CN204599019U - Unmanned operation aquaculture robot under water - Google Patents
Unmanned operation aquaculture robot under water Download PDFInfo
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- CN204599019U CN204599019U CN201520312281.4U CN201520312281U CN204599019U CN 204599019 U CN204599019 U CN 204599019U CN 201520312281 U CN201520312281 U CN 201520312281U CN 204599019 U CN204599019 U CN 204599019U
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Abstract
The utility model discloses one unmanned operation aquaculture robot under water, submerge device is connected by communication cable with between remote control station; Base plate is provided with frame, hydraulic system, frame is provided with communication interface, several propellers, control system, communication interface is connected with communication cable, rearmounted buoyancy unit is connected by framework lateral plate with between frame, rearmounted buoyancy unit is connected with preposition buoyancy unit, preposition buoyancy unit is provided with several cameras, frame is provided with two mechanical arms, base plate is provided with bait storage bin, feeds intake and catch actuating unit, bait storage bin is caught actuating unit and is connected with feeding intake.Utility model works ability is strong, and resistance to corrosion seawater is high, and carrying operation instrument is many, and manipulation is simple, accurate grasping body technology, and combination rapid and convenient, functional configuration is versatile and flexible, and efficiency high cost is low.
Description
Technical field
The utility model relates to robotics, particularly relates to one unmanned operation aquaculture robot under water.
Background technology
At present, domestic many enterprises, scientific research institutions develop many underwater robots in succession, as Shenyang automation research institute of the Chinese Academy of Sciences " goldfish series " underwater robot, the ROV_JTR-21 light work under water robot of Shanghai Communications University's development, the safe rich female V8Sii underwater robot in Beijing etc., these machines are per capita with deeper water data acquisition, the operations such as exploration are main, in professional field of marine aquaculture, as fixed point bait throwing in, classification fish for, special data sampling, bad weather circumstances operation etc. still need research further.
Utility model content
The technical problems to be solved in the utility model is to provide one unmanned operation aquaculture robot under water, and solving aquaculture robot cannot Rapid Combination, and functional configuration is dumb various, the problem that efficiency low cost is high.
For solving the problems of the technologies described above, the technical solution of the utility model is: unmanned operation aquaculture robot under water, comprises submerge device and remote control station, and submerge device is connected by communication cable with between remote control station, submerge device comprises camera, mechanical arm, bait storage bin, feed intake and catch actuating unit, communication interface, framework lateral plate, preposition buoyancy unit, propeller, rearmounted buoyancy unit, frame, base plate, hydraulic system and control system, base plate is provided with frame, hydraulic system, frame is provided with communication interface, several propellers, control system, communication interface is connected with communication cable, rearmounted buoyancy unit is connected by framework lateral plate with between frame, rearmounted buoyancy unit is connected with preposition buoyancy unit, preposition buoyancy unit is provided with several cameras, frame is provided with two mechanical arms, base plate is provided with bait storage bin, feed intake and catch actuating unit, bait storage bin is caught actuating unit and is connected with feeding intake.
Further, angle of rake quantity is six.
Further, the quantity of camera is three.
Further, mechanical arm comprises base, large arm, forearm and paw, and floor installation, in frame, is connected by joint motion between base with large arm, is connected between large arm with forearm by joint motion, is connected between forearm with paw by joint motion.
Further, paw comprises finger block, connecting rod and finger, is connected between finger block with finger by connecting rod.
Further, mechanical arm is six-freedom degree.
Further, feed intake and catch actuating unit and comprise Connection Block, pipeline, linking arm and feed intake and catch sucker, Connection Block is arranged on base plate, and Connection Block is connected with linking arm, one end of pipeline is caught sucker and is connected with feeding intake, and the other end is connected with bait storage bin through linking arm.
Further, the outer surface of frame is provided with resistant material jacket.
Further, camera adopts two-dimensional imaging vision technique.
The beneficial effects of the utility model:
1, ability to work is strong; People can be replaced to carry out bait throwing under water, fertilising, kind grass, mowing, monitoring etc., bait throwing in of particularly fixing a point under water, key area seawater, environments such as subsea Real-Time Monitoring and because of marine product Density Distribution or environment undesirable and need to carry out fanout free region transfer etc.;
2, resistance to corrosion seawater is high; Select resistant material, adopt optimal design in design, carry out finite element stress analysis, increase resistant material jacket etc., solve spot corrosion, crevice corrosion, low frequency corrosion fatigue, stress corrosion and microbiologic(al) corrosion etc.;
3, carrying operation instrument is many; Two can Fast Installation formula six degree of freedom mechanical arm, carry that sea cucumber is fished for, shell pickup, weed cutting, the professional monitoring instrument etc. such as fixed point bait throwing in instrument and seawater, ocean bottom soil temperature, water quality, flow rate detection;
4, manipulation is simple; Adopt iPad or reinforced notebook computer conputer controlled, touch or remote-control handle mode operate, and in real time image and sensor signal can be uploaded to internet, for fishery Internet of Things, industrialization cultivation provide accurate data;
5, accurate grasping body technology; Adopt advanced two-dimensional imaging vision technique and accurate intelligent control technology, realize robot automatic job;
6, combine rapid and convenient, functional configuration is versatile and flexible, and efficiency high cost is low.
