CN203692234U - Trepang fishing submersible device - Google Patents
Trepang fishing submersible device Download PDFInfo
- Publication number
- CN203692234U CN203692234U CN201420010984.7U CN201420010984U CN203692234U CN 203692234 U CN203692234 U CN 203692234U CN 201420010984 U CN201420010984 U CN 201420010984U CN 203692234 U CN203692234 U CN 203692234U
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- China
- Prior art keywords
- screw
- gripper
- fishing
- connects
- sea cucumber
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- Expired - Fee Related
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Abstract
The utility model discloses a trepang fishing submersible device. Three-dimensional movement of the fishing submersible device is achieved through rotation of propellers in the vertical direction and the horizontal direction, a mechanical pawl can be opened and closed and rotate up and down in a vertical plane through rotation of a drive motor and a motor, and therefore the trepang can be fished and stored. The trepang fishing submersible device comprises a storage cabin, the propellers, a mechanical arm base, the drive motor, a screw, a spiral transmission mechanism, a movable connecting rod and the mechanical arm. The two sides of the storage cabin are provided with two supporting frames, the position, located at the tail of one end of the storage cabin, of the supporting frames is provided with the two horizontal propellers respectively, the positions, located in the middle of the storage cabin, of the supporting frames are provided with the vertical propellers respectively, the mechanical arm base is fixed to the position, at the tail of the other end of the storage cabin, of the supporting frames, and the motor is arranged in the mechanical arm base. Inconvenience of existing fishing working is solved through full-mechanical automatic fishing, and the trepang fishing submersible device is small in size, light, simple in appearance, high in efficiency, easy and convenient to operate, economical and practical.
Description
Technical field
The utility model relates to a kind of sea cucumber and fishes for latent device.
Background technology
Current sea cucumber is fished for general employing and manually fishes for, and adopts and manually fishes for, and diver's submerged depth is restricted, generally speaking the sea cucumber quality at deep water place is better, owing to there is undercurrent under water, danger is larger, and dives under water for a long time, diver is easily tired out, likely also can suffer from bends, the existence of these factors, has improved and has manually fished for cost, and fish for and have a big risk, affected by environment can not continuous operation.In order to replace diver to fish for sea cucumber work, in Chinese Patent Application No.: disclose a kind of sea cucumber catching device in 20111019634.7, it comprises housing, control device and power supply, control device comprises remote controller and circuit board, remote controller is connected with circuit board, in housing, be provided with the adjusting device of drifting along, inhale ginseng device and circuit board, housing front end is provided with sea cucumber suction nozzle, rear end is provided with shipment door, bottom is provided with running gear, it is mainly that the pump working generation power of joining in device by suction is drawn sea cucumber, but consider its running gear control difficulty from reality, reaction velocity is slow, be difficult to realize fine setting, while inhaling ginseng device busy, easily mix seawater, affect camera observing effect, and be easily drawn onto foreign material stop up suction nozzle, greatly affect sea cucumber catching rate.
Utility model content
In order to address the above problem, the utility model provides a kind of sea cucumber to fish for latent device, reaching the three-dimensional of fishing for latent device by vertical and the rotation of horizontal direction screw moves, realize respectively the opening and closing of gripper by drive motors and electric machine rotation simultaneously and in vertical plane upper and lower to rotation, reach the object of arresting and storing to sea cucumber, complete fishing for of mechanical automation solved existing inconvenience of fishing for work.
The utility model is specifically achieved through the following technical solutions:
A kind of sea cucumber is fished for latent device, comprise holding bay, screw, robot base, drive motors, screw rod, screw-drive mechanism, movable rod and gripper, described holding bay both sides are provided with two bracing frames, on position in end, described holding bay one end on bracing frame, be equipped with the screw that a level is installed, on position in described holding bay middle part on bracing frame, be equipped with one vertically to the screw of installing, a robot base is fixed at other end end in described holding bay on bracing frame, described robot base inside is provided with a motor, described motor output shaft connects one speed reducer, described decelerator connects one speed reducer projecting shaft, described decelerator projecting shaft is fixed on an extension rod by hold-down screw, described extension rod connects the shell of hollow sealing, described enclosure is provided with drive motors, the output shaft connecting screw rod of described drive motors, described screw rod connects screw-drive mechanism, on described screw-drive mechanism, be respectively equipped with two symmetrical movable rods, on described movable rod, be respectively equipped with gripper, and described gripper is in described housing exterior, described motor, screw, drive motors all connects controller by cable.
Further, described gripper is that semicircle is spherical, contains at least one blade tooth, and described gripper circular arc inner concentric is provided with semi-loop, docking is identical mutually after gripper closes up, to be two semi-loops, and interlaced closing up between the blade tooth of two grippers;
Further, described robot base is provided with light source and camera, and at least comprises respectively towards holding bay and two groups of light sources of gripper direction and camera;
Further, described light source is connected controller with camera, and described controller also connects display unit.
