CN213581699U - Illumination driving device in marine ranching monitoring device - Google Patents

Abstract

The utility model relates to the technical field of monitoring systems, specifically disclose a lighting drive device among marine ranching monitoring devices, including drive support (601), be equipped with first installation department (602) and at least a pair of second installation department (603) on the drive support respectively, be equipped with lighting controller (604) on the first installation department, can dismantle lighting driver (605) on the second installation department, lighting driver is connected with lighting controller electricity; at least one heat dissipation member (607) is arranged on the driving bracket through a regulating member (606), the heat dissipation member corresponds to the lighting driver, and the heat dissipation member is in contact with the corresponding lighting driver. The utility model has the characteristics of comparatively convenient and heat can be derived fast to the installation dismantlement.

Description

Illumination driving device in marine ranching monitoring device

Technical Field

The utility model relates to a monitored control system technical field, in particular to lighting drive device among marine ranch monitoring devices.

Background

The marine ranch is an internationally recognized method for effectively cultivating fishery resources and building a marine artificial ecosystem. Research, development and application of marine ranches have become strategic choices in major marine countries and are also one of the leading directions in fishery development in developed countries of the world. Marine ranch refers to an artificial fishery set up for the planned cultivation and management of fishery resources in a specific sea area: the artificial environment suitable for the proliferation of the biological resources is built in a specific sea area, and natural baits are fully utilized by adopting methods such as releasing, bottom sowing, proliferation, transplanting and the like, and the technologies of biological management and environmental control are integrated, so that the improvement of the quantity of the marine biological resources and sustainable fishing are realized; marine ranch construction requires a whole set of system facilities and management systems, such as artificial upwelling, automatic bait casting machines, fish control facilities, underwater monitoring systems, environmental monitoring and monitoring systems, and resource management systems. The construction of the real-time on-line monitoring system of the marine ranch environment is an important content for constructing the marine ranch.

The lighting driving device is used in the marine ranching monitoring device, and the lighting driver in the existing lighting driving device is not well installed and is fixed through a bolt or a screw, so that when the lighting driver needs to be replaced or needs to be maintained and performance detected, the installation and the disassembly are complicated; meanwhile, the lighting driver can generate large heat when working, and the conventional lighting driving device does not have a structure for rapidly guiding out the heat generated by the lighting driver, so that the service life of the lighting driver is shortened due to high heat.

Therefore, the lighting driving device in the existing marine ranch monitoring device has the problems of being cumbersome to install and disassemble and incapability of quickly leading out heat.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a solve the above-mentioned technical problem that the lighting drive device among the current marine ranch monitoring devices exists, provide a lighting drive device among the marine ranch monitoring devices that comparatively convenient, the heat can be derived fast is dismantled in the installation.

The technical scheme of the utility model: an illumination driving device in a marine ranching monitoring device comprises a driving support, wherein a first mounting part and at least one pair of second mounting parts are respectively arranged on the driving support, an illumination controller is arranged on the first mounting part, an illumination driver is detachably arranged on the second mounting part, and the illumination driver is electrically connected with the illumination controller; the driving support is provided with at least one radiating piece through the adjusting piece, the radiating piece corresponds to the lighting driver, and the radiating piece is in contact with the corresponding lighting driver. The driving bracket provides mounting positions for the lighting controller and the lighting driver, so that the good working stability of the lighting controller and the lighting driver is ensured; the first mounting part can be a first mounting hole position and provides a mounting position for the lighting controller, so that good working stability of the lighting controller is ensured; the second mounting part can be a second mounting hole position to provide a mounting position for the lighting driver, so that the good working stability of the lighting driver is ensured; the lighting controller is used for sending a lighting brightness adjusting signal to the lighting driver; the lighting driver is detachably arranged on the second mounting part, and has the characteristic of convenient mounting and dismounting; the heat dissipation piece is used for evacuating heat generated by the operation of the lighting driver, so that the normal work of the lighting driver is not affected due to overhigh heating; the adjusting piece is used for adjusting the clamping degree between the heat dissipation piece and the lighting driver, and can be in closer contact with the lighting driver while continuously limiting the mounting stability degree of the lighting driver on the second mounting part, so that stable and efficient heat dissipation is guaranteed; one of the lighting drivers corresponds to at least one heat dissipation member, which may be made of aluminum.

