CN203860279U - Seabed fishing device with lifting supporting legs - Google Patents
Seabed fishing device with lifting supporting legs Download PDFInfo
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- CN203860279U CN203860279U CN201420319183.9U CN201420319183U CN203860279U CN 203860279 U CN203860279 U CN 203860279U CN 201420319183 U CN201420319183 U CN 201420319183U CN 203860279 U CN203860279 U CN 203860279U
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- seabed
- main body
- mechanical arm
- body framework
- supporting leg
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Abstract
A seabed fishing device with lifting supporting legs comprises the lifting supporting legs, an extensible mechanical arm, a warehouse, a fishing device, a camera and a main body framework; the lifting supporting legs which are arranged on the lower portion of the main body framework are used for floor supporting and horizontal state adjusting of the seabed fishing device; the fishing device which is arranged on the front portion of the main body framework is connected with the extensible mechanical arm; the extensible mechanical arm is arranged on the front portion of the main body framework; the front end of the extensible mechanical arm is provided with the camera. The seabed fishing device with the lifting supporting legs has the capability of fishing goods sinking to the bottom, can perform goods mechanical fishing at the seabed with densely covered rocks, is particularly suitable for working in environment with strong ocean currents, storms and rocks and has the capability of rapidly, stably and accurately fishing seabed goods such as sea cucumbers and sea urchins under complex environment.
Description
Technical field
The present invention relates to water-bed fishing gear technical field, be specially a kind of seabed catching device with liftable supporting leg.
Background technology
Seabed resources fish for and excavation has extremely vast potential for future development, in the urgent need to simple and practical automated arm.Along with the swift and violent expansion of mariculture, the demand of marine product fishing operation also sharply increases in recent years, but fishing for of many seabed resources almost relies on diver to carry out underwater operation completely, and long-time diving operation has huge injury to diver's health.Therefore, developing a kind of seabed of automation and fish for machine, be not only the economic needs in market itself, is also the needs of the healthy and life security of protection diver.But, find according to inquiry repeatedly to existing technical literature data, seldom, although there have been on the market several money products to occur, all there is the problems such as inefficiency, cost be high in the automatic machinery research of fishing for and excavating for seabed resources.Such as 1) in " drag in iron claw seabed " program video of CCTV10 cover science and education channel " I like invention " column 2013-5-16 phase, report a suspending underwater robot, this robot attitude of taking to suspend is carried out fishing for of seabed aquatic products, need in the manipulator motion of controlling fishing, regulate in suspension attitude and the orientation of control body, therefore not only cost is high, and complicated operation, be difficult to the efficiency that guarantee is fished for.2) in patent documentation " a kind of sink-float control device and multi-state can rise and fall sea cucumber search catching device (201310539070x) ", the method of taking sink-float to control realizes firmly sinking to the bottom of catching device, contribute to improve the catching rate of catching device in ocean current environment, but this device is difficult to realize walking under water under the environment being thick with reefs, under this environment, be also difficult for realizing and keeping the horizontal attitude of catching device body in the time sinking to the bottom simultaneously, thereby can affect catching rate and the adaptability of this catching device device under the environment that is thick with reefs.
Summary of the invention
The present invention is directed to above shortcoming of the prior art, provide a kind of adaptation to carry out being thick with reefs, under environment that ocean current is stronger the mechanized fishing device that seabed article are fished for.
The object of the invention is to overcome deficiency of the prior art, a kind of seabed catching device with liftable supporting leg is provided, enable to solve the following difficult problem facing in the catching device research and development of seabed: the ocean current in ocean and stormy waves ubiquity, meanwhile, many marine products are all perched near the Jiao island that is thick with reefs.How obvious at stormy waves, action of ocean current, under the complex environment being thick with reefs, realize the mechanized fishing of seabed aquatic products and other article, and the complete equipment of final research and development is simple and easy to do, cost performance is high, is the key point addressing this problem.For achieving the above object, design of the present invention is: by the mode of liftable supporting leg is installed in catching device bottom, catching device main body can be firmly landed with level or the attitude that approaches level, thereby be convenient to carrying out of fishing operation; Secondly, is realizing by above-mentioned liftable support leg device on the basis firmly sinking to the bottom, scalable mechanical arm (long 6 meters of left and right) flexible of camera and trap setting is being housed by end, realizing the front and back arrest near seabed.
