CN207241987U - A kind of underwater robot for being used to collect suspended matter - Google Patents
A kind of underwater robot for being used to collect suspended matter Download PDFInfo
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- CN207241987U CN207241987U CN201721180669.9U CN201721180669U CN207241987U CN 207241987 U CN207241987 U CN 207241987U CN 201721180669 U CN201721180669 U CN 201721180669U CN 207241987 U CN207241987 U CN 207241987U
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- main frame
- underwater robot
- suspended matter
- frame cavity
- propeller
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Abstract
It the utility model is related to a kind of underwater robot for being used to collect suspended matter, including main frame cavity, the string bag, buoyant module, underwater luminaire, dynamical system, control unit；Dynamical system includes being symmetricly set on a pair of of tube auger propeller at left and right sides of main frame inside cavity and the vertical integrated motor propulsor being symmetricly set at left and right sides of main frame containment portion；The propulsive power source and the absorption power source of absorption underwater hovering thing that tube auger propeller is carried forward as underwater robot at the same time；The string bag is detachably connected with main frame cavity, and connecting portion is equipped with pulling force sensor, and control unit is electrically connected with pulling force sensor, dynamical system respectively.The utility model tube auger propeller is arranged in main frame cavity, except general advancing movement function, has generation pressure difference concurrently, draws the complexity of the function of target object, economization complexity executing agency and motion control, and control is simple, easy to operate.
Description
Technical field
A kind of underwater robot is the utility model is related to, is a kind of underwater for being used to collect suspended matter specifically
People, belongs to fishery equipment technology field.
Background technology
Aquaculture is the major industry in China fishery field, is the important sources of China's protein food demand.In the modern times
During aquaculture, especially deep-water net cage culture, inspection, maintenance and removal of dead fish of underwater net cage facility etc.
Substantial amounts of manual labor is needed, due to bad environments, limited personnel, works diver and propose very big challenge.To see for a long time
Aquatic biological growth conditions are examined, while avoid the pollution of pollutant or sick body generation to Aquaculture ecosystem and underwater culture facility
Destroy, form the friendly aquaculture model of health, it is necessary to often the phase carry out in water breeding environment monitoring, underwater culture facility checkout with it is clear
Except activities such as dead fishes, underwater robot is because with safety, flexible, the activity duration is long and is gradually subject to weight in aquaculture field
Depending on.
There is cable remote underwater robot to develop at present increasingly mature, but aquaculture field product is less, and in the market is most
Using universal microminiature underwater robot, generally only possesses observing function.For aquatic organism sampling, collect dead fish or fishing
Shellfish makes underwater robot mechanism complexity, the resistance of motion, it is necessary to underwater robot outfit manipulator or complicated sampling tool
Greatly, stability of equilibrium is poor, adds the complexity and system manufacture cost of control, is unfavorable in aquaculture field market
Promote and apply.
Utility model content
The purpose of this utility model is to provide a kind of underwater robot of the collection suspended matter for aquaculture, by certainly
The cavity of body realizes the absorption to suspended matter in water, and suspended matter is collected by the string bag of afterbody, while by net
Pocket and body connecting portion set force sensor to perceive the amount of suspended matter of having collected, so that automatic running is to surface operations person
Place removes the suspended matter in the string bag.
The utility model takes following technical scheme：
It is a kind of to be used to collecting the underwater robot of suspended matter, including main frame cavity 2, it is arranged on 2 afterbody of main frame cavity
The string bag 7, be arranged on the buoyant module 3 of 2 outer upper ends of main frame cavity, be arranged on the underwater of 2 both sides front end of main frame cavity
Headlamp 5, dynamical system, control unit；The dynamical system includes being symmetricly set on the inside of main frame cavity 2 left and right sides
A pair of of tube auger propeller 6 and the vertical integrated motor propulsor 1 for being symmetricly set on the outside of main frame cavity 2 left and right sides；
The suction of propulsive power source and absorption underwater hovering thing that the tube auger propeller 6 is carried forward as underwater robot at the same time
Attached power source；The string bag 7 is detachably connected with main frame cavity 2, and connecting portion is equipped with pulling force sensor, described control unit
It is electrically connected respectively with pulling force sensor, dynamical system.