As preferred, the drive support is including first fixed plate, second fixed plate and the third fixed plate that sets up side by side in proper order, first fixed plate, second fixed plate and third fixed plate link together through many fixed strips, first installation department sets up on first fixed plate, a pair of second installation department sets up relatively respectively on second fixed plate and third fixed plate, the homogeneous phase is equipped with the draw-in groove on a pair of second installation department relatively, be equipped with joint portion on the illumination driver, joint portion and corresponding draw-in groove phase-match. The first fixing plate, the second fixing plate, the third fixing plate and the plurality of fixing strips define an integral framework of the driving bracket, the integral framework is specially designed according to the positions and the shapes of the lighting controller and the lighting driver, and the integral framework is used for ensuring the installation stability of the lighting controller and the lighting driver; the first mounting hole sites are arranged on the first fixing plate, and at least one pair of second mounting hole sites are respectively arranged on the second fixing plate and the third fixing plate; the cooperation between draw-in groove and the joint portion realizes the demountable installation of illumination driver on second fixed plate and third fixed plate, has the installation and dismantles all very convenient characteristics.

Preferably, the adjusting part comprises a fixing block, the fixing block is fixedly arranged on the fixing strip, at least one waist-shaped hole is formed in the fixing block, and the radiating piece is arranged in the waist-shaped hole through an adjusting bolt. The clamping limiting effect between the radiating piece and the lighting driver is achieved by the aid of the structure that the adjusting bolts are matched with the waist-shaped holes, and stable and efficient heat evacuation is guaranteed.

Preferably, the heat sink has an L-shaped plate structure. The heat dissipation member with the L-shaped plate-shaped structure has a larger contact area after being clamped with the lighting driver, so that heat on the lighting driver can be better dissipated.

The utility model discloses following beneficial effect has:

(1) the driving bracket provides mounting positions for the lighting controller and the lighting driver, so that the good working stability of the lighting controller and the lighting driver is ensured;

(2) the first mounting part can be a first mounting hole position and provides a mounting position for the lighting controller, so that good working stability of the lighting controller is ensured; the second mounting part can be a second mounting hole position to provide a mounting position for the lighting driver, so that the good working stability of the lighting driver is ensured; the lighting controller is used for sending a lighting brightness adjusting signal to the lighting driver;

(3) the lighting driver is detachably arranged on the second mounting part, and has the characteristic of convenient mounting and dismounting;

(4) the heat dissipation piece is used for evacuating heat generated by the operation of the lighting driver, so that the normal work of the lighting driver is not affected due to overhigh heating;

(5) the adjusting piece is used for adjusting the clamping degree between the heat dissipation piece and the lighting driver, and can be in closer contact with the lighting driver while continuously limiting the mounting stability degree of the lighting driver on the second mounting part, so that stable and efficient heat dissipation is guaranteed; one of the lighting drivers corresponds to at least one heat dissipation member, which may be made of aluminum.

Drawings

Fig. 1 is a schematic structural view of the present invention in an expanded state;

FIG. 2 is a schematic structural view of the present invention in an undeployed state;

fig. 3 is a schematic view of a first structure of the base of the present invention;

fig. 4 is a second structural schematic diagram of the base of the present invention;

fig. 5 is a schematic view of a third structure of the base according to the present invention;

fig. 6 is a schematic structural diagram of a first driving device in the present invention;

fig. 7 is a schematic structural diagram of a first motor in the present invention;

fig. 8 is a schematic structural view of the second rotary sleeve of the present invention;

fig. 9 is a schematic structural view of the second fixing sleeve of the present invention;

fig. 10 is a schematic structural diagram of the first robot of the present invention;

fig. 11 is a schematic structural view of the lighting driving device of the present invention;

fig. 12 is a schematic structural view of the driving bracket of the present invention;

fig. 13 is a schematic structural diagram of the lighting driver of the present invention;

fig. 14 is a schematic structural diagram of the camera of the present invention;

fig. 15 is a schematic view of a first structure of the present invention at a third driving device;

fig. 16 is a schematic structural view of a bending connector of the present invention;

fig. 17 is an exploded view of a first sealing joint according to the present invention;

fig. 18 is a schematic structural view of a third seal seat in the present invention;

fig. 19 is a second schematic view of the third driving device of the present invention;

fig. 20 is a third structural view of the present invention at a third driving device;

fig. 21 is a schematic structural view of the lighting device of the present invention;

