CN206658888U - A kind of comprehensive sea cucumber catching device - Google Patents
A kind of comprehensive sea cucumber catching device Download PDFInfo
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- CN206658888U CN206658888U CN201720440667.2U CN201720440667U CN206658888U CN 206658888 U CN206658888 U CN 206658888U CN 201720440667 U CN201720440667 U CN 201720440667U CN 206658888 U CN206658888 U CN 206658888U
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Abstract
The utility model discloses a kind of comprehensive sea cucumber catching device, described catching device includes framework, the top surface of framework and two sides are mounted on propeller, base of frame is arranged on chassis by rotating base, the both sides on chassis are respectively provided with a crawler belt, and the Athey wheel in crawler belt is driven by the motor in base plate electric machine case；Described catching device also includes the pulsating pump being arranged on framework and inhales ginseng storehouse, and the manipulator on framework is arranged on by manipulator rotating seat, Underwater Camera is installed on manipulator, and suction nozzle is installed in the front end of manipulator, the water inlet that suction nozzle joins storehouse by pipeline with inhaling communicates.It comprehensive sea cucumber catching device disclosed in the utility model, can both be promoted with screw propeller, can be creeped again with crawler belt, sea cucumber fishing operation can be carried out under deep-sea and Complex Water Environment.
Description
Technical field
The utility model belongs to catching device field under intelligent water, and more particularly to one kind in the field is creeped pushes away with propeller
Enter it is integral can the comprehensive sea cucumber catching device of obstacle detouring.
Background technology
China is sea cucumber yield big country, while is also consumption big country, is constantly increased with the market of sea cucumber in recent years
Add, occur that supply falls short of demand, expensive situation, while catch the main reason for difficult and sea cucumber is expensive.At present
Sea cucumber fishing relies primarily on water under diver and manually caught, and the catching season of sea cucumber is mainly in spring and autumn, and ocean temperature is relatively low,
Plus the dangerous situation of sea bottom complex, diver had both been in peril of one's life when catching sea cucumber, and easy bends.
Current existing suction-type sea cucumber finishing device, has the disadvantage that：
（1）Fishing gear can play a part of hydraulic propeller when not accounting for water suction pump work mostly, be caught in positioning
The stability of fishing gear can not be kept when dragging for sea cucumber, so as to influence the positioning precision of manipulator, reduces catching rate；
（2）Fishing gear by propeller or is held in hydrolocation suction nozzle mostly, it is difficult to finely tunes, and reaction speed
Slowly, it is easy to influenceed by current so as to can not accurately draw sea cucumber.The water around muddy can be sprayed close to the bottom, cleer sea can not be seen
The particular location of ginseng；
（3）These fishing gear most sports modes are single, and propeller can not be realized while propulsion and creeped at the bottom；
（4）The most limited view of these fishing gears, it is impossible to which 360 degrees omnidirection tracks down and arrests sea cucumber, and catching rate is relatively low.
Utility model content
Technical problem to be solved in the utility model be just to provide it is a kind of creep with propeller promote one can obstacle detouring
Comprehensive sea cucumber catching device.
The utility model adopts the following technical scheme that：
A kind of comprehensive sea cucumber catching device, it is theed improvement is that：Described catching device includes framework, the top surface of framework and
Two sides are mounted on propeller, and base of frame is arranged on chassis by rotating base, and the both sides on chassis are respectively provided with one
Crawler belt, the Athey wheel in crawler belt are driven by the motor in base plate electric machine case；Described catching device also includes being arranged on framework
Pulsating pump and suction ginseng storehouse, and the manipulator on framework is arranged on by manipulator rotating seat, underwater camera is installed on manipulator
Machine, and suction nozzle is installed in the front end of manipulator, the water inlet that suction nozzle joins storehouse by pipeline with inhaling communicates, and is inhaling water inlet in ginseng storehouse
Grid baffle plate for filtering sea cucumber is installed between delivery port, inhales the suction side that the delivery port in ginseng storehouse passes through pipeline and pulsating pump
Communicate, the discharge ends of pulsating pump are circumferentially symmetrical arranged the outside draining of discharge outlet of horizontal direction；Described catching device also includes
In framework and the control storehouse and underwater luminaire on framework of external command, described control storehouse can be received
Above-mentioned propeller, rotating base, motor, pulsating pump, manipulator rotating seat, manipulator, underwater can be controlled according to external command
Video camera and underwater luminaire work.