Further, 3 top of buoyant module is equipped with the sealed compartment 4 for accommodating electronic component.
Further, the front and back end of the sealed compartment 4 is equipped with visual sensor 44, the visual sensor 44 and institute
State control unit electrical connection.
Further, the underwater robot is connected by umbilical cables with water surface console.
Further, 45, two visions with holder of main control module as control unit are equipped with the sealed compartment 4
Sensor 44.
Further, the pressure sensor for test depth, temperature sensor are additionally provided with the underwater robot.
Further, the tube auger propeller 6 include driving motor 62, parallel to axis propeller 61 and its lead
Pipe；The vertical integrated motor propulsor 1 includes the propeller and its conduit 11 of vertical setting.
Further, further include at least one steel for being used for stationary main frame cavity 2, buoyant module 3, sealed compartment 4
Band.
Further, the steel band includes three, is respectively first, second, third steel band 81,82,83；Described
First, the second steel band 81/82 is located at the rear of vertical integrated motor propulsor 1, and the 3rd steel band 83 is promoted positioned at vertical integrated motor
The front of device 1.
Further, main frame cavity has streamlined contour, and left and right ends are open similar to aerofoil profile, rear and front end；Hang down
It is arranged to integrated motor propulsor 1 in the wing of main frame containment portion both sides.
A kind of method of work of above-mentioned underwater robot, to avoid nozzle from sucking live fish, is seen using the visual sensor
Fish state is examined, after dead fish is observed, control unit opens tube auger propeller, and dead fish is sucked dead fish by main opening
To the string bag, perceived by being provided with pulling force sensor on the string bag, after collection dead fish reaches certain state, it is single to send a signal to control
Member, water surface processing is sent to by integrating electricity and propeller vertically upward by dead fish.
The beneficial effects of the utility model are：
1) it is light for collecting the simple underwater robot structure of suspended matter, compact in design, weight；
2) tube auger propeller 6 is arranged in main frame cavity, except general advancing movement function, has generation pressure concurrently
Difference, draws the complexity of the function of target object, economization complexity executing agency and motion control, and control is simple, easy to operate.
3) vertical integrated motor propulsor is novel in design, and integrated level is high, is arranged in the wing of main frame containment portion both sides,
Space is saved, optimizes robot shape.
4) connecting portion of the string bag and main frame cavity sets pulling force sensor, and robot is fed back according to pulling force sensor
Real-time pulling force signal, knows the quantity of the suspended matter of corresponding collection, thus automatic running to surface operations person place by the string bag
Suspended matter removes, and intelligence degree is high.
5) streamlined contour make it that system resistance is small, saves energy consumption.
6) determining program built in control unit, the state of fish is perceived by visual sensor, and whether automatic decision is dead fish,
So as to start follow-up dead fish collection action, the degree of automation is high.
Brief description of the drawings
Fig. 1 is the utility model for collecting suspended matter underwater robot 3 dimensional drawing；
Fig. 2 is suspended matter collecting robot people's top view；
Fig. 3 is suspended matter collecting robot people's top plan view；
Fig. 4 is vertical integrated motor propulsor top view.
Fig. 5 is sectional view along A-A in Fig. 4.
In figure, 1 is vertical integrated motor propulsor；11 be conduit；12 be the blade of propeller；13 be propeller end ring；
14 supporting racks；2 be main frame cavity；3 be buoyant module；4 be sealed compartment；41 be electronic seal shell out of my cabin；42 be handle；43 are
Umbilical cables bearing；44 be band monopod video camera；45 be main control module；5 be underwater luminaire；6 be tube auger propeller；61 are
The propeller of tube auger propeller；62 be the motor of tube auger propeller；63 be the kuppe of tube auger propeller；64
It is to connect tubular type spiral propeller and the connector of vertical integrated electricity and propeller；7 be the string bag；8 be to fix 2,3 and 4 steel bands；81
It is the first steel band；82 be the second steel band；83 be the 3rd steel band.
Embodiment
The utility model is further illustrated with specific embodiment below in conjunction with the accompanying drawings.