fig. 22 is an exploded view of the structure of the lighting device of the present invention;

fig. 23 is a schematic view of the lighting device of the present invention with the second housing removed;

fig. 24 is a schematic structural view of the threaded sleeve of the present invention;

fig. 25 is a control circuit diagram of the control box of the present invention;

fig. 26 is a circuit diagram of the control lever of the control box to each robot arm according to the present invention;

fig. 27 is a circuit diagram of the control circuit of the control lever of the control box for the camera;

fig. 28 is a circuit diagram of the control lever of the control box controlling the light of the lighting lamp in the lighting device according to the present invention;

fig. 29 is a DC-DC voltage step-down circuit diagram in the control box of the present invention;

fig. 30 is a circuit diagram of the key of the control box of the present invention;

fig. 31 is a communication circuit diagram of an RS485 bus in the control box of the present invention;

fig. 32 is a control circuit diagram of a chip on the main control board according to the present invention;

fig. 33 is a communication circuit diagram of an RS485 bus on the central control board of the present invention;

fig. 34 is a circuit diagram of an external FLASH memory on the circuit board of the present invention;

fig. 35 is a communication circuit diagram of a CAN bus on the central control board of the present invention;

fig. 36 is a first DC-DC voltage step-down circuit diagram of the circuit board of the present invention;

fig. 37 is a second DC-DC voltage step-down circuit diagram of the circuit board of the present invention;

fig. 38 is a circuit diagram of the power supply control for the motor on the circuit board of the present invention;

fig. 39 is a circuit diagram of the battery voltage detection circuit of the present invention;

fig. 40 is a circuit diagram of the present invention when charging a battery or a backup battery in the base;

fig. 41 is a first circuit diagram of the lighting controller according to the present invention when controlling the third motor;

fig. 42 is a control circuit diagram of the lighting controller of the present invention;

fig. 43 is a view of an operation panel of the control box of the present invention;

fig. 44 is a second circuit diagram of the present invention when controlling the third motor in the lighting controller;

fig. 45 is a third circuit diagram of the lighting controller according to the present invention when controlling the third motor;

fig. 46 is a first DC-DC voltage step-down circuit diagram in the lighting controller of the present invention;

fig. 47 is a second DC-DC voltage step-down circuit diagram in the lighting controller of the present invention;

fig. 48 is a third DC-DC voltage step-down circuit diagram in the lighting controller of the present invention;

fig. 49 is a communication circuit diagram of a CAN bus in the lighting controller of the present invention.

The labels in the figures are: 100-base, 101-first housing, 102-first stop, 103-first slide, 104-first slide, 105-battery, 106-circuit board, 107-second mounting hole, 108-second sealing seat, 109-second outlet hole, 110-third sealing cover, 111-first limiting rod, 112-limiting area, 113-first mounting hole, 114-plug, 115-first sealing cover, 116-second sealing cover, 117-first bracket, 118-third mounting hole, 119-flange, 120-first baffle, 200-first drive, 201-first fixed sleeve, 202-first motor, 203-first rotating sleeve, 204-first turntable, 300-robot joint swing assembly, 301-a second drive device, 3011-a second stationary sleeve, 3012-a second motor, 3013-a second rotating sleeve, 3014-a fourth sealing cover plate, 302-a second robot arm, 400-a link, 500-a first robot arm, 600-a lighting drive device, 601-a drive bracket, 6011-a first fixing plate, 6012-a second fixing plate, 6013-a third fixing plate, 6014-a fixing strip, 6015-a card slot, 602-a first mounting portion, 603-a second mounting portion, 604-a lighting controller, 605-a lighting driver, 6051-a card portion, 606-an adjusting member, 6061-a fixing block, 6062-a kidney-shaped hole, 607-a heat sink, 700-a camera device, 701-a fourth housing, 702-a first support column, 703-a first support plate, 704-camera, 705-press ring, 706-lens window, 707-second support column, 708-second baffle, 709-second mounting hole, 800-lighting joint swing component, 801-third driving device, 8011-third shell, 8012-third motor, 8013-first spacing section, 8014-first section, 8015-support shaft, 8016-second spacing section, 8017-second section, 8018-third mounting hole, 8019-third sealing seat, 80110-fifth sealing cover plate, 80111-third wire outlet, 802-bending connector, 8021-open slot, 8022-third baffle, 8023-notch, 803-third mechanical arm, 900-lighting device, 901-second shell, 80111-fourth motor, 903-lifting adjusting component, 9031-screw rod, 9032-threaded sleeve, 904-guide rod, 905-tray, 906-illuminating lamp, 907-condenser lens, 908-light-transmitting plate, 909-pressing cover, 1000-first sealing connecting piece, 1001-first sealing connecting block, 1002-gasket, 1003-first bolt and 1004-first wire outlet hole.