Further, the propeller of framework top surface has two, and two propellers are symmetrically mounted on framework top surface and close on both sides
The position in face.
Further, described propeller be can be with the screw propeller of rotating.
Further, described Athey wheel includes two small Athey wheels at crawler belt both ends, between two small Athey wheels also
There are two big Athey wheels, four Athey wheels are connected in turn, and small Athey wheel is higher than big Athey wheel to make crawler belt exist
The gradient of rising is formed between adjacent big Athey wheel and small Athey wheel.
Further, covered with floating body material on the top surface of framework.
Further, described manipulator rotating seat is arranged on framework by support baseboard.
Further, the suction nozzle and the pipeline inhaled between ginseng storehouse water inlet are screwed hose.
Further, the discharge outlet of pulsating pump discharge ends is located at more than the top surface of framework.
Further, control storehouse passes through cable reception external command.
The beneficial effects of the utility model are：
Comprehensive sea cucumber catching device disclosed in the utility model, it can both be promoted with screw propeller, can used again
Crawler belt is creeped, and sea cucumber fishing operation can be carried out under deep-sea and Complex Water Environment.Two propellers of other framework top surface
With two propellers of side catching device can be made to realize the flexible motion of four frees degree in water, be made up of size Athey wheel
Multi-joint crawler belt of creeping can realize and creeped in water-bed flexibly obstacle detouring.Base of frame is arranged on chassis by rotating base,
Framework is set once to stop the comprehensive arrest sea cucumber of can, time-saving and efficiency with 360 ° of rotations.Manipulator is rotated by manipulator
Seat is arranged on framework, can also 360 ° of rotations comprehensive be accurately positioned.The discharge ends of pulsating pump are circumferentially symmetrical arranged level
The outside draining of discharge outlet in direction, and discharge outlet is located at more than the top surface of framework, and the water level of pulsating pump discharge sprays to surrounding,
The power of all directions, which is cancelled out each other, does not influence the free degree of catching device, does not also influence manipulator and is accurately positioned sea cucumber, discharge outlet is located at
More than the top surface of framework, the water around muddy water bottom will not be sprayed not close to the bottom, does not influence the water environment of surrounding.
Comprehensive sea cucumber catching device disclosed in the utility model, structure is novel, fishing sea cucumber accurate positioning, efficiency high,
The comprehensive no dead angle of multiple spot, ability of working continuously is strong, stability is high, is suitable for various complicated sea situations, to replace artificial progress sea
Ginseng fishing.The full mechanical automation of whole process, it is smooth, sea cucumber is injured small.
Brief description of the drawings
Fig. 1 is the stereogram of comprehensive sea cucumber catching device disclosed in the utility model embodiment 1；
Fig. 2 is the side view of comprehensive sea cucumber catching device disclosed in the utility model embodiment 1；
Fig. 3 is the internal structure schematic diagram that ginseng storehouse is inhaled in comprehensive sea cucumber catching device disclosed in the utility model embodiment 1.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and examples
The utility model is further elaborated.It should be appreciated that specific embodiment described herein is only explaining this reality
With new, it is not used to limit the utility model.
Embodiment 1, such as Fig. 1, shown in 2, present embodiment discloses a kind of comprehensive sea cucumber catching device, described catching device bag
Framework 4 is included, the top surface of framework 4 and two sides are mounted on propeller, and the bottom of framework 4 is arranged on chassis by rotating base 16
On, rotating base can drive framework and 360 ° of rotations of part on framework.The both sides on chassis are respectively provided with a shoe
Band, the Athey wheel in crawler belt are driven by the motor in base plate electric machine case 3.Described catching device also includes being arranged on framework 4
Pulsating pump 17 and suction ginseng storehouse 18, and the manipulator 9 on framework 4, manipulator rotating seat are arranged on by manipulator rotating seat 13
Can be with the 360 ° of rotations of part of driving mechanical hand and installation on a robotic arm.Underwater Camera 10 is installed on manipulator 9, and in machine
The front end installation suction nozzle 12 of tool hand 9, the water inlet 181 that suction nozzle 12 joins storehouse 18 by pipeline 11 with inhaling communicate, as shown in figure 3,
The grid baffle plate 21 installed in ginseng storehouse 18 between water inlet 181 and delivery port 182 for filtering sea cucumber is inhaled, inhales the water outlet in ginseng storehouse 18
Mouth 182 is communicated by pipeline with the suction side of pulsating pump 17, and the discharge ends of pulsating pump are circumferentially symmetrical arranged the row of horizontal direction
19 outside draining of the mouth of a river；Described catching device also includes control storehouse 8 and the peace that is arranged in framework 4 and can receive external command
Underwater luminaire 15 on framework 4, described control storehouse can be controlled according to external command above-mentioned propeller start and stop and
Rotating, the anglec of rotation of rotating base, the start and stop of motor and power output, the start and stop of pulsating pump and power, manipulator rotation
The anglec of rotation of seat, the action of manipulator, the work of Underwater Camera and underwater luminaire.