It is a kind of to be used to collecting the underwater robot of suspended matter referring to Fig. 1-Fig. 5, including main frame cavity 2, it is arranged on main frame
The string bag 7 of 2 afterbody of frame cavity, the buoyant module 3 for being arranged on 2 outer upper ends of main frame cavity, be arranged on 2 both sides of main frame cavity
The underwater luminaire 5 of front end, dynamical system, control unit；The dynamical system includes being symmetricly set on inside main frame cavity 2
A pair of of tube auger propeller 6 of the left and right sides and the vertical integrated electricity for being symmetricly set on the outside of main frame cavity 2 left and right sides
Machine propeller 1；The propulsive power source and absorption that the tube auger propeller 6 is carried forward as underwater robot at the same time are underwater
The absorption power source of suspended matter；The string bag 7 is detachably connected with main frame cavity 2, and connecting portion is equipped with pulling force sensor, institute
Control unit is stated to be electrically connected with pulling force sensor, dynamical system respectively.
In this embodiment, it is equipped with the sealed compartment 4 for accommodating electronic component referring to Fig. 1,3 top of buoyant module.
In this embodiment, visual sensor 44 is equipped with referring to Fig. 2, the front and back end of the sealed compartment 4, the vision passes
Sensor 44 is electrically connected with described control unit.
In this embodiment, it is connected referring to Fig. 2, the underwater robot by umbilical cables with water surface console.
In this embodiment, referring to Fig. 2, interior 45, two bands of main control module being equipped with as control unit of the sealed compartment 4
The visual sensor 44 of holder.
In this embodiment, the pressure sensor for test depth, temperature sensing are additionally provided with the underwater robot
Device.
In this embodiment, referring to Fig. 3, the tube auger propeller 6 includes driving motor 62, the spiral shell parallel to axis
Revolve paddle 61 and its conduit；The vertical integrated motor propulsor 1 includes the propeller and its conduit 11 of vertical setting.
In this embodiment, referring to Fig. 2, further include for it is at least one be used for stationary main frame cavity 2, buoyant module 3,
The steel band of sealed compartment 4.The steel band includes three, is respectively first, second, third steel band 81,82,83；Described first, second
Steel band 81/82 is located at the rear of vertical integrated motor propulsor 1, before the 3rd steel band 83 is located at vertical integrated motor propulsor 1
Side.
In this embodiment, referring to Fig. 2, main frame cavity has a streamlined contour, and left and right ends are similar to aerofoil profile, and front and rear two
End is open；Vertical integrated motor propulsor 1 is arranged in the wing of main frame containment portion both sides.
In this embodiment, it is symmetrical arranged a pair of vertical integrated electricity referring to Fig. 2,4,5, the main frame chamber, 2 outer left and right sides
Machine propeller 1, the vertical integrated motor propulsor include conduit, propeller, propeller shaft, supporting rack, bearing and bolt,
Stator core and winding is set to be used as rotor, the propeller as motor stator, the propeller in the conduit
Blade leaf slightly place is provided with end ring, and permanent magnet is contained in the end ring, propeller shaft is provided with the propeller blade blade root,
Support frame as described above is the supporting item between propeller shaft and conduit, support helix paddle shaft.
During work, for avoid nozzle suck live fish, using the visual sensor observe fish state, when observe dead fish with
Afterwards, control unit opens tube auger propeller, and dead fish is drawn into the string bag by dead fish by main opening, by being provided with the string bag
Pulling force sensor perceives, and collects after dead fish reaches certain state, sends a signal to control unit, by integrate vertically upward electricity and
Dead fish is sent to water surface processing by propeller.
Above is the preferred embodiment of the utility model, those of ordinary skill in the art can also carry out respectively on this basis
Kind conversion improves, and on the premise of the total design of the utility model is not departed from, these conversion or improvement should all belong to this reality
Within the scope of new be claimed.
