CN210113971U - Pump suction type marine product exploration and catching device - Google Patents
Pump suction type marine product exploration and catching device Download PDFInfo
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- CN210113971U CN210113971U CN201920947315.5U CN201920947315U CN210113971U CN 210113971 U CN210113971 U CN 210113971U CN 201920947315 U CN201920947315 U CN 201920947315U CN 210113971 U CN210113971 U CN 210113971U
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- 230000007246 mechanism Effects 0.000 claims abstract description 35
- 239000002184 metal Substances 0.000 claims abstract description 11
- 238000010521 absorption reaction Methods 0.000 claims abstract description 3
- 210000000078 claw Anatomy 0.000 claims description 21
- 238000013461 design Methods 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 2
- 238000004806 packaging method and process Methods 0.000 claims description 2
- 238000003306 harvesting Methods 0.000 claims 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 6
- 230000009471 action Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 241000251511 Holothuroidea Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 235000014102 seafood Nutrition 0.000 description 2
- 239000000956 alloy Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
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Abstract
The utility model relates to a pump suction type marine product exploration and catching device for marine resource exploration and fishery catching. The technical scheme is as follows: the device consists of a frame, a capturing mechanism, a propelling system, a conveying system and an image acquisition system, wherein the frame consists of a frame pillar, a horizontal beam and a frame base; the propellers of the propulsion system are assembled at four corners of the top end of the upper side of the frame through the motor support; a catching collecting box of the conveying system is provided with a metal net which is assembled between horizontal cross beams of the frame, a horizontal suction pipe is arranged at the bottom end of the frame, and a suction pump is connected with the catching collecting box through a vertical absorption pipe; the cameras of the image acquisition system are respectively assembled on the frame support; the steering mechanism of the catching mechanism is connected with the mechanical arm through a steering engine support, and the whole catching mechanism is fixed on the frame base through a metal column. The utility model adopts the four-degree-of-freedom mechanical arm, which can work in complex environment in water; the suction pump device is adopted, so that the working efficiency is improved; the device is reasonable in structure and reduces labor cost.
Description
Technical Field
The utility model relates to an adopt multi freedom arm and suction pump coordinate the cooperation to realize that marine resources surveys the pump suction type marine product exploration and catches device of catching for the field is catched to marine product exploration and fishery.
Background
With the improvement of the national living standard, seafood products are more and more favored by the nation, and the demand of seafood such as sea cucumber is short of demand. Marine resources in China are an indispensable part of economic development in coastal areas as the first industry in marine economy. At present, the fishing work of marine products is still manually carried out, because the seabed fishing detection environment is complex, the workload is large, the long-term underwater operation has great damage to the bodies of workers, and along with the development of industrial automation, the machine fishing gradually replaces the manual fishing operation and is imperative.
At present, the underwater robot has wide application prospects in the aspects of resource detection, water quality detection, military investigation, education and entertainment and the like, but the underwater robot for fishing fishery products is still in a starting stage, and compared with the technology mastered in the aspect of China, China is still in a lagging stage. An underwater fishing robot designed by West robot Limited in Shandong province imitates the principle of a dust collector, can suck up 2kg of organisms to the maximum extent, but the working efficiency can only reach 1/3 artificially; the 'flood dragon' for independent research in China has great submergence depth, is provided with two manipulators, can stretch freely, has action amplitude which can be accurate to centimeter, but has huge volume, inflexible action and high cost, and is only used for scientific research at present. With the development of the marine fishery, an underwater fishing device with high working efficiency and high cost performance is urgently needed to replace manpower to carry out dangerous underwater work.
Disclosure of Invention
The utility model aims at: in order to overcome the defects of the existing underwater fishing technology in the market and realize underwater fishery fishing and marine environment exploration, the pump suction type marine product exploration and fishing device is particularly provided, so that manual work is replaced for related underwater work.
The utility model discloses a suction pump and gripper cooperation work's mode gathers environmental information under water through two cameras, and control multi freedom arm and suction pump work make the reaction fast, reach the purpose that the target was caught accurately under water.