Alternatively, in the present embodiment, described propeller be can be with the propeller of rotating
Propeller.The propeller of framework top surface has two, and two propellers are symmetrically mounted on the position that framework top surface closes on two sides, such as
Shown in Fig. 1, two propellers 7 of framework top surface and two propellers 6 of side can make catching device realize in water four from
By spending（Two propellers of top surface, which are rotated forward or inverted, realizes that catching device floating rotates forward a reversion realization with dive, one and caught
Device is dragged for vertically to overturn, two propellers of side rotate forward or invert realize catching device advance with retreating, a rotating forward it is one anti-
Turn to realize catching device transverse rotation）Flexible motion.Described Athey wheel includes the two small Athey wheel 2 at crawler belt both ends, two
There is two big Athey wheel 1 between individual small Athey wheel 2, four Athey wheels are connected in turn, and small Athey wheel is higher than big
Athey wheel is to make crawler belt form the gradient of rising, the multi-joint being thusly-formed between adjacent big Athey wheel and small Athey wheel
Crawler belt of creeping can be realized creeps in water-bed flexibly obstacle detouring.Covered with floating body material 5, described floating body material on the top surface of framework
Material can provide enough buoyancy for catching device.Described manipulator rotating seat 13 is arranged on framework 4 by support baseboard 14.
The suction nozzle and the pipeline 11 inhaled between ginseng storehouse water inlet are screwed hose.The discharge outlet of pulsating pump discharge ends is located at the top of framework
It is more than face.Storehouse is controlled to receive external command by cable 20.
The course of work of comprehensive sea cucumber catching device is disclosed in the present embodiment：Calculating is manually manipulated on the coast or on ship
Machine, by cable transmission instruct to control storehouse, control storehouse can according to instruction control screw propeller start and stop and rotating,
The anglec of rotation of rotating base, the start and stop of motor and power output, the start and stop of pulsating pump and power, the rotation of manipulator rotating seat
Angle, the action of manipulator, the work of Underwater Camera and underwater luminaire.
Specifically, open underwater luminaire after, Underwater Camera shooting underwater real time status by cable send to
Computer, for operating personnel's real time inspection bottom situation.Operating personnel can be real by controlling storehouse to control screw propeller to promote
Existing catching device floating dive, vertical upset, forward-reverse, the flexible motion of four frees degree of transverse rotation.Motor can also be passed through
Drive the multi-joint that is made up of size Athey wheel creep crawler belt realize the bottom can obstacle crossing type creep.360 ° of rotations of rotating base
This region sea cucumber is tracked down and arrested, when finding sea cucumber, the suction nozzle alignment sea cucumber of manipulator rotating seat rotation driving mechanical hand front end, is started
Sea cucumber is inhaled ginseng storehouse by pulsating pump by suction nozzle and screwed hose inspiration, is inhaled the grid baffle plate in ginseng storehouse and is blocked sea cucumber and joins storehouse in suction
Interior, seawater and impurity then spray to surrounding by the discharge outlet level of pulsating pump discharge ends.
