbish tipping bucket, but because the excessive obstruction rubbish of strength tipping bucket rises to peak, we rewind the rope of the clockwork spring that resets on bobbin in order to solve this difficult problem, promptly the direction of winding with rubbish tipping bucket bobbin is opposite, like this when the rubbish tipping bucket rises, the rope of traction rubbish tipping bucket can shrink, and it is opposite, the rope of clockwork spring of resetting can loosen, and can avoid like this causing that owing to the clockwork spring strength that resets is excessive the motionless rubbish tipping bucket of motor band rises to the situation of peak.Similarly, when the rubbish tipping bucket descended, the rope of traction rubbish tipping bucket can loosen, and the rope of the clockwork spring that resets can shrink, and can avoid like this owing to the too small rubbish tipping bucket that causes of the clockwork spring strength that resets can not slide to the situation of minimum point.
Embodiment 4:
Above-mentioned machine fish teaching model for cleaning water surface rubbish, described fish tail comprise screw propeller 24 and impeller 25.This product combines screw propeller and impeller, and screw propeller is realized moving forward and backward, and the left and right rotation of impeller realizes the right side, the left-hand bend of fish body respectively.
Intelligent program: the method that this product adopts master routine to add the plurality of sub program makes each intermodule coordinate operation, can independently finish search, keeps away barrier, a series of functions such as follow the trail of, engulfs.Trash repository completely back is reported to the police, and it returns bank can to utilize the remote control graphical interface remoting.
Program is carried out, at first system reset, and the fish mouth of fish head module has closure → open → closed process, drops to minimum point with macrura reevesii body module rubbish tipping bucket.After finishing when resetting, carry out the rubbish search mission of fish head; When detecting rubbish, the fish mouth can open to carry out engulfs task, begin intelligence simultaneously and follow the trail of rubbish, when the sensor on the left side was received signal, impeller can drive the fish body and turn left, when the sensor on the right side is received signal, impeller can drive the fish body and turn right, and when the sensor of centre was received signal, screw propeller can drive the fish body and advance forward, so just can adjust fish body direction and position in real time, gulp down rubbish accurately.After rubbish is swallowed the fish mouth, send signal by sensor, fish mouth closure, the fish belly delivery module is carried out rubbish and is transmitted task, and refuse hopper rises, upset, and rubbish is poured in the garbage can, and the rubbish tipping bucket resets, and continues to survey rubbish.
Run into barrier in operational process, it can keep away barrier immediately, seeks route again and continues to survey rubbish.When rubbish had been expired, fish head part, fish belly part all can reset, and the fish tail part can drive fish body original place and spin, and can report to the police by flashing light simultaneously.This moment can manual remote control its return bank.
Claims (4)
1. machine fish teaching model for cleaning water surface rubbish, its composition comprises: the fish head, it is characterized in that: described fish head comprises that a fish acquisition sensor, Yu Zui engulf the rubbish device, described fish head connects the fish body, described fish body has fish belly transportation dumping gear, and described fish body connects fish tail.
2. machine fish teaching model for cleaning water surface rubbish according to claim 1 is characterized in that: a described fish acquisition sensor comprises each one group sensor in parallel respectively of fish mouth upper jaw left and right side, and the fish mouth upper jaw of described fish head has the barrier of keeping away sensor; Described fish mouth is engulfed the rubbish device and is comprised the fish mouth upper jaw, fish mouth lower jaw, has fish mouth rubbish detecting sensor in the described fish mouth.
3. machine fish teaching model for cleaning water surface rubbish according to claim 1 and 2, it is characterized in that: described fish mouth lower jaw connects the slope guide rod in the fish body, described slope guide rod connects the rubbish tipping bucket by slide block mechanism, described slide block mechanism connects the upset cotton rope, described slide block mechanism is walked around pulley by rope and is connected bobbin, be wound with the clockwork spring that resets in the other direction with described rope on the described bobbin, the described clockwork spring that resets connects described slide block mechanism by fish fixed block on one's body, guide rod upper end, described slope has limit switch, it is corresponding that described fish has the position of garbage can when toppling over the upset of described rubbish tipping bucket on one's body, have the rubbish detecting sensor on the described garbage can, described fish has control panel on one's body and is connected by corresponding circuit with above-mentioned each sensor; Described fish body bottom has highly faired hull.
4. machine fish teaching model for cleaning water surface rubbish according to claim 1 is characterized in that: described fish tail comprises screw propeller and impeller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200907945U CN201281906Y (en) | 2008-09-02 | 2008-09-02 | Machine fish teaching model for cleaning water surface rubbish |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200907945U CN201281906Y (en) | 2008-09-02 | 2008-09-02 | Machine fish teaching model for cleaning water surface rubbish |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201281906Y true CN201281906Y (en) | 2009-07-29 |
Family
ID=40928774
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008200907945U Expired - Fee Related CN201281906Y (en) | 2008-09-02 | 2008-09-02 | Machine fish teaching model for cleaning water surface rubbish |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201281906Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101667356B (en) * | 2008-09-02 | 2011-09-28 | 哈尔滨理工大学 | Machine fish teaching model for cleaning water surface rubbish and rubbish cleaning method |
| CN105903942A (en) * | 2016-07-02 | 2016-08-31 | 徐华林 | Pouring device for casting of casting mold |
-
2008
- 2008-09-02 CN CNU2008200907945U patent/CN201281906Y/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101667356B (en) * | 2008-09-02 | 2011-09-28 | 哈尔滨理工大学 | Machine fish teaching model for cleaning water surface rubbish and rubbish cleaning method |
| CN105903942A (en) * | 2016-07-02 | 2016-08-31 | 徐华林 | Pouring device for casting of casting mold |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090729 Termination date: 20110902 |