CN209492685U - A kind of bio-robot for catching seashells - Google Patents
A kind of bio-robot for catching seashells Download PDFInfo
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- CN209492685U CN209492685U CN201822150282.XU CN201822150282U CN209492685U CN 209492685 U CN209492685 U CN 209492685U CN 201822150282 U CN201822150282 U CN 201822150282U CN 209492685 U CN209492685 U CN 209492685U
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- seashells
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Abstract
The utility model discloses a kind of bio-robots for catching seashells.It includes rear portion fishery, side plate adjustment mechanism, extension means, front propulsive mechanism.The acquisition of the fishing to seashells, the protection to shellfish, and the adjusting to robot navigation direction may be implemented in rear portion fishery.Side plate adjustment mechanism realizes the adjustment that pose is spatially descended to robot, and extension means realize the opening and closing to side plate adjustment mechanism, and front propulsive mechanism provides the major impetus that robot advances.The utility model bio-robot can be realized flexibly to move about in water body, can be obtained rapidly to marine resources such as shellfishes.
Description
Technical field
It is especially more unattainable to diver the utility model relates to a kind of bio-robot for catching seashells
The acquisition of deep-sea field progress object.
Background technique
America squid red greatly is a kind of large ocean squid, is weighed 40~50 kilograms, and one meter or so long, maximum can be more than two
Rice, their biting force are up to 1125 pounds, their travelling speed quickly, and can agitate adjustment swimming direction according to fin,
And by barring up prey using intensive tentacle after sucker capture prey.
It is still and the resources such as seabed shellfish is obtained at present by the mode of artificial diving acquisition, this acquisition mode
Very big danger is caused safely to the body and mind of mankind picker, deep-sea pearl diver is always a breakneck occupation.
These features of big red squid can be used for reference to design deepwater robot, the marine resources such as seabed shellfish are obtained
It takes.
Summary of the invention
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of bionic machine for catching seashells
People.
The bio-robot for catching seashells includes rear portion fishery, side plate adjustment mechanism, extension means and front
Propulsive mechanism；The rear portion fishery includes rotating electric machine, pneumatic device, adjustment whip, fixing seat, floating bearing, pneumatic
Push rod, sucker group, fishing seat and helix swiveling plate；The side plate adjustment mechanism includes lower plate, first hinged secondary, second hinged
Pair, upper plate, stretch rod and middle part body；The extension means include stretching, extension motor, intermediate bar, push-pull rod, sliding block and limit
Guide rail；The front propulsive mechanism includes rack gear, gear, propeller, releases motor and conical shell；
The front propulsive mechanism is connected by middle part connector with rear portion fishery, is equipped in the connector of middle part
Extension means, extension means are connected with side plate regulating mechanism, and rotating electric machine is connected with helix swiveling plate, are arranged on helix swiveling plate circumference
There is a circle fixing seat, the rear portion of fixing seat is connected with pneumatic device, and adjustment whip is connected with fixing seat, air-leg and helix swiveling plate
Center connection, fishing seat are connected with air-leg end, are caught and are fixed with one group of sucker on seat, and entire rear portion mechanism passes through revolution
Bearing is connected with other parts, and the outer ring of floating bearing and helix swiveling plate are fixed, and inner ring and other mechanisms are fixed, and lower plate passes through the
One hinged pair is connected with body, and lower plate is connected by the second hinged pair with upper plate, stretch rod one end and the second hinged pair connection,
The other end and body are hinged, and stretching, extension motor is connected with intermediate bar by bearing, and the two sides and push-pull rod one end of intermediate bar are hinged, push away
The other end of pull rod is connected with sliding block, sliding block and stretch rod slidable connection, and guide rail carries out cross spacing to push-pull rod, promotes electricity
Machine is connected with gear, and gear and the matching of upper and lower rack gear, the corresponding region of rack gear are equipped with propeller, conical shell and side wall weldering
It connects, positioned at the top of robot.
The original state of the adjustment whip is the long whip shape of soft shape, can be formed after inflating to it, catches and is equipped on seat
Multiple suckers.
The spiral installation of the adjustment whip, whip group are done gathering movement when rotating clockwise, are opened up when rotation counterclockwise
Open movement.
After the adjustable plate of the left and right sides is fully deployed, the second hinged secondary arrival dead-centre position.
The conical shell of the front of the front propulsive mechanism is streamlined.