Detailed Description

The following description is made with reference to the accompanying drawings and examples, but not to be construed as limiting the invention.

As shown in fig. 11 and 12, the lighting driving device in the marine ranch monitoring device includes a driving bracket 601, the driving bracket is respectively provided with a first mounting portion 602 and at least a pair of second mounting portions 603, the first mounting portion is provided with a lighting controller 604, the second mounting portion is detachably provided with a lighting driver 605, and the lighting driver is electrically connected with the lighting controller; at least one heat sink 607 is provided on the drive bracket via the adjusting element 606, which heat sink corresponds to the lighting driver and is in contact with the corresponding lighting driver.

The drive support is including the first fixed plate 6011 that sets up side by side in proper order, second fixed plate 6012 and third fixed plate 6013, first fixed plate, second fixed plate and third fixed plate link together through many fixed strips 6014, first installation department sets up on first fixed plate, a pair of second installation department sets up relatively respectively on second fixed plate and third fixed plate, the homogeneous phase is equipped with draw-in groove 6015 relatively on a pair of second installation department, be equipped with joint portion 6051 on the illumination driver, joint portion and corresponding draw-in groove phase-match.

The adjusting part comprises a fixing block 6061, the fixing block is fixedly arranged on the fixing strip, at least one waist-shaped hole 6062 is formed in the fixing block, and the heat radiating piece is arranged in the waist-shaped hole through an adjusting bolt.

The heat dissipation piece is of an L-shaped plate structure.

As shown in fig. 1 and fig. 2, a marine ranching monitoring device includes a base 100 as shown in fig. 3, a first driving device 200 as shown in fig. 6 is sealed on the base, a driving end of the first driving device rotates in a horizontal direction, a mechanical arm joint swing assembly 300 is sealed on a driving end of the first driving device, the swing of the mechanical arm joint swing assembly is a swing in a vertical direction, a first mechanical arm 500 as shown in fig. 10 is sealed and connected on a joint of the mechanical arm joint swing assembly far away from one end of the base through a connecting section 400, the first mechanical arm is located below the joint of the mechanical arm joint swing assembly far away from one end of the base, an illumination driving device 600 is arranged inside the first mechanical arm, a camera device 700 is arranged on one end of the first mechanical arm far away from the connecting section, at least one illumination joint swing assembly 800 is arranged on the first mechanical arm or on the illumination driving device, the swinging direction of the illumination joint swinging assembly is swinging in the vertical direction, the swinging end of the illumination joint swinging assembly is provided with an illumination device 900, and the illumination device, the illumination joint swinging assembly and the illumination driving device are electrically connected; the marine ranch monitoring device is a sealing structure. The utility model supports the whole monitoring device by arranging the base, thereby ensuring the working stability of the whole monitoring device, wherein the base is firmly fixed on the sea bottom surface in the marine ranch by bolts or rivets, when the base needs to be moved, the fixation of the bolts or the rivets is removed, and the base is fixed again when being moved to a needed position; the utility model discloses a set up first drive arrangement and realize camera device and lighting device removal in the horizontal direction, under the drive effort of first drive arrangement horizontal direction, camera device can carry out no dead angle clear shooting to the environmental condition in the 360 degrees scopes of horizontal direction in the marine ranch, has had that the horizontal direction monitoring range is comprehensive, monitoring angle is adjustable and monitoring flexibility is better characteristics; the utility model realizes the up-and-down movement and the left-and-right swing of the camera device and the lighting device in the vertical direction by arranging the mechanical arm joint swing component, under the up-and-down swing and the left-and-right swing acting force of the mechanical arm joint swing component in the vertical direction, the camera device can carry out the clear shooting without dead angles on the environmental conditions of all ranges of the vertical longitudinal dimension in the marine ranch, and has the characteristics of comprehensive monitoring range in the vertical direction, adjustable monitoring angle and better monitoring flexibility; the utility model realizes the stable and excessive connection between the first mechanical arm and the end part of the mechanical arm joint swing component by arranging the connecting section; the first mechanical arm is arranged to transmit the swinging acting force of the mechanical arm joint swinging assembly, and meanwhile, a proper mounting position is provided for the lighting driving device and the camera device; the utility model adjusts the swing angle of the swing component of the lighting joint by arranging the lighting driving device, and adjusts the lighting brightness of the lighting device at the same time; the utility model adjusts the lighting angle of the lighting device by arranging at least one lighting joint swing component, so that the lighting device can illuminate all angles in the marine ranch as required to provide brightness support for the camera shooting operation cleaning degree of the camera shooting device, and the camera shooting device has the characteristics of adjustable lighting angle and good lighting flexibility; the utility model discloses the whole design is full seal structure, guarantees the long-term stable work of equipment in aqueous, and wherein full seal includes that the welded seal goes on with using the sealing washer sealed. The connecting section and the first mechanical arm are of an integrated structure or a split sealing connection structure.