The beneficial effect that the utility model produces is: the gripper structure of the utility model simulation staff is fished for sea cucumber, and its volume is little, lightweight, outward appearance is simple, efficiency is high, easy and simple to handle, economical and practical.
Brief description of the drawings
In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, to the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described below, apparently, accompanying drawing in the following describes is only embodiment more of the present utility model, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing.
Fig. 1 is the utility model overall structure schematic side view;
Fig. 2 is the utility model overall structure schematic top plan view;
Fig. 3 is the structural representation of robot base;
Fig. 4 is the structural representation of manipulator;
Fig. 5 is the structural representation after gripper closes up.
Embodiment
Below in conjunction with the accompanying drawing in the utility model embodiment, the technical scheme in the utility model embodiment is clearly and completely described.Obviously, described embodiment is only the utility model part embodiment, instead of whole embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not making the every other embodiment obtaining under creative work prerequisite, all belong to the scope of the utility model protection.
With reference to Fig. 1～5, a kind of sea cucumber is fished for latent device, comprise holding bay 1, screw 2, robot base 3, motor 9, drive motors 15, screw rod 16, screw-drive mechanism 17, movable rod 18 and gripper 19, described holding bay 1 both sides are respectively provided with a bracing frame 8, on position in described holding bay 1 end, one end on every bracing frame 8, be equipped with a level to the screw 2 of installing, on position in described holding bay middle part on every bracing frame 8, be equipped with one vertically to the screw of installing, wherein level can be controlled both direction forward or backward to the screw 2 of installing, vertically can control both direction up or down to the screw of installing, its quantity is not limit and can be installed according to the actual requirements.On bracing frame 8, fix a robot base 3 in the other end end of described holding bay, described robot base 3 inside are provided with a motor 9, the output shaft of described motor 9 connects one speed reducer 11, described decelerator 11 connects one speed reducer projecting shaft 12, described decelerator projecting shaft 12 is fixed on an extension rod 14 by hold-down screw 13, described extension rod 14 connects the shell of hollow sealing, described enclosure is provided with drive motors 15, the output shaft connecting screw rod 16 of described drive motors 15, described screw rod 16 connects screw-drive mechanism 17, on described screw-drive mechanism 17, be respectively equipped with two symmetrical movable rods 18, on described movable rod 18, be respectively equipped with gripper 19, and described gripper 19 is in described housing exterior, described motor 9, screw 2, drive motors 15 all connects controller by cable, cable comprises power line and controls the communications cable.Certainly in order to keep fishing for the whole machine balancing of latent device, the position that can need on bracing frame 8 supplements balance weight 4, ensures that whole device keeps balance in the time of seabed, and the tilt phenomenon of any angle can not occur because of the reason of gravity inequality.
Further, described gripper 19 is that semicircle is spherical, contains at least one blade tooth, and described gripper circular arc inner concentric is provided with semi-loop 20, docking is identical mutually after gripper closes up, to be two semi-loops 20, and interlaced closing up between the blade tooth of two grippers.The blade tooth of gripper becomes mutually to stagger, and intersects and closes up equally with people's both hands, so both can reduce gripper volume, and the circular configuration that semi-loop 20 forms wraps up sea cucumber, the sea cucumber and to sea cucumber not damaged of can holding easily.
In robot base 3, be provided with light source and camera simultaneously, and at least comprise respectively towards holding bay 1 and two groups of light sources of gripper 19 direction and camera, described light source is connected controller with camera, described controller also connects display unit, can be in real time by the situation in sea display unit monitoring seabed, as whether holding bay 1 is filled with, whether seabed has the situations such as sea cucumber is found, lay one deck fishing net at holding bay 1 inner surface, net is mentioned and can be taken out sea cucumber, change a fishing net, robot can repeat again fishing operation.
The utility model, in the time arresting sea cucumber, first drops into device to specify waters, is connected to device by sea display unit and controller, then monitors and operates, and starts screw 2 horizontal and verticals operations, reach whole catching device in three-dimensional motion in the sea.In the time that camera captures sea cucumber, propeller blades 2 dives arrive assigned address, start drive motors 15, the driving shaft connecting screw rod 16 of drive motors 15 is with the spiral rotating that is dynamically connected, and described screw rod 16 connects screw-drive mechanism 17, transmission mechanism, along with the rotation of spiral is to the direction motion away from motor, travels forward thereby promote movable rod 18 like this, due to movable rod 18 and the annexation of gripper 19, two grippers 19 close up arrests sea cucumber to be wrapped in semi-loop inside.Monitoring and capturing after sea cucumber from display, open motor 9, the output shaft of described motor 9 connects one speed reducer 11, described decelerator 11 connects one speed reducer projecting shaft 12, decelerator projecting shaft slow circumvolve, and because decelerator projecting shaft 12 is fixed on an extension rod 14 by hold-down screw 13, extension rod 14 rotates along with the rotation of decelerator projecting shaft 12 like this, in the time rotating to the top of holding bay, open drive motors 15 and realize reverse rotation, in like manner screw rod 16 rotarily drives screw-drive mechanism 17 and moves towards the direction of motor, pull movable rod 18 to move, gripper opens, sea cucumber drops into holding bay inside, complete the work of once arresting.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all within spirit of the present utility model and principle, any amendment of doing, be equal to replacement, improvement etc., within all should being included in protection domain of the present utility model.