Catch seashells bio-robot catching method the following steps are included:
1) when robot needs to advance, propulsion electric machine drives gear rotation, and rack gear can be stretched to two sides, and head pushes away
It is released therewith into device, propeller starting pushes water flow to rear side, provides the forward direction motive force of robot；
2) revolving along counterclockwise for circumference adjustment whip correspondingly may be implemented along helix swiveling plate is rotated counterclockwise in rotating electric machine
Turn.Whip group may be implemented to accelerate when collapsing, and when expansion may be implemented to slow down, and the navigation pose of entire robot is assisted to adjust；
3) when needing to obtain shellfish, adjustment whip group expansion, air-leg elongation, catch seat and sucker group advance touch to
Shellfish is captured, shellfish is adsorbed in the starting of sucker group.Air-leg is shunk, and for pneumatic device to adjustment whip group inflation, the inflation of whip group is fixed
Type forms a cage mounted space protection and lives the shellfish captured, until being sent to destination；
4) rotating electric machine drives intermediate bar rotation, hinged secondary push-and-pull left and right push-pull rod of the intermediate bar by both ends, push-pull rod
The stretching routine to side plate adjustment mechanism is realized by the sliding of the sliding block in stretch rod；
5) stretch rod can be unfolded outward under the action of extension means, and upper plate and lower plate are rotated around the first hinged pair, to
When second hinged pair turns to dead-centre position, the adjustable plate of the left and right sides is fully deployed, and is pressed downward water, to realize whole upper
It rises, and two plates by folding shrinking, are returned to initial position when withdrawing with minimum water resistance, contractile motion water resistance is significantly smaller than
Waterpower is pressed, so that whole process constantly recycles, realizes floating of the robot in seawater.
The side plate adjustment mechanism of the utility model can be realized the adjustment that pose is spatially descended to robot, and extension means are real
Now to the opening and closing of side plate adjustment mechanism, front propulsive mechanism provides the major impetus that robot advances.The utility model
Bio-robot can be realized flexibly to move about in water body, can be obtained rapidly to marine resources such as shellfishes.
Detailed description of the invention
Fig. 1 is the schematic diagram of the bio-robot of the utility model seashells；
Fig. 2,3 for the utility model seashells bio-robot rear portion fishery schematic diagram；
Fig. 4 is the schematic diagram of the bio-robot side plate adjustment mechanism of the utility model seashells；
Fig. 5 is the schematic diagram of the bio-robot extension means of the utility model seashells；
Fig. 6 is the bio-robot front propulsive mechanism schematic diagram of the utility model seashells；
Fig. 7 is the streamlined body diagram in bio-robot front of the utility model seashells；
In figure, rear portion fishery 1, side plate adjustment mechanism 2, extension means 3, front propulsive mechanism 4, rotating electric machine 11,
Pneumatic device 12, adjustment whip 13, fixing seat 14, floating bearing 15, air-leg 16, sucker group 17, fishing seat 18, helix swiveling plate
19, the hinged pair 23 of the hinged pair 22, second of lower plate 21, first, upper plate 24, stretch rod 25, middle part body 26, stretching, extension motor 31, in
Between bar 32, push-pull rod 33, sliding block 34, limit guide rail 35, rack gear 41, gear 42, propeller 32, release motor 44, streamlined circle
Taper 45
Specific embodiment
As shown in Figure 1, the shellfish fishing robot of imitative America squid red greatly includes rear portion fishery 1, side plate adjustment mechanism
2, extension means 3, front propulsive mechanism 4.Front propulsive mechanism 4 is connected by middle part connector and rear portion fishery 1, in
Extension means 3 are installed, extension means 3 and side plate regulating mechanism 2 connect in portion's connector.When work, rear portion fishery 1 can
To realize that the fishing to seashells obtains, the protection to shellfish, and the adjusting to robot navigation direction.Side plate adjusts machine
Structure 2 realizes the adjustment that pose is spatially descended to robot, and extension means 3 realize the opening and closing to side plate adjustment mechanism, preceding
Portion's propulsive mechanism 4 provides the major impetus that robot advances.