Accompanying drawing explanation
Fig. 1 is the utility model structural representation;
Fig. 2 is submerge device interior exploded view;
Fig. 3 is mechanical arm structural representation;
Fig. 4 is the partial structurtes schematic diagram of paw;
Fig. 5 feeds intake to catch actuating unit structural representation.
Wherein: 1. camera, 2. remote control station, 3. mechanical arm, 4. bait storage bin, 5. feeds intake and catches actuating unit, 6. communication cable, 7. communication interface, 8. framework lateral plate, 9. preposition buoyancy unit, 10. propeller, 11. rearmounted buoyancy unit, 12. frames, 13. base plates, 14. hydraulic systems, 15. control systems, 16. bases, 17. large arm, 18. forearms, 19. paws, 20. finger blocks, 21. connecting rods, 22. fingers, 23. Connection Blocks, 24. pipelines, 25. linking arms, 26. feed intake catches sucker.
Embodiment
As Figure 1-Figure 5, unmanned operation aquaculture robot under water, comprises submerge device and remote control station 2, is connected between submerge device with remote control station 2 by communication cable 6, remote control station (2) works on the water, is responsible for carrying out control & monitor to submerge device, submerge device comprises camera 1, mechanical arm 3, bait storage bin 4, feed intake and catch actuating unit 5, communication interface 7, framework lateral plate 8, preposition buoyancy unit 9, propeller 10, rearmounted buoyancy unit 11, frame 12, base plate 13, hydraulic system 14 and control system 15, base plate 13 is provided with frame 12, hydraulic system 14, the outer surface of frame 12 is provided with resistant material jacket, frame 12 is provided with communication interface 7, six propellers 10, control system 15, communication interface 7 is connected with communication cable 6, rearmounted buoyancy unit 11 is connected by framework lateral plate 8 with between frame 12, rearmounted buoyancy unit 11 is connected with preposition buoyancy unit 9, preposition buoyancy unit 9 is provided with three cameras 1, camera 1 can realize the monitoring of underwater environment, realize the acquisition of binocular range images simultaneously, frame 12 is provided with two mechanical arms 3, mechanical arm 3 is six-freedom degree, mechanical arm 3 comprises base 16, large arm 17, forearm 18 and paw 19, base 16 is arranged in frame 12, paw 19 comprises finger block 20, connecting rod 21 and finger 22, be connected by connecting rod 21 between finger block 20 with finger 22, be connected by joint motion between base 16 with large arm 17, be connected by joint motion between large arm 17 with forearm 18, be connected by joint motion between forearm 18 with paw 19, left, right two mechanical arms 3 can collaborative work, effectively complete executable operations, base plate 13 is provided with bait storage bin 4, feeds intake and catch actuating unit 5, bait storage bin 4 is caught actuating unit 5 and is connected with feeding intake, feed intake and catch actuating unit 5 and comprise Connection Block 23, pipeline 24, linking arm 25 and feed intake and catch sucker 26, Connection Block 23 is installed on base 13, Connection Block 23 is connected with linking arm 25, one end of pipeline 24 is caught sucker 26 and is connected with feeding intake, the other end is connected with bait storage bin 4 through linking arm 25, feed intake and catch the accurate input that actuating unit 5 can complete bait, can catching marine product be realized simultaneously, submerge device operation point two kinds of patterns, i.e. remote control mode and automatic mode, remote control mode sends robot motion order at control end by control by control staff, automatic mode is according to default course line, GPS navigation, by dynamically course, the speed of a ship or plane control in real time, nobody navigates by water at task of independently hitting the target, and ensure that course line is fixed, according to real-time Dynamic controlling feed rate of parameter such as real-time voyage, the speed of a ship or plane, doses, ensure that even bait throwing in, relevant for the data and system of part of data acquisition collection operational factor is transferred to earth station by data and image stage in real time, submerge device is in the manipulation of remote control station 2 with under monitoring, carry two mechanical arms 3, feed intake and catch actuating unit 5 and carry out operation at the bottom, large arm 17 is rotated, forearm 18, paw 19 also follow movement simultaneously, operationally, general employing two mechanical arm 3 coordinated modes carry out work, greatly increase work efficiency and success rate that increase task completes, feed intake and catch actuating unit 5 and have two kinds of mode of operations, the pattern that namely feeds intake and acquisition mode, in the pattern of feeding intake, bait deposited by bait storage bin 4, caught sucker 26 by pipeline 24 and be connected with feeding intake, and feeds intake to catch sucker 26 and perform and accurately throw in action, completes bait and throw in, at acquisition mode, bait storage bin 4, as aquatic products memory, stores the product of catching, binocular stereo vision measurement is the main path that human use's eyes obtain surrounding three-dimensional information, this technology adopts advanced two-dimensional imaging vision technique and accurate intelligent control technology, realize robot automatic job, two-dimensional imaging vision technique takes same width scene by two of diverse location video cameras (CCD), by computer memory point parallax in two images, calculate the degree of depth of scenery, obtain the D coordinates value of this point.