According to above-mentioned design, the utility model is achieved through the following technical solutions: the utility model comprises liftable supporting leg, scalable mechanical arm, freight house, trap setting, camera and main body framework.Wherein: liftable supporting leg is positioned at the bottom of main body framework, regulate for floor-type support and the level of seabed catching device; Freight house is positioned at the top, middle part of main body framework; Trap setting is positioned at the front portion of main body framework, is connected with scalable mechanical arm; Scalable mechanical arm arrangements is in the front portion of main body framework, and the front end of scalable mechanical arm is provided with camera.All automatically controlled devices in said apparatus both can be controlled by wireless mode, also can be connected with a umbilical cable by wire, and the other end of this umbilical cable is connected with supervising device waterborne.The water surface or shore man implement long-distance remote control operation by wireless remote control or by above-mentioned supervising device waterborne and umbilical cable to catching device.
Liftable supporting leg comprises main pillar and telescopic rod, and wherein one end of main pillar is flexibly connected with main body framework; One end of telescopic rod is flexibly connected with main body framework, and the other end of telescopic rod is flexibly connected with main pillar.Liftable supporting leg also can be taked the way of simplifying, and dispenses main pillar: liftable supporting leg is telescopic rod, and telescopic rod is fixed and is connected with main body framework.Above-mentioned all telescopic rods both can take the mode of hydraulic stem to carry out telescopic drive, also can take the mode of electric pushrod to carry out telescopic drive, and meanwhile, the layout quantity of liftable supporting leg can be both 1, can be also 2,3 or many.
Scalable mechanical arm arrangements is in the center, front portion of main body framework, and scalable mechanical arm comprises forearm and postbrachium, and postbrachium is arranged on the front upper of main body framework, and the joint of each junction all adopts the mode that can accurately rotate continuously connect and drive; Mechanical arm front end is installed camera and clamp; 6 meters of left and right of mechanical arm overall length, the combination control by each joint realizes elastic near seabed, pastes ground search thereby realize, and when search, by being attached to flexible drinking straw or the clamp on mechanical arm, the article such as found sea cucumber is captured in freight house.
Trap setting can be both suction pipe, can be also clamp.Suction pipe is attached on scalable mechanical arm, and suction pipe end communicates with freight house; Clamp is arranged on the front end of scalable mechanical arm; Freight house is installed on the top, middle part of main body framework, is specially the lower rear of scalable mechanical arm base.
All motors in said apparatus and camera all both can take the mode of wireless contact and water surface effector foundation to contact, also can be connected with a umbilical cable by wire, this umbilical cable is connected to and is located at water surface ships and light boats or ground supervising device waterborne.In addition, also can establish several cameras at positions such as supporting leg, mechanical arm and seabed catching device bodies more, to improve observation ability, and understand better and the attitude of device main body in water of controlling fishing.
Compared with prior art, the utlity model has following outstanding substantive distinguishing features and beneficial effect.
(1) novel structure, capacity of anti-storm are strong; Can adapt to the sea conditions that ocean current is strong, seabed reef is many, fishing operation fast and accurately.By the regulation and control of liftable supporting leg leg can make catching device body possess larger sink to the bottom power in, maintain the attitude level of catching device body, thereby make catching device implement fishing operation in can or approaching the attitude of level in very firm stable and level; On this basis, then use by the combination of scalable mechanical arm trap setting, realize the mechanized fishing to seabed article.
(2) combine the strong adaptability using, both can realize the sink-float of catching device in water by the interpolations method of controlling that rise and fall, also can be by the method realization of the hawser traction suspension control of drifting along for surface platform.Both can realize the Autonomic Migration Framework of catching device in water by the method that installs screw additional or install running gear additional, also can directly realize position migration by surface platform by the mode of hawser suspention.Combination by said method is used, thereby realizes comprehensively fishing for seabed, whole workspace under, the environment that is thick with reefs strong at ocean current.
(3) simple and easy to do, cost performance is high, manufacture difficulty is little.Each parts of the present utility model all do not have high-grade, precision and advanced processing and manufacturing requirement, and each parts all have the off-the-shelf that can substantially meet seabed job requirement, and the difficulty that need to carry out specially treated and transformation is little.
Brief description of the drawings
Fig. 1 is the first example structure diagrammatic elevation view of the present utility model.
Fig. 2 is the second example structure diagrammatic elevation view of the present utility model.