Claims (9)
- A kind of 1. comprehensive sea cucumber catching device, it is characterised in that：Described catching device includes framework, the top surface of framework and two sides Propeller is mounted on, base of frame is arranged on chassis by rotating base, and the both sides on chassis are respectively provided with a crawler belt, is carried out Athey wheel in band is driven by the motor in base plate electric machine case；Described catching device also include be arranged on framework on pulsating pump and Ginseng storehouse is inhaled, and the manipulator on framework is arranged on by manipulator rotating seat, Underwater Camera is installed on manipulator, and in machine The front end installation suction nozzle of tool hand, the water inlet that suction nozzle joins storehouse by pipeline with inhaling communicate, and are inhaling water inlet and delivery port in ginseng storehouse Between grid baffle plate for filtering sea cucumber is installed, the delivery port for inhaling ginseng storehouse is communicated by pipeline with the suction side of pulsating pump, is inhaled The discharge ends of water pump are circumferentially symmetrical arranged the outside draining of discharge outlet of horizontal direction；Described catching device also includes being arranged on frame In frame and the control storehouse of external command and the underwater luminaire on framework can be received, described control storehouse can basis External command control above-mentioned propeller, rotating base, motor, pulsating pump, manipulator rotating seat, manipulator, Underwater Camera with And underwater luminaire work.
- 2. comprehensive sea cucumber catching device according to claim 1, it is characterised in that：The propeller of framework top surface has two, Two propellers are symmetrically mounted on the position that framework top surface closes on two sides.
- 3. comprehensive sea cucumber catching device according to claim 1, it is characterised in that：Described propeller is can be with rotating Screw propeller.
- 4. comprehensive sea cucumber catching device according to claim 1, it is characterised in that：Described Athey wheel includes crawler belt both ends Two small Athey wheels, also have two big Athey wheels between two small Athey wheels, four Athey wheels are connected in turn, and And small Athey wheel is higher than big Athey wheel to make crawler belt form the gradient of rising between adjacent big Athey wheel and small Athey wheel.
- 5. comprehensive sea cucumber catching device according to claim 1, it is characterised in that：Covered with floating body on the top surface of framework Material.
- 6. comprehensive sea cucumber catching device according to claim 1, it is characterised in that：Described manipulator rotating seat passes through branch Bottom plate is supportted to be arranged on framework.
- 7. comprehensive sea cucumber catching device according to claim 1, it is characterised in that：The suction nozzle and inhale ginseng storehouse water inlet it Between pipeline be screwed hose.
- 8. comprehensive sea cucumber catching device according to claim 1, it is characterised in that：The discharge outlet of pulsating pump discharge ends is located at It is more than the top surface of framework.
- 9. comprehensive sea cucumber catching device according to claim 1, it is characterised in that：Storehouse is controlled by referring to outside cable reception Order.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720440667.2U CN206658888U (en) | 2017-04-25 | 2017-04-25 | A kind of comprehensive sea cucumber catching device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720440667.2U CN206658888U (en) | 2017-04-25 | 2017-04-25 | A kind of comprehensive sea cucumber catching device |
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| CN206658888U true CN206658888U (en) | 2017-11-24 |
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| CN201720440667.2U Active CN206658888U (en) | 2017-04-25 | 2017-04-25 | A kind of comprehensive sea cucumber catching device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108902064A (en) * | 2018-06-19 | 2018-11-30 | 安阳师范学院 | A kind of shellfish finishing device based on machine vision technique |
| CN110074075A (en) * | 2019-05-30 | 2019-08-02 | 威海浦鲸智能设备有限公司 | A kind of robot of automatic fishing sea cucumber |
| CN116495143A (en) * | 2023-03-23 | 2023-07-28 | 南京工程学院 | Underwater sea cucumber catching robot with overall structure and bionic design |
-
2017
- 2017-04-25 CN CN201720440667.2U patent/CN206658888U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108902064A (en) * | 2018-06-19 | 2018-11-30 | 安阳师范学院 | A kind of shellfish finishing device based on machine vision technique |
| CN108902064B (en) * | 2018-06-19 | 2023-12-01 | 安阳师范学院 | Shellfish fishing device based on machine vision technology |
| CN110074075A (en) * | 2019-05-30 | 2019-08-02 | 威海浦鲸智能设备有限公司 | A kind of robot of automatic fishing sea cucumber |
| CN116495143A (en) * | 2023-03-23 | 2023-07-28 | 南京工程学院 | Underwater sea cucumber catching robot with overall structure and bionic design |
| CN116495143B (en) * | 2023-03-23 | 2023-11-03 | 南京工程学院 | Underwater sea cucumber catching robot with overall structure and bionic design |
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