My company is engaged in seawater aquaculture history for many years, and have accumulated a large amount of professional techniques and knowhow in this field, the utility model have passed through a large amount of verification experimental verifications, and performance safety is reliable.
The above; be only the utility model preferably embodiment; but protection domain of the present utility model is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the utility model discloses; be equal to according to the technical solution of the utility model and utility model design thereof and replace or change, all should be encompassed within protection domain of the present utility model.
Claims (9)
1. unmanned operation aquaculture robot under water, is characterized in that: comprise submerge device and remote control station (2), is connected between submerge device with remote control station (2) by communication cable (6);
Submerge device comprises camera (1), mechanical arm (3), bait storage bin (4), feed intake and catch actuating unit (5), communication interface (7), framework lateral plate (8), preposition buoyancy unit (9), propeller (10), rearmounted buoyancy unit (11), frame (12), base plate (13), hydraulic system (14) and control system (15), base plate (13) is provided with frame (12), hydraulic system (14), frame (12) is provided with communication interface (7), several propellers (10), control system (15), communication interface (7) is connected with communication cable (6), be connected by framework lateral plate (8) between rearmounted buoyancy unit (11) with frame (12), rearmounted buoyancy unit (11) is connected with preposition buoyancy unit (9), preposition buoyancy unit (9) is provided with several cameras (1), frame (12) is provided with two mechanical arms (3), base plate (13) is provided with bait storage bin (4), feed intake and catch actuating unit (5), bait storage bin (4) is caught actuating unit (5) and is connected with feeding intake.
2. the aquaculture robot of unmanned operation under water according to claim 1, is characterized in that: the quantity of described propeller (10) is six.
3. the aquaculture robot of unmanned operation under water according to claim 1, is characterized in that: the quantity of described camera (1) is three.
4. the aquaculture robot of unmanned operation under water according to claim 1, it is characterized in that: described mechanical arm (3) comprises base (16), large arm (17), forearm (18) and paw (19), base (16) is arranged in frame (12), be connected by joint motion between base (16) with large arm (17), be connected by joint motion between large arm (17) with forearm (18), be connected by joint motion between forearm (18) with paw (19).
5. the aquaculture robot of unmanned operation under water according to claim 4, it is characterized in that: described paw (19) comprises finger block (20), connecting rod (21) and finger (22), is connected between finger block (20) with finger (22) by connecting rod (21).
6. the aquaculture robot of unmanned operation under water according to claim 4 or 5, is characterized in that: described mechanical arm (3) is six-freedom degree.
7. the aquaculture robot of unmanned operation under water according to claim 1, it is characterized in that: described feeding intake is caught actuating unit (5) and comprised Connection Block (23), pipeline (24), linking arm (25) and feed intake and catch sucker (26), Connection Block (23) is arranged on base plate (13), Connection Block (23) is connected with linking arm (25), one end of pipeline (24) is caught sucker (26) and is connected with feeding intake, and the other end is connected with bait storage bin (4) through linking arm (25).
8. the aquaculture robot of unmanned operation under water according to claim 1, is characterized in that: the outer surface of described frame (12) is provided with resistant material jacket.