Wherein: main body framework 1, freight house 2, main pillar 3, telescopic rod 4, transparent vessel 5, scalable mechanical arm 6, clamp 7, camera 8, suction pipe 9.
Embodiment
Below in conjunction with accompanying drawing, the present invention is further illustrated, but the scope of protection of present invention is not limited to the scope of embodiment statement.
As depicted in figs. 1 and 2, the utility model comprises: liftable supporting leg, scalable mechanical arm, freight house, trap setting, camera and main body framework.Wherein: liftable supporting leg is positioned at the bottom of main body framework, regulate for floor-type support and the level of seabed catching device; Freight house 2 is positioned at the top, middle part of main body framework 1; Trap setting is positioned at the front portion of main body framework 1, is connected with scalable mechanical arm 6; Scalable mechanical arm 6 is arranged in the front portion of main body framework 1, and the front end of scalable mechanical arm 6 is provided with camera 8.All automatically controlled devices in said apparatus both can be controlled by wireless mode, also can be connected with a umbilical cable by wire, and the other end of this umbilical cable is connected with supervising device waterborne.The water surface or shore man implement long-distance remote control operation by wireless remote control or by above-mentioned supervising device waterborne and umbilical cable to catching device.
The liftable supporting leg that the first embodiment provides, comprises main pillar 3 and telescopic rod 4, and wherein one end of main pillar 3 is flexibly connected with main body framework 1; One end of telescopic rod 4 is flexibly connected with main body framework 1, and the other end of telescopic rod 4 is flexibly connected with main pillar 3.Main pillar 3 itself can be both telescopic, can be also non-telescoping.
The liftable supporting leg that the second embodiment provides, directly adopts telescopic rod 4 as liftable supporting leg, and telescopic rod 4 is fixed and is connected with main body framework 1.No matter be the first or the second embodiment, telescopic rod wherein all both can take hydraulic stem also can take the mode of electric pushrod to drive, meanwhile, the layout quantity of the liftable supporting leg of seabed catching device can be both 1 leg, can be also 2,3 or many legs.
Scalable mechanical arm 6 is arranged on the center, front portion of main body framework 1, and scalable mechanical arm 6 comprises forearm and postbrachium, and postbrachium is arranged on the center, front portion of main body framework 1, and the joint of each junction all adopts the mode that can accurately rotate continuously connect and drive.The mode driving can be both directly at joint, rotary electric machine to be set, and also can take the type of drive of the liftable supporting leg in similar the present embodiment on mechanical arm, to be flexibly connected push rod and drive.
Trap setting can be both suction pipe 9, can be also clamp 7.Suction pipe 9 is attached on scalable mechanical arm 6, and suction pipe 9 ends communicate with freight house 2.Clamp 7 is arranged on the front end of scalable mechanical arm 6; Freight house 2 is installed on the front middle part of main body framework 1, is specially the lower rear of scalable mechanical arm base.
All motors in said apparatus and camera all both can take the mode of wireless contact and water surface effector foundation to contact, also can be connected with a umbilical cable by wire, this umbilical cable is connected to and is located at water surface ships and light boats or ground supervising device waterborne.In addition, also can establish several cameras at positions such as supporting leg, mechanical arm and catching device bodies more, to improve observation ability, and understand better and the attitude of device main body in water of controlling fishing.
Main body framework 1 use stainless steel material is made, and in the catching device of whole seabed, plays frame supported and connection function.
Use all parts of the present invention by combining rightly, can realize easily under complicated sea situation strong at ocean current, that seabed is thick with reefs, catching device is to stablize and the attitude of level is carried out seabed fishing operation.Concrete operations mode is: seabed catching device is controlled by sink-float or the mode of hawser hanging is sat at the end, regulate the telescopic rod 4 of liftable supporting leg, make seabed catching device main body be level or approach the attitude of level, the observation of level both can judge by the mode that adds level meter, also can take following simplified way: the transparent vessel 5 that a back-off is installed on the catching device of seabed, on transparent vessel 5, there are many parallel lines or horizontal scale, transparent vessel 5 has normal opening and opening down, naturally pour into air, the relative position relation of observing gas-liquid interface in transparent vessel 5 and parallel lines by camera judges whether level of seabed catching device main body.