Such as Fig. 2, shown in Fig. 3, the shellfish fishing robot rear portion fishery 1 for imitating America squid red greatly includes rotating electric machine
11, pneumatic device 12, adjustment whip 13, fixing seat 14, floating bearing 15, air-leg 16, sucker group 17, fishing seat 18, spiral
Turntable 19.Rotating electric machine 11 and helix swiveling plate 19 connect, and are disposed with a circle fixing seat 14, fixing seat 14 on 19 circumference of helix swiveling plate
Rear portion and pneumatic device 12 connect, adjust whip 13 and fixing seat 14 and connect, air-leg 16 is connected with 19 center of helix swiveling plate,
Fishing seat 18 is connected with 16 end of air-leg, is caught and is fixed with one group of sucker 17 on seat 18, and entire rear portion mechanism passes through revolution
Bearing 15 is connected with other parts.The original state for adjusting whip 13 is the long whip shape of soft shape, can pass through the rotation of helix swiveling plate 19
It realizes motor adjustment, after capturing shellfish, can be formed after being inflated to it, form cage mounted structure and shellfish is protected.Catch seat
Multiple suckers are installed on 18, may be implemented to obtain stablizing for shellfish, pushing away to fishing seat 18 may be implemented in air-leg 16
It is fixed out with retraction, the outer ring of floating bearing 15 and helix swiveling plate 19, inner ring and other mechanisms are fixed.When work, rotating electric machine
11 along helix swiveling plate 19 is rotated counterclockwise, and the clockwise and anticlockwise rotation of circumference adjustment whip 13 correspondingly may be implemented, by adjustment
The spiral of whip 13 is installed, and is realized the gathering when rotating clockwise of whip group, is unfolded when rotation counterclockwise.Whip group may be implemented when collapsing
Accelerate, when expansion may be implemented to slow down, and the navigation pose of entire robot is assisted to adjust.When needing to obtain shellfish, whip is adjusted
13 expansion of group, air-leg 16 extend, and catch seat 18 and the advance of sucker group 17 touches shellfish to be captured, the starting of sucker group is inhaled
Attached shellfish.Air-leg 16 is shunk, and pneumatic device 12 is inflated to adjustment whip group 13, and whip group aeration settling forms a cage mounted sky
Between protect the shellfish of capture, until being sent to destination.
As shown in figure 4, side plate adjustment mechanism 2 includes the hinged pair 23 of the hinged pair 22, second of lower plate 21, first, upper plate 24, stretches
Open up bar 25, middle part body 26.Lower plate 21 is connected by the first hinged pair 22 and body 26, and lower plate 21 passes through the second hinged secondary 23 Hes
Upper plate 24 connects, 25 one end of stretch rod and the second hinged pair 23 connect, and the other end and body 26 are hinged.24 He of left and right upper plate
Lower plate 21 upon deployment, is pressed downward water, to realize whole rising, and two plates are when withdrawing, by folding shrinking, with minimum
Water resistance is returned to initial position.When work, stretch rod 15 can be unfolded outward under the action of extension means 3, and upper plate 24 is under
Plate 21 is rotated around the first hinged pair 22, and when the second hinged pair 23 turns to dead-centre position, the adjustable plate of the left and right sides is opened up completely
It opens, so that body be made to rise, contraction process and stretching process are just the opposite, but contractile motion water resistance is significantly smaller than pressure waterpower,
To which whole process constantly recycles, realize robot in the intracorporal floating of water.
As shown in figure 5, extension means 3 include stretching, extension motor 31, intermediate bar 32, push-pull rod 33, sliding block 34, limit guide rail
35.Stretching, extension motor 31 is connected with intermediate bar 32 by bearing, and the two sides and 33 one end of push-pull rod of intermediate bar 32 are hinged, push-pull rod 33
The other end be connected with sliding block 34,25 slidable connection of sliding block 34 and stretch rod, guide rail 35 carries out cross spacing to push-pull rod 33.
When work, rotating electric machine 31 drives intermediate bar 32 to rotate, and intermediate bar 32 is pushed away by the hinged secondary push-and-pull left and right push-pull rod 33 at both ends
Pull rod 33 realizes the stretching routine to side plate adjustment mechanism 2 by the sliding of the sliding block 34 in stretch rod 25.
As shown in fig. 6, front propulsive mechanism 4 includes rack gear 41, gear 42, propeller 32, releases motor 44, propulsion electric machine
44 and gear 42 connect, gear 42 and upper and lower rack gear 41 match, and the corresponding region of rack gear is equipped with propeller 43.When work, push away
Gear 42 is driven to rotate into motor 44, rack gear 41 can be stretched to two sides, and the propeller 32 on head is released therewith.Work as robot
When needing to advance, propeller 32 starts, and pushes water flow to rear side, provides the forward direction motive force of robot.
As shown in fig. 7, the front of front propulsive mechanism 4 has one streamlined conical 45, it is streamlined to reduce machine
The resistance of people in water.