9. the aquaculture robot of unmanned operation under water according to claim 1, is characterized in that: described camera (1) adopts two-dimensional imaging vision technique.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201520312281.4U CN204599019U (en) | 2015-05-14 | 2015-05-14 | Unmanned operation aquaculture robot under water |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520312281.4U CN204599019U (en) | 2015-05-14 | 2015-05-14 | Unmanned operation aquaculture robot under water |
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| CN201520312281.4U Expired - Fee Related CN204599019U (en) | 2015-05-14 | 2015-05-14 | Unmanned operation aquaculture robot under water |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104813975A (en) * | 2015-05-14 | 2015-08-05 | 大连赫海科技有限公司 | Underwater unmanned operation aquaculture robot |
| CN105941245A (en) * | 2016-06-23 | 2016-09-21 | 安徽扫宝智能科技有限公司 | Intelligent robot for feeding fishes and shrimps in reservoir |
| CN106005318A (en) * | 2016-06-21 | 2016-10-12 | 上海遨拓深水装备技术开发有限公司 | Bathyscaph for detecting deep sea pipelines and working method of bathyscaph |
| CN106135101A (en) * | 2016-06-23 | 2016-11-23 | 安徽扫宝智能科技有限公司 | A kind of fishery cultivating automatic charging machine people's feeding manipulator |
| CN106665447A (en) * | 2015-11-04 | 2017-05-17 | 黄壹圣 | Feeding control device for aquaculture animals |
| CN107433581A (en) * | 2017-10-02 | 2017-12-05 | 孟庆仕 | A kind of space Work robot |
| CN108200861A (en) * | 2016-12-20 | 2018-06-26 | 潍坊市烟草专卖局 | A kind of submersible type floating seedlings intelligence fertilizer applicator |
| CN109089989A (en) * | 2018-09-03 | 2018-12-28 | 苏州市职业大学 | aquaculture robot |
| CN109625218A (en) * | 2018-12-29 | 2019-04-16 | 浙江大学 | A kind of no worker monitor underwater culture robot system based on solar recharging |
| CN110122438A (en) * | 2019-06-22 | 2019-08-16 | 西南石油大学 | A kind of exploration of pump suction type marine product and finishing device |
| CN111085984A (en) * | 2019-12-31 | 2020-05-01 | 大连海事大学 | Intelligent underwater fishing manipulator and working method thereof |
-
2015
- 2015-05-14 CN CN201520312281.4U patent/CN204599019U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104813975B (en) * | 2015-05-14 | 2017-06-06 | 大连赫海科技有限公司 | Unmanned operation aquaculture robot under water |
| CN104813975A (en) * | 2015-05-14 | 2015-08-05 | 大连赫海科技有限公司 | Underwater unmanned operation aquaculture robot |
| CN106665447A (en) * | 2015-11-04 | 2017-05-17 | 黄壹圣 | Feeding control device for aquaculture animals |
| CN106005318A (en) * | 2016-06-21 | 2016-10-12 | 上海遨拓深水装备技术开发有限公司 | Bathyscaph for detecting deep sea pipelines and working method of bathyscaph |
| CN106135101B (en) * | 2016-06-23 | 2018-11-02 | 庄高墅 | A kind of fishery cultivating automatic charging machine people's feeding manipulator |
| CN105941245A (en) * | 2016-06-23 | 2016-09-21 | 安徽扫宝智能科技有限公司 | Intelligent robot for feeding fishes and shrimps in reservoir |
| CN106135101A (en) * | 2016-06-23 | 2016-11-23 | 安徽扫宝智能科技有限公司 | A kind of fishery cultivating automatic charging machine people's feeding manipulator |
| CN108200861A (en) * | 2016-12-20 | 2018-06-26 | 潍坊市烟草专卖局 | A kind of submersible type floating seedlings intelligence fertilizer applicator |
| CN107433581A (en) * | 2017-10-02 | 2017-12-05 | 孟庆仕 | A kind of space Work robot |
| CN109089989A (en) * | 2018-09-03 | 2018-12-28 | 苏州市职业大学 | aquaculture robot |
| CN109625218A (en) * | 2018-12-29 | 2019-04-16 | 浙江大学 | A kind of no worker monitor underwater culture robot system based on solar recharging |
| CN109625218B (en) * | 2018-12-29 | 2020-05-22 | 浙江大学 | Unmanned monitoring underwater aquaculture robot system based on solar charging |
| CN110122438A (en) * | 2019-06-22 | 2019-08-16 | 西南石油大学 | A kind of exploration of pump suction type marine product and finishing device |
| CN111085984A (en) * | 2019-12-31 | 2020-05-01 | 大连海事大学 | Intelligent underwater fishing manipulator and working method thereof |
| CN111085984B (en) * | 2019-12-31 | 2023-01-17 | 大连海事大学 | Intelligent underwater fishing manipulator and working method thereof |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150902 Termination date: 20180514 |
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| CF01 | Termination of patent right due to non-payment of annual fee |