In order to achieve the above purpose, the utility model adopts the following technical scheme:
the utility model provides a pump suction type marine product exploration and catch device comprises frame, capture mechanism, propulsion system, conveying system and image acquisition system, its characterized in that: the frame consists of four frame struts C1, C2, C3, C4(13, 14, 15,16), two horizontal cross beams C5, C6(17, 18) and a frame base (46); the propulsion system consists of propellers A1, A2, A3, A4, A5 and A6(1, 2, 3, 4, 5 and 6), the propellers A1, A2, A3 and A4(1, 2, 3 and 4) are respectively assembled at the four corners of the top end of the upper side of the frame by motor supports B1, B2, B3 and B4(7, 8, 9 and 10), and the propellers A5 and A6(5 and 6) are respectively assembled at the inner sides of two sides of a frame strut C1 and a frame strut C2(13 and 14) by motor supports B5 and B6(11 and 12); the conveying system consists of a fishing collecting box (19), a vertical suction pipe (20), a horizontal suction pipe (21) and a suction pump (22), wherein the fishing collecting box (19) is provided with a metal net (47) which is assembled between a horizontal beam C5(17) and a horizontal beam C6(18) of the frame, the horizontal suction pipe (21) is assembled at the bottom end of the frame, one end of the horizontal suction pipe (21) is fixed in a frame base (46) right below the mechanical arm (23), the other end of the horizontal suction pipe is connected with the suction pump (22), and the upper part of the suction pump (22) is connected with the fishing collecting box (19) through the vertical suction pipe (20); the image acquisition system consists of cameras D1 and D2(42, 43), the cameras D1 and D2(42, 43) are respectively assembled on frame struts C3 and C4(15,16), the cameras acquire images in water and feed back underwater environment information data to an embedded microprocessor carried on the device, and the microprocessor sends out instructions to control the operation of the mechanical arm (23) and the suction pump (22) to realize the fishing behavior; the catching mechanism consists of a mechanical arm (23) and a steering mechanism (49), wherein the steering mechanism (49) is connected with the mechanical arm (23) through a steering engine support (30), and the whole catching mechanism is fixed on a frame base (46) through six metal columns (24).
The catching mechanism consists of a mechanical arm (23) and a steering mechanism (49); the mechanical arm (23) comprises a link mechanism (48), mechanical claws G1, G2(39, 40) and a steering engine component; the steering engine components comprise steering engines E1, E2, E3, E4 and E5(25, 26, 27, 28 and 29); the connecting rod mechanism (48) comprises a connecting rod F1(31) and a connecting rod F2(32), the two connecting rods are connected with each other through a steering engine E3(27), the steering engine E3(27) rotates to control the angle between the connecting rod F1(31) and the connecting rod F2(32), so that the effective catching range is enlarged, the other end of the connecting rod F1(31) is connected with a power shaft of the steering engine E2(26), the connecting rod F2(32) is connected with a mechanical claw connecting pin (38) through a steering engine E4(28), and the steering engine E5(29) is fixedly connected to the mechanical claw G1(39) and is meshed with a gear to control the mechanical claw G1 (39); the steering mechanism (49) consists of an upper top plate (33), an upper ball groove (34), a lower ball groove (36), balls (35) and a lower top plate (37), the balls (35) are placed between the upper ball groove (34) and the lower ball groove (36) for packaging, the upper ball groove (34) is fixedly connected with the upper top plate (33), and the lower ball groove (36) is fixedly connected with the lower top plate (37); the body of the steering engine E2(26) is fixed on the upper top plate (33) by a steering engine bracket (30), so that the link mechanism (48) is effectively connected with the steering mechanism (49); a steering engine E5(29) controls a gear (41) at the tail of a mechanical claw G1(39) to rotate, the mechanical claw G1(39) and a mechanical claw G2(40) rotate along with the rotation to realize opening and closing of clamping jaws, and the mechanical claw G1(39), the mechanical claw G2(40) and the steering engine E5(29) are all assembled on a mechanical claw connecting pin (38).
The propulsion system is composed of propellers A1, A2, A3, A4, A5, A6(1, 2, 3, 4, 5, 6) and motor supports B1, B2, B3, B4, B5 and B6(7, 8, 9, 10, 11, 12), each propeller is composed of a propeller blade (44) and a brushless motor (45), the propeller blade (44) is installed on a rotating shaft of the brushless motor (45), the rotating shaft of the brushless motor (45) rotates the propeller blade (44) to generate thrust, and the four groups of propellers A1, A2, A3 and A4(1, 2, 3, 4) are respectively installed on the motor supports B1, B2, B3 and B4(7, 8, 9, 10); motor supports B1, B2, B3 and B4(7, 8, 9 and 10) are arranged at four corners of the top end of the framework to provide lifting thrust for the device; the propellers A5 and A6(5 and 6) are assembled on the inner sides of two sides of the frame struts C1 and C2(13 and 14) through motor brackets B5 and B6(11 and 12) and provide forward and backward thrust and steering thrust for the device.