Claims (4)
1. a sea cucumber is fished for latent device, it is characterized in that, comprise holding bay, screw, robot base, drive motors, screw rod, screw-drive mechanism, movable rod and gripper, described holding bay both sides are provided with two bracing frames, on position in end, described holding bay one end on bracing frame, be equipped with the screw that a level is installed, on position in described holding bay middle part on bracing frame, be equipped with one vertically to the screw of installing, a robot base is fixed at other end end in described holding bay on bracing frame, described robot base inside is provided with a motor, the output shaft of described motor connects one speed reducer, described decelerator connects one speed reducer projecting shaft, described decelerator projecting shaft is fixed on an extension rod by hold-down screw, described extension rod connects the shell of hollow sealing, described enclosure is provided with drive motors, the output shaft connecting screw rod of described drive motors, described screw rod connects screw-drive mechanism, on described screw-drive mechanism, be respectively equipped with two symmetrical movable rods, on described movable rod, be respectively equipped with gripper, and described gripper is in described housing exterior, described motor, screw, drive motors all connects controller by cable.
2. a kind of sea cucumber as claimed in claim 1 is fished for latent device, it is characterized in that, described gripper is that semicircle is spherical, contain at least one blade tooth, and described gripper circular arc inner concentric is provided with semi-loop, docking is identical mutually after gripper closes up, to be two semi-loops, and interlaced closing up between the blade tooth of two grippers.
3. a kind of sea cucumber as claimed in claim 1 is fished for latent device, it is characterized in that, described robot base is provided with light source and camera, and at least comprises respectively towards holding bay and two groups of light sources of gripper direction and camera.
4. a kind of sea cucumber as claimed in claim 3 is fished for latent device, it is characterized in that, described light source is connected controller with camera, and described controller also connects display unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420010984.7U CN203692234U (en) | 2014-01-08 | 2014-01-08 | Trepang fishing submersible device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420010984.7U CN203692234U (en) | 2014-01-08 | 2014-01-08 | Trepang fishing submersible device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203692234U true CN203692234U (en) | 2014-07-09 |
Family
ID=51042764
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420010984.7U Expired - Fee Related CN203692234U (en) | 2014-01-08 | 2014-01-08 | Trepang fishing submersible device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203692234U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104719265A (en) * | 2015-04-15 | 2015-06-24 | 山东西霞口海珍品股份有限公司 | Efficient sea cucumber fishing apparatus |
| CN105432575A (en) * | 2015-12-17 | 2016-03-30 | 于锡汉 | Underwater fishing robot |
| CN105598973A (en) * | 2016-02-04 | 2016-05-25 | 山东建筑大学 | Multi-leg drive holothurian fishing robot based on footholds |
| CN105684997A (en) * | 2016-02-04 | 2016-06-22 | 山东建筑大学 | Trepang catching robot based on propeller driving |
| CN107897137A (en) * | 2017-11-24 | 2018-04-13 | 哈尔滨工业大学 | A kind of open-shelf comprehensive sea cucumber fishing robot |
| CN108377986A (en) * | 2018-04-16 | 2018-08-10 | 武汉择优科技有限公司 | A kind of aquatic products fishing gear and its manufacturing method |
-
2014
- 2014-01-08 CN CN201420010984.7U patent/CN203692234U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104719265A (en) * | 2015-04-15 | 2015-06-24 | 山东西霞口海珍品股份有限公司 | Efficient sea cucumber fishing apparatus |
| CN105432575A (en) * | 2015-12-17 | 2016-03-30 | 于锡汉 | Underwater fishing robot |
| CN105598973A (en) * | 2016-02-04 | 2016-05-25 | 山东建筑大学 | Multi-leg drive holothurian fishing robot based on footholds |
| CN105684997A (en) * | 2016-02-04 | 2016-06-22 | 山东建筑大学 | Trepang catching robot based on propeller driving |
| CN105684997B (en) * | 2016-02-04 | 2016-10-12 | 山东建筑大学 | A kind of Stichopus japonicus driven based on propeller fishes for robot |
| CN107897137A (en) * | 2017-11-24 | 2018-04-13 | 哈尔滨工业大学 | A kind of open-shelf comprehensive sea cucumber fishing robot |
| CN108377986A (en) * | 2018-04-16 | 2018-08-10 | 武汉择优科技有限公司 | A kind of aquatic products fishing gear and its manufacturing method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140709 Termination date: 20160108 |