Claims (5)
1. a kind of bio-robot for catching seashells, it is characterised in that including rear portion fishery (1), side plate adjustment mechanism
(2), extension means (3) and front propulsive mechanism (4)；The rear portion fishery (1) includes rotating electric machine (11), pneumatic dress
Set (12), adjustment whip (13), fixing seat (14), floating bearing (15), air-leg (16), sucker group (17), fishing seat (18)
With helix swiveling plate (19)；The side plate adjustment mechanism (2) includes lower plate (21), first hinged secondary (22), the second hinged pair
(23), upper plate (24), stretch rod (25) and middle part body (26)；The extension means (3) include stretching, extension motor (31), centre
Bar (32), push-pull rod (33), sliding block (34) and limit guide rail (35)；The front propulsive mechanism (4) includes rack gear (41), tooth
Take turns (42), propeller (43), propulsion electric machine (44) and conical shell (45)；
The front propulsive mechanism (4) is connected by middle part connector and rear portion fishery (1), is installed in the connector of middle part
Have extension means (3), extension means (3) and side plate adjustment mechanism (2) connection, rotating electric machine (11) and helix swiveling plate (19) are even
It connects, a circle fixing seat (14), the rear portion of fixing seat (14) and pneumatic device (12) connection is disposed on helix swiveling plate (19) circumference,
Whip (13) and fixing seat (14) connection are adjusted, air-leg (16) is connected with helix swiveling plate (19) center, and fishing seat (18) is gentle
Dynamic push rod (16) end connection, catches and is fixed with sucker group (17) on seat (18), entire rear portion fishery passes through floating bearing
(15) it is connected with middle part connector, the outer ring of floating bearing (15) and helix swiveling plate (19) are fixed, and inner ring and middle part connector are solid
Fixed, lower plate (21) passes through second hinged secondary (23) and upper plate by first hinged secondary (22) and body (26) connection, lower plate (21)
(24) it connects, stretch rod (25) one end and the second hinged secondary (23) connection, the other end and body (26) hingedly, stretch motor
(31) it is connected with intermediate bar (32) by bearing, the two sides and push-pull rod (33) one end of intermediate bar (32) are hinged, push-pull rod (33)
The other end be connected with sliding block (34), sliding block (34) and stretch rod (25) slidable connection, guide rail (35) to push-pull rod (33) into
Row cross spacing, propulsion electric machine (44) and gear (42) connection, gear (42) and upper and lower rack gear (41) matching, the correspondence area of rack gear
Domain is equipped with propeller (43), conical shell (45) and sidewall weld, positioned at the top of robot.
2. a kind of bio-robot for catching seashells according to claim 1, it is characterised in that the adjustment whip
(13) original state is the long whip shape of soft shape, can be formed after inflating to it, is equipped with multiple suckers in fishing seat (18).
3. a kind of bio-robot for catching seashells according to claim 1, it is characterised in that the adjustment whip
(13) spiral installation, whip group do gathering movement when rotating clockwise, and do expansion movement when rotation counterclockwise.
4. a kind of bio-robot for catching seashells according to claim 1, it is characterised in that the left and right two
After the adjustable plate of side is fully deployed, second hinged secondary (23) reach dead-centre position.
5. a kind of bio-robot for catching seashells according to claim 1, it is characterised in that the front pushes away
Conical shell (45) into the front of mechanism (4) is streamlined.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822150282.XU CN209492685U (en) | 2018-12-19 | 2018-12-19 | A kind of bio-robot for catching seashells |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822150282.XU CN209492685U (en) | 2018-12-19 | 2018-12-19 | A kind of bio-robot for catching seashells |
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| Publication Number | Publication Date |
|---|---|
| CN209492685U true CN209492685U (en) | 2019-10-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822150282.XU Active CN209492685U (en) | 2018-12-19 | 2018-12-19 | A kind of bio-robot for catching seashells |
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| CN (1) | CN209492685U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109436257A (en) * | 2018-12-19 | 2019-03-08 | 衢州职业技术学院 | A kind of bio-robot and its catching method for catching seashells |
| WO2022006726A1 (en) * | 2020-07-06 | 2022-01-13 | 上海海洋大学 | Flexible bionic squid for use luring school of fish |
-
2018
- 2018-12-19 CN CN201822150282.XU patent/CN209492685U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109436257A (en) * | 2018-12-19 | 2019-03-08 | 衢州职业技术学院 | A kind of bio-robot and its catching method for catching seashells |
| WO2022006726A1 (en) * | 2020-07-06 | 2022-01-13 | 上海海洋大学 | Flexible bionic squid for use luring school of fish |
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