The conveying system comprises a fishing collecting box (19), a vertical suction pipe (20), a horizontal suction pipe (21) and a suction pump (22); the catching collection box (19) is arranged between a horizontal beam C5(17) and a horizontal beam C6(18) of the frame, is made of a metal net (47) and is used for discharging absorbed liquid and retaining a caught sample; the vertical suction pipe (20) is vertically communicated with the catching collecting box (19) and the suction pump (22), the suction pump (22) is assembled at the bottom end of the frame, is horizontally placed and connected with the tail end of the horizontal suction pipe (21) and is used for sucking a catching target; the pipe orifice of the horizontal suction pipe (21) is fixed in the frame base (46) under the mechanical arm (23), the gripper G1(39) will grab the target and put in near the pipe orifice of the horizontal suction pipe (21), open the suction pump (22) simultaneously, absorb all articles in the pipe orifice range, avoid the free fleeing of target, the suction pump (22) conveys the target of absorption to the fishing collecting box (19) through the vertical suction pipe (20), the appearance of the fishing collecting box (19) is the design of netted fretwork, can filter silt or debris, can remain the fishery product of fishing again, finally accomplish the fishing operation.
The utility model has the advantages that: (1) the utility model fully considers the complexity of the underwater environment, adopts the four-degree-of-freedom mechanical arm, has stable and reasonable structure, convenient and quick posture adjustment and wide grabbing range, and can work in the underwater complex environment; (2) the utility model adds the suction pump structure on the basis of strengthening the mechanical arm grabbing structure, realizes the combined work of the suction pump and the mechanical claw, adopts the suction pump device, is particularly suitable for the catching work of fishery products such as sea cucumbers and the like, and improves the working efficiency; (3) the utility model discloses the debugging is convenient easily to be controlled, and structural design is reasonable, and work is high-efficient, and is accurate stable, replaces the manual work to carry out underwater operation, and effectual protection personnel life safety and healthy have reduced the cost of labor by a wide margin.
Drawings
FIG. 1 is a schematic view of the pump suction type marine product exploration and fishing apparatus of the present invention;
FIG. 2 is a top view of the present apparatus;
FIG. 3 is a side view of the present device;
FIG. 4 is a schematic structural view of a conveying system of the device;
FIG. 5 is a schematic structural view of a frame member of the present device;
fig. 6 is a schematic structural view of the catching mechanism of the device.
The reference numbers in the figures illustrate: 1. propellers A1, 2, propeller A2, 3, propeller A3, 4, propeller A4, 5, propeller A5, 6, propeller A6, 7, motor bracket B1, 8, motor bracket B2, 9, motor bracket B3, 10, motor bracket B4, 11, motor bracket B5, 12, motor bracket B6, 13, frame strut C1, 14, frame strut C2, 15, frame strut C3, 16, frame strut C4, 17, horizontal cross beam C5, 18, horizontal cross beam C6, 19, catch collecting box, 20, vertical suction pipe, 21, horizontal suction pipe, 22, suction pump, 23, mechanical arm, 24, metal column, 25, E1, 26, E2, 27, E3, 28, E4, 29, E5, 30, 1, 31, connecting rod F32, connecting rod F2, steering engine E2, steering engine E53932, upper and lower ball groove, steering engine ball groove, 38. gripper connecting pins 39, grippers G1, 40, grippers G2, 41, gears 42, cameras D1, 43, cameras D2, 44, propeller blades 45, brushless motors 46, frame bases 47, metal meshes 48, link mechanisms 49 and steering mechanisms.
Detailed Description
The device of the present invention will be further described with reference to fig. 1, 2, 3, 4, 5 and 6.