Claims (9)
- A kind of 1. underwater robot for being used to collect suspended matter, it is characterised in that：Including main frame cavity (2), it is arranged on the string bag (7) of main frame cavity (2) afterbody, is arranged on main frame cavity (2) outside The buoyant module (3) of portion upper end, the underwater luminaire (5) for being arranged on main frame cavity (2) both sides front end, dynamical system, control Unit；The dynamical system includes being symmetricly set on a pair of of tube auger propeller of the internal left and right sides of main frame cavity (2) (6) and it is symmetricly set on the vertical integrated motor propulsor (1) of the exterior left and right sides of main frame cavity (2)；The tube auger Propeller (6) while the propulsive power source and the absorption power source of absorption underwater hovering thing being carried forward as underwater robot；The string bag (7) is detachably connected with main frame cavity (2), and connecting portion is equipped with pulling force sensor, described control unit It is electrically connected respectively with pulling force sensor, dynamical system.
- 2. the underwater robot as claimed in claim 1 for being used to collect suspended matter, it is characterised in that：The buoyant module (3) Top is equipped with the sealed compartment (4) for accommodating electronic component；The front and back end of the sealed compartment (4) is equipped with visual sensor (44), The visual sensor (44) is electrically connected with described control unit.
- 3. the underwater robot as claimed in claim 2 for being used to collect suspended matter, it is characterised in that：The underwater robot leads to Umbilical cables are crossed to be connected with water surface console.
- 4. the underwater robot as claimed in claim 2 for being used to collect suspended matter, it is characterised in that：In the sealed compartment (4) The visual sensor (44) with holder equipped with the main control module (45) as control unit, two.
- 5. the underwater robot as claimed in claim 2 for being used to collect suspended matter, it is characterised in that：On the underwater robot It is additionally provided with the pressure sensor for test depth, temperature sensor.
- 6. the underwater robot as claimed in claim 1 for being used to collect suspended matter, it is characterised in that：The tube auger promotes Device (6) includes driving motor (62), propeller (61) and its conduit parallel to axis；The vertical integrated motor propulsor (1) propeller and its conduit (11) of vertical setting are included.
- 7. the underwater robot as claimed in claim 1 for being used to collect suspended matter, it is characterised in that：Further include at least one It is a to be used for stationary main frame cavity (2), buoyant module (3), the steel band of sealed compartment (4).
- 8. the underwater robot as claimed in claim 7 for being used to collect suspended matter, it is characterised in that：The steel band includes three Root, is respectively first, second, third steel band (81,82,83)；First, second steel band (81/82) is located at vertical integrated electricity The rear of machine propeller (1), the 3rd steel band (83) are located at the front of vertical integrated motor propulsor (1).
- 9. the underwater robot as claimed in claim 1 for being used to collect suspended matter, it is characterised in that：Main frame cavity has stream Line style shape, left and right ends are open similar to aerofoil profile, rear and front end；Vertical integrated motor propulsor (1) is arranged at main frame chamber In the wing of body both sides external.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721180669.9U CN207241987U (en) | 2017-09-15 | 2017-09-15 | A kind of underwater robot for being used to collect suspended matter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721180669.9U CN207241987U (en) | 2017-09-15 | 2017-09-15 | A kind of underwater robot for being used to collect suspended matter |
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| Publication Number | Publication Date |
|---|---|
| CN207241987U true CN207241987U (en) | 2018-04-17 |
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ID=61888546
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721180669.9U Active CN207241987U (en) | 2017-09-15 | 2017-09-15 | A kind of underwater robot for being used to collect suspended matter |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107499480A (en) * | 2017-09-15 | 2017-12-22 | 中国水产科学研究院渔业机械仪器研究所 | A kind of underwater robot and its method of work for being used to collect suspension |
| CN109287581A (en) * | 2018-11-15 | 2019-02-01 | 山东理工大学 | A kind of shell seafood quickly catches vehicle |
| CN110341907A (en) * | 2019-07-18 | 2019-10-18 | 西湖大学 | A kind of shipping cleaning Slag recovering robot and its system |
-
2017
- 2017-09-15 CN CN201721180669.9U patent/CN207241987U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107499480A (en) * | 2017-09-15 | 2017-12-22 | 中国水产科学研究院渔业机械仪器研究所 | A kind of underwater robot and its method of work for being used to collect suspension |
| CN109287581A (en) * | 2018-11-15 | 2019-02-01 | 山东理工大学 | A kind of shell seafood quickly catches vehicle |
| CN110341907A (en) * | 2019-07-18 | 2019-10-18 | 西湖大学 | A kind of shipping cleaning Slag recovering robot and its system |
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