Claims (7)
1. one kind has the seabed catching device of liftable supporting leg, comprise liftable supporting leg, scalable mechanical arm, freight house, trap setting, camera and main body framework, it is characterized in that: liftable supporting leg is positioned at the bottom of main body framework, regulate for floor-type support and the level of seabed catching device; Freight house is positioned at the top, middle part of main body framework; Trap setting is positioned at the front portion of main body framework, is connected with scalable mechanical arm; Scalable mechanical arm arrangements is in the front portion of main body framework, and the front end of scalable mechanical arm is provided with camera.
2. the seabed catching device with liftable supporting leg according to claim 1, is characterized in that: liftable supporting leg comprises main pillar and telescopic rod, and wherein one end of main pillar is flexibly connected with main body framework; One end of telescopic rod is flexibly connected with main body framework, and the other end of telescopic rod is flexibly connected with main pillar.
3. the seabed catching device with liftable supporting leg according to claim 1, is characterized in that: liftable supporting leg is telescopic rod, and telescopic rod is fixed and is connected with main body framework.
4. the seabed catching device with liftable supporting leg according to claim 1, it is characterized in that: scalable mechanical arm arrangements is in the front portion of main body framework, scalable mechanical arm comprises forearm and postbrachium, postbrachium is arranged on the front upper of main body framework, and the joint of each junction all adopts the mode that can accurately rotate continuously connect and drive; Mechanical arm front end is provided with camera.
5. the seabed catching device with liftable supporting leg according to claim 1, is characterized in that: trap setting is clamp, and clamp is arranged on the front end of scalable mechanical arm.
6. the seabed catching device with liftable supporting leg according to claim 1, is characterized in that: trap setting is suction pipe, suction pipe is attached on scalable mechanical arm, and suction pipe end communicates with freight house.
7. the seabed catching device with liftable supporting leg according to claim 1, it is characterized in that: the level of seabed catching device is observed the following mode of taking: the transparent vessel that a back-off is installed on the catching device of seabed, on container, there are many parallel lines or horizontal scale, container has normal opening and opening down, naturally pour into air, the relative position relation of observing gas-liquid interface in container and parallel lines by camera judges whether level of seabed catching device main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420319183.9U CN203860279U (en) | 2014-06-16 | 2014-06-16 | Seabed fishing device with lifting supporting legs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420319183.9U CN203860279U (en) | 2014-06-16 | 2014-06-16 | Seabed fishing device with lifting supporting legs |
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| Publication Number | Publication Date |
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| CN203860279U true CN203860279U (en) | 2014-10-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420319183.9U Expired - Fee Related CN203860279U (en) | 2014-06-16 | 2014-06-16 | Seabed fishing device with lifting supporting legs |
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| CN (1) | CN203860279U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105667748A (en) * | 2016-03-21 | 2016-06-15 | 王莎莎 | Workboat for landscape architecture |
| CN105775087A (en) * | 2016-03-15 | 2016-07-20 | 舒丹丹 | Workboat capable of floating stably for municipal garden |
| CN105766822A (en) * | 2014-12-26 | 2016-07-20 | 青岛赶海机器人有限公司 | Gantry-frame travelling crane type underwater operation robot |
| CN106212401A (en) * | 2016-10-11 | 2016-12-14 | 衢州乐创节能科技有限公司 | A kind of ship type Bellamya quadrata trap setting |
| CN108157309A (en) * | 2018-05-14 | 2018-06-15 | 烟台工程职业技术学院 | A kind of freshwater mussel captures collection device |
-
2014
- 2014-06-16 CN CN201420319183.9U patent/CN203860279U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105766822A (en) * | 2014-12-26 | 2016-07-20 | 青岛赶海机器人有限公司 | Gantry-frame travelling crane type underwater operation robot |
| CN105766822B (en) * | 2014-12-26 | 2018-06-26 | 青岛赶海机器人有限公司 | A kind of gantry frame running vehicle type underwater operation robot |
| CN105775087A (en) * | 2016-03-15 | 2016-07-20 | 舒丹丹 | Workboat capable of floating stably for municipal garden |
| CN105667748A (en) * | 2016-03-21 | 2016-06-15 | 王莎莎 | Workboat for landscape architecture |
| CN106212401A (en) * | 2016-10-11 | 2016-12-14 | 衢州乐创节能科技有限公司 | A kind of ship type Bellamya quadrata trap setting |
| CN108157309A (en) * | 2018-05-14 | 2018-06-15 | 烟台工程职业技术学院 | A kind of freshwater mussel captures collection device |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141008 Termination date: 20190616 |