As shown in fig. 1, 2 and 3, the pump suction type marine product exploration and catching device mainly comprises a frame, a catching mechanism, a propulsion system, a conveying system and an image acquisition system; when the marine product exploration, fishery fishing and other work are carried out underwater, the brushless motor (45) of the propulsion system drives the whole device to reach a target place, the posture is adjusted, and the most appropriate working angle is found for subsequent work; after the device reaches a target place, the cameras D1 and D2(42 and 43) collect images and feed underwater environment data back to an embedded microprocessor carried on the device, so that an instruction is sent to control the mechanical arm (23) and the suction pump (22) to work to realize a fishing action; after the mechanical arm (23) and the suction pump (22) receive the catching instruction, the mechanical arm (23) immediately reacts to carry out catching work, the mechanical arm (23) rapidly extends to the position where the target is located, the mechanical arm is caught and sent to the position near the pipe orifice of the horizontal suction pipe (21), the suction pump (22) immediately starts to work to suck the catching target near the pipe orifice, the catching target is conveyed to the catching collecting box (19) through the vertical suction pipe (20) to be stored, the net-shaped hollow-out arrangement of the catching collecting box (19) can keep the catching target and discharge mistakenly-sucked sundries, finally, the catching operation is completed, the catching collecting box (19) is made of metal, and the catching collecting box can adapt to a complex underwater environment.
As shown in figure 5, the framework is made of alloy materials, the overall strength is improved, six propellers are assembled on four top corners and two support columns, the driving devices move up and down and turn in water respectively, the propellers are high-power brushless motors, the driving force is large, and stable movement of the underwater propeller driving device can be guaranteed.
As shown in fig. 6, the link mechanism (48) of the mechanical arm (23) is hinged with each other through the steering engine to realize telescopic rotation, the link mechanism (48) is responsible for the overall extension and contraction of the mechanical arm during work, and the steering mechanism (49) can drive the whole mechanical arm to rotate 360 degrees and accurately fix the mechanical arm at any angle, so that a target at any position within an extension radius can be accurately grabbed.
The above-described embodiments are intended to be illustrative of the present patent and not to limit the scope of the patent, and any equivalent changes and modifications that may be made by one skilled in the art without departing from the spirit and principles of the patent are intended to be covered by the present patent system.
Claims (4)
1. The utility model provides a pump suction type marine product exploration and catch device comprises frame, capture mechanism, propulsion system, conveying system and image acquisition system, its characterized in that: the frame consists of four frame struts C1, C2, C3, C4(13, 14, 15,16), two horizontal cross beams C5, C6(17, 18) and a frame base (46); the propulsion system consists of propellers A1, A2, A3, A4, A5 and A6(1, 2, 3, 4, 5 and 6), the propellers A1, A2, A3 and A4(1, 2, 3 and 4) are respectively assembled at the four corners of the top end of the upper side of the frame by motor supports B1, B2, B3 and B4(7, 8, 9 and 10), and the propellers A5 and A6(5 and 6) are respectively assembled at the inner sides of two sides of a frame strut C1 and a frame strut C2(13 and 14) by motor supports B5 and B6(11 and 12); the conveying system consists of a fishing collecting box (19), a vertical suction pipe (20), a horizontal suction pipe (21) and a suction pump (22), wherein the fishing collecting box (19) is provided with a metal net (47) which is assembled between a horizontal beam C5(17) and a horizontal beam C6(18) of the frame, the horizontal suction pipe (21) is assembled at the bottom end of the frame, one end of the horizontal suction pipe (21) is fixed in a frame base (46) right below the mechanical arm (23), the other end of the horizontal suction pipe is connected with the suction pump (22), and the upper part of the suction pump (22) is connected with the fishing collecting box (19) through the vertical suction pipe (20); the image acquisition system consists of cameras D1 and D2(42, 43), wherein the cameras D1 and D2(42, 43) are respectively assembled on frame pillars C3 and C4(15, 16); the catching mechanism consists of a mechanical arm (23) and a steering mechanism (49), wherein the steering mechanism (49) is connected with the mechanical arm (23) through a steering engine support (30), and the whole catching mechanism is fixed on a frame base (46) through six metal columns (24).