The base comprises a first shell 101, a pair of first stoppers 102 are arranged in parallel in the first shell, first slide ways 103 are arranged on the first stoppers, the first slide ways on the pair of first stoppers are oppositely arranged, first sliding plates 104 are arranged in the first slide ways, and batteries 105 shown in fig. 4 are arranged on the first sliding plates; a circuit board 106 is arranged in the first shell and is electrically connected with the battery; at least one second mounting hole 107 is formed in the position, close to the circuit board, of the first shell, a second sealing seat 108 is arranged in the second mounting hole, and a second wire outlet hole 109 is formed in the second sealing seat; a third sealing cover plate 110 is arranged at the battery placing inlet on the first shell; the first driving device is fixedly arranged on the first shell and electrically connected with the circuit board. The utility model supports the first slide plate which slides into the pair of first slide ways by arranging the pair of first stop blocks; the first sliding plate is arranged to support the battery, so that an installation position is provided for the battery, the battery is convenient to replace, the battery is used for supplying power to the driving device in the whole monitoring device, the battery is a rechargeable battery or a non-rechargeable battery, and a lithium battery can be selected; the main control board integrated or independently installed on the circuit board is used for controlling the swinging of the mechanical arm joint swinging assembly and the work of the lighting driving device; the second wire outlet hole is used for outputting a line during wired communication or for outputting an electric wire, and a bowl-shaped sealing ring is arranged in the second wire outlet hole to ensure that the sealing state is still kept during line output; wherein the second sealing seat and the third sealing cover plate are arranged for ensuring the integral sealing of the base.

The first sliding plate is provided with a plurality of first limiting rods 111, the plurality of first limiting rods surround a limiting area 112 shown in fig. 5 on the first sliding plate, and the battery is located in the limiting area. The plurality of first limiting rods are arranged to limit a limiting area suitable for the shape of the battery, so that the stability of the installation of the battery on the first sliding plate is ensured, and the situation that the battery moves on the first sliding plate cannot happen.

A first mounting hole 113 is formed in the first housing at a position close to the circuit board, a plug 114 is arranged in the first mounting hole and electrically connected with the circuit board, and a first sealing cover plate 115 is arranged at an orifice of the first mounting hole. The plug is used for charging the battery for use, or when the equipment is out of the water surface, the equipment is directly electrified to be used when the performance of the equipment is detected after maintenance or verification.

A second sealing cover plate 116 is disposed on the second sealing seat. The second sealing cover plate is used for ensuring absolute sealing at the second mounting hole.

A first bracket 117 is arranged in the first shell, and the circuit board is arranged on the first bracket; a third mounting hole 118 is formed in the top of the first shell, and the first driving device is hermetically arranged in the third mounting hole; a flange 119 is arranged at the battery placing opening on the first shell in a sealing mode, and a third sealing cover plate is connected to the flange in a sealing mode. The first support provides a mounting position for the circuit board, and the stability of the circuit board in the base is ensured; the third mounting hole provides a mounting position for the first driving device on the first shell, and the first driving device is guaranteed to be firmly and hermetically connected on the first shell; the flange can be better the sealed effect after guaranteeing the installation of third sealed apron.

A first baffle 120 is provided at the entrance of the first slideway. First baffle can prevent effectively that first slide from the entry roll-off of first slide, guarantees that first slide installs the stability in first slide.