2. Marine product exploration and harvesting device according to claim 1, characterized in that: the catching mechanism consists of a mechanical arm (23) and a steering mechanism (49); the mechanical arm (23) comprises a link mechanism (48), mechanical claws G1, G2(39, 40) and a steering engine component; the steering engine components comprise steering engines E1, E2, E3, E4 and E5(25, 26, 27, 28 and 29); the connecting rod mechanism (48) comprises connecting rods F1(31) and F2(32), the two connecting rods are connected with each other through a steering engine E3(27), the other end of the connecting rod F1(31) is connected with a power shaft of the steering engine E2(26), the connecting rod F2(32) is connected with a mechanical claw connecting pin (38) through a steering engine E4(28), and the steering engine E5(29) is fixedly connected to the mechanical claw G1(39) and is meshed with a gear to control the mechanical claw G1 (39); the steering mechanism (49) comprises an upper top plate (33), an upper ball groove (34), a lower ball groove (36), balls (35) and a lower top plate (37), wherein the balls (35) are placed between the upper ball groove (34) and the lower ball groove (36) for packaging, the upper ball groove (34) is fixedly connected with the upper top plate (33), and the lower ball groove (36) is fixedly connected with the lower top plate (37); the body of the steering engine E2(26) is fixed on the upper top plate (33) by a steering engine bracket (30), so that the link mechanism (48) is effectively connected with the steering mechanism (49); a steering engine E5(29) controls a gear (41) at the tail of a mechanical claw G1(39) to rotate, the mechanical claw G1(39) and a mechanical claw G2(40) rotate along with the rotation to realize opening and closing of clamping jaws, and the mechanical claw G1(39), the mechanical claw G2(40) and the steering engine E5(29) are all assembled on a mechanical claw connecting pin (38).
3. Marine product exploration and harvesting device according to claim 1, characterized in that: the propulsion system comprises propellers A1, A2, A3, A4, A5 and A6(1, 2, 3, 4, 5 and 6) and a motor support B1, B2, B3, B4, B5 and B6(7, 8, 9, 10, 11 and 12), each propeller consists of a propeller blade (44) and a brushless motor (45), the propeller blade (44) is arranged on a rotating shaft of the brushless motor (45), the rotating shaft of the brushless motor (45) rotates to drive the propeller blade (44) to rotate to generate thrust, and the four groups of propellers A1, A2, A3 and A4(1, 2, 3 and 4) are respectively arranged on motor supports B1, B2, B3 and B4(7, 8, 9 and 10); motor supports B1, B2, B3 and B4(7, 8, 9 and 10) are assembled at four corners of the top end of the frame to provide lifting thrust for the device; the propellers A5 and A6(5 and 6) are assembled on the inner sides of two sides of the frame struts C1 and C2(13 and 14) through motor brackets B5 and B6(11 and 12) and provide forward and backward thrust and steering thrust for the device.
4. Marine product exploration and harvesting device according to claim 1, characterized in that: the conveying system comprises a catching collecting box (19), a vertical suction pipe (20), a horizontal suction pipe (21) and a suction pump (22); the catching collection box (19) is assembled between a horizontal beam C5(17) and a horizontal beam C6(18) of the frame, is made of a metal net (47) and is used for draining absorbed liquid and retaining a caught sample; the vertical suction pipe (20) is vertically communicated with the catching collecting box (19) and the suction pump (22), the suction pump (22) is assembled at the bottom end of the frame, is horizontally placed and connected with the tail end of the horizontal suction pipe (21) and is used for sucking a catching target; the pipe orifice of the horizontal suction pipe (21) is fixed in the frame base (46) under the mechanical arm (23), the gripper G1(39) will grab the target and put in near the pipe orifice of the horizontal suction pipe (21), open the suction pump (22) simultaneously, absorb all articles in the pipe orifice range, avoid the free fleeing of target, the suction pump (22) conveys the target of absorption to the fishing collecting box (19) through the vertical suction pipe (20), the appearance of the fishing collecting box (19) is the design of netted fretwork, can filter silt or debris, can remain the fishery product of fishing again, finally accomplish the fishing operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920947315.5U CN210113971U (en) | 2019-06-22 | 2019-06-22 | Pump suction type marine product exploration and catching device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920947315.5U CN210113971U (en) | 2019-06-22 | 2019-06-22 | Pump suction type marine product exploration and catching device |
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| Publication Number | Publication Date |
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| CN210113971U true CN210113971U (en) | 2020-02-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201920947315.5U Expired - Fee Related CN210113971U (en) | 2019-06-22 | 2019-06-22 | Pump suction type marine product exploration and catching device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
-
2019
- 2019-06-22 CN CN201920947315.5U patent/CN210113971U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
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