The first driving device comprises a first fixed sleeve 201 which is arranged on the base in a sealing mode, a first motor 202 shown in fig. 7 is fixedly arranged in the first fixed sleeve, the driving end of the first motor rotates in the horizontal direction, a first rotating sleeve 203 is fixedly arranged at the driving end of the first motor, the first rotating sleeve is sleeved on the first fixed sleeve in a sealing mode, and the mechanical arm joint swinging assembly is fixedly arranged on the first fixed sleeve. The first fixing sleeve is used for stably and hermetically mounting the first driving device on the base; the first motor provides horizontal rotating force for the movement of the camera device and the lighting device in the horizontal direction; the first rotating sleeve is used for conducting horizontal rotating force of the first motor and providing a stable installation position for the mechanical arm joint swing assembly.

The first rotating sleeve is fixedly provided with a first adapter 204 which is of an arc-shaped structure with an inwards concave surface, and the mechanical arm joint swinging assembly is fixedly arranged on the first adapter. The first adapter plate with the surface concave arc-shaped structure provides a stable mounting position for the mechanical arm joint swing assembly, ensures that the horizontal rotation acting force generated by the first motor can be well transmitted to the mechanical arm joint swing assembly, and realizes the rotation of the mechanical arm joint swing assembly in the horizontal direction.

The drive end of the first motor rotates back and forth in a range of 320 degrees. The driving end of the first motor is set to rotate back and forth within the range of 320 degrees, so that the shooting device can shoot in a dead angle-free mode within the range of 360 degrees.

The first fixing sleeve is arranged in the third mounting hole in a sealing mode. The third mounting hole provides a mounting position for the first fixing sleeve on the first shell, and the first fixing sleeve is firmly and hermetically connected on the first shell.

The mechanical arm joint swinging assembly comprises at least two second driving devices 301, the driving ends of the second driving devices rotate in the vertical direction, the adjacent second driving devices are connected through a second mechanical arm 302, the two ends of the second mechanical arm are respectively connected with the fixing sections and the driving ends of the two corresponding second driving devices, the fixing section of the second driving device located at one end is fixedly arranged on the first adapter plate, the driving end of the second driving device connected with the first adapter plate is connected with one end of the corresponding second mechanical arm, and the connecting section is connected with the driving end of the second driving device far away from one end of the base in a sealing mode. By arranging at least two second driving devices, the adjacent second driving devices are connected through a second mechanical arm, so that the functions of up-down movement and left-right swinging of the camera device and the illuminating device in the vertical direction are realized, the basic length of the camera device and the illuminating device from the base is ensured, and the length requirement of the camera device for all areas in a marine ranch can be met; the second mechanical arm is connected with the fixed section and the driving end of the two second driving devices respectively, and the purpose is to realize the functions of up-down movement and left-right swinging of the camera device and the lighting device in the vertical direction.

The second driving device comprises a second fixed sleeve 3011 as shown in fig. 8, a second motor 3012 is fixedly arranged in the second fixed sleeve, the driving end of the second motor rotates in the vertical direction, a second rotating sleeve 3013 as shown in fig. 9 is fixedly arranged at the driving end of the second motor, and the second rotating sleeve is sleeved on the second fixed sleeve in a sealing and rotating manner; the second fixed sleeve of the second driving device positioned at one end part is fixedly arranged on the first adapter plate, the second rotating sleeve of the second driving device connected with the first adapter plate is hermetically connected with one end of the corresponding second mechanical arm, and the connecting section is hermetically connected with the second rotating sleeve of the second driving device far away from one end of the base. The second fixing sleeve is used for stably mounting the second driving device on the first adapter plate; the second motor provides rotating force for the vertical swinging and the left-right swinging of the camera device and the lighting device; the second rotating sleeve is used for stably transmitting vertical rotating force of the second motor.

The end of the second rotating sleeve is provided with a fourth sealing cover 3014. The fourth sealing cover plate is used for ensuring the absolute sealing of the second driving device.

The lighting driving device comprises a driving support 601, the driving support is arranged inside the first mechanical arm, the driving support is respectively provided with a first mounting part 602 and at least one pair of second mounting parts 603, the first mounting part is provided with a lighting controller 604, the lighting controller is respectively electrically connected with the circuit board and the lighting device, the second mounting part is detachably provided with a lighting driver 605 shown in fig. 13, and the lighting driver is respectively electrically connected with the lighting controller and the lighting device; the drive bracket is provided with at least one heat sink 607, as shown in fig. 11, through the adjustment member 606, which corresponds to the lighting driver and which is in contact with the corresponding lighting driver. The driving bracket provides mounting positions for the lighting controller and the lighting driver, so that the good working stability of the lighting controller and the lighting driver is ensured; the first mounting part can be a first mounting hole position and provides a mounting position for the lighting controller, so that good working stability of the lighting controller is ensured; the second mounting part can be a second mounting hole position to provide a mounting position for the lighting driver, so that the good working stability of the lighting driver is ensured; the illumination controller is used for adjusting the swing angle of the illumination joint swing assembly and sending an illumination brightness adjusting signal to the illumination device for the illumination driver; the lighting driver is detachably arranged on the second mounting part, and has the characteristic of convenient mounting and dismounting; the heat dissipation piece is used for evacuating heat generated by the operation of the lighting driver, so that the normal work of the lighting driver is not affected due to overhigh heating; the adjusting piece is used for adjusting the clamping degree between the heat dissipation piece and the lighting driver, and can be in closer contact with the lighting driver while continuously limiting the mounting stability degree of the lighting driver on the second mounting part, so that stable and efficient heat dissipation is guaranteed; one of the lighting drivers corresponds to at least one heat dissipation member, which may be made of aluminum.

The drive support is including the first fixed plate 6011 that sets up side by side in proper order, second fixed plate 6012 and third fixed plate 6013, first fixed plate, second fixed plate and third fixed plate link together through many fixed strips 6014 as shown in fig. 12, first installation department sets up on first fixed plate, a pair of second installation department sets up relatively respectively on second fixed plate and third fixed plate, the homogeneous phase is equipped with draw-in groove 6015 relatively on a pair of second installation department, be equipped with joint portion 6051 on the lighting driver, joint portion and corresponding draw-in groove phase-match. The first fixing plate, the second fixing plate, the third fixing plate and the plurality of fixing strips define an integral framework of the driving bracket, the integral framework is specially designed according to the positions and the shapes of the lighting controller and the lighting driver, and the integral framework is used for ensuring the installation stability of the lighting controller and the lighting driver; the first mounting hole sites are arranged on the first fixing plate, and at least one pair of second mounting hole sites are respectively arranged on the second fixing plate and the third fixing plate; the cooperation between draw-in groove and the joint portion realizes the demountable installation of illumination driver on second fixed plate and third fixed plate, has the installation and dismantles all very convenient characteristics.

The adjusting part comprises a fixing block 6061, the fixing block is fixedly arranged on the fixing strip, at least one waist-shaped hole 6062 is formed in the fixing block, and the heat radiating piece is arranged in the waist-shaped hole through an adjusting bolt. The clamping limiting effect between the radiating piece and the lighting driver is achieved by the aid of the structure that the adjusting bolts are matched with the waist-shaped holes, and stable and efficient heat evacuation is guaranteed.

The heat dissipation piece is of an L-shaped plate structure. The heat dissipation member with the L-shaped plate-shaped structure has a larger contact area after being clamped with the lighting driver, so that heat on the lighting driver can be better dissipated.

The illumination joint oscillating assembly is arranged on the first mechanical arm or on the illumination driving device through a first sealing connection 1000. First sealing connection spare is used for the excessive connection between illumination joint swing subassembly and first arm or the illumination drive arrangement, when guaranteeing illumination joint swing subassembly installation stability, the leakproofness of junction has also been guaranteed, first sealing connection spare still is used for when wired communication, communication line and electric wire in the illumination drive arrangement arrive the third motor that corresponds smoothly from first sealing connection spare's inside, the outside line of walking of use that can be as few as possible, reduce the outside sealed problem that produces when walking the line.

The first sealing connecting piece is a structure as shown in fig. 17, in which a first sealing connecting block 1001, a gasket 1002 and a first bolt 1003 are matched, and a first wire outlet hole 1004 is formed in the first bolt. The first sealing connecting block can ensure the connection tightness; the gasket can increase the firm locking degree of the first bolt during fixing; the first wire outlet hole is used for enabling a communication line and an electric wire in the lighting driving device to smoothly reach the corresponding third motor during wired communication, and a bowl-shaped sealing ring is arranged in the first wire outlet hole.

The lighting joint swinging assembly comprises a third driving device 801, the third driving device is arranged on the first mechanical arm or on the lighting driving device through a first sealing connecting piece, the driving end of the third driving device rotates in the vertical direction, the driving end of the third driving device is provided with a bending connecting head 802, and the lighting device is fixedly arranged on the bending connecting head. The third driving device provides power for the swinging of the lighting device in the vertical direction; the bending connector is used for smoothly transmitting the swinging acting force generated by the third driving device in the vertical direction to the lighting device, so that the lighting device can smoothly swing by a proper angle according to the requirement, and meanwhile, the mounting position is provided for the lighting device, and the working stability of the lighting device is ensured.

The third driving device includes a third housing 8011 as shown in fig. 15, which is disposed on the first robot arm or on the lighting driving device through the first sealing connection; a third motor 8012 shown in fig. 16 is arranged inside the third housing, a driving end of the third motor rotates in the vertical direction, a driving shaft of the third motor extends to the outside of the third housing, a first limiting section 8013 is arranged on the driving shaft located outside the third housing, a first cut plane 8014 shown in fig. 19 is arranged on the first limiting section, a supporting shaft 8015 is arranged on one side of the third housing opposite to the driving shaft of the third motor, a second limiting section 8016 is arranged on the supporting shaft, two end heads of the bending connector are provided with an open slot 8021, the slot bottom surface of the open slot is matched with the first cut plane, and a third baffle 8022 shown in fig. 20 is arranged at the open slot on the bending connector. The third motor provides power for the swinging of the lighting device in the vertical direction; the first limiting section is used for installing the bending connector and providing a connecting position for the bending connector and a driving shaft of the third motor, and the first tangent plane is used for being matched with an open slot at the end part of the bending connector, so that the driving force of the third motor can well act on the bending connector, and the bending connector can stably rotate back and forth along with the driving shaft of the third motor as required; the supporting shaft is opposite to the driving shaft of the third motor, the action of the supporting shaft is driven relative to the driving shaft of the third motor, and the second limiting section is used for installing the other end of the bending connector; the third baffle is used for preventing the bending connector from being separated after being installed on the first limiting section and the second limiting section, so that the working stability of the bending connector is ensured.

A notch 8023 is arranged on the third baffle plate, and the shape of the notch is matched with the surfaces of the corresponding first limiting section and the second limiting section. With the surperficial assorted breach of first spacing section and the spacing section of second, when guaranteeing to prevent to bend the connector and install and deviate from after spacing section of first spacing section and second, can not exert an influence to the rotation of the connector of bending for first spacing section and the spacing section of second again, just both contacted, also can carry out smooth rotation, can not produce too much wearing and tearing relatively.

The bending connector is of a U-shaped structure. The bending connector of the U-shaped structure is convenient to process and manufacture, is convenient to mount and dismount with the first limiting section and the second limiting section, and can provide a good mounting position for the lighting device.

A third mounting hole 8018 is formed in the third housing, a third sealing seat 8019 is arranged in the third mounting hole, a fifth sealing cover plate 80110 shown in fig. 18 is arranged on the third sealing seat, third wire outlets 80111 are formed in the third sealing seat and the fifth sealing cover plate, and the third wire outlets are communicated with the third mounting hole. The third wire outlet hole is used for outputting a line during wired communication or for outputting an electric wire, and a bowl-shaped sealing ring is arranged in the third wire outlet hole to ensure that the sealing state is still kept during line output; wherein the third sealing seat and the fifth sealing cover plate are arranged for ensuring the integral sealing of the third shell.

At least two third driving devices are arranged in the lighting joint swinging assembly, the adjacent third driving devices are connected through a third mechanical arm 803, two ends of the third mechanical arm are respectively connected with a third shell of the corresponding third driving device and a bending connector connected with the third driving device, the lighting device is fixedly arranged on the bending connector, and the third shell of the third driving device far away from one end of the lighting device is arranged on the first mechanical arm or the lighting driving device through a first sealing connector. By arranging at least third driving devices, the distance between the illuminating device and the camera device is ensured by the connection of the third mechanical arms between the adjacent third driving devices, so that the shooting of the camera device can achieve a better illuminating effect, each third driving device can swing in the vertical direction, the illuminating device can have a wider angle adjusting range and has higher flexibility, and the distance between the illuminating device and the camera device can be designed according to the arrangement number of the third driving devices and the length of the third mechanical arms; and communication lines and electric wires in wired communication between adjacent third driving devices are wired through the third wire outlet holes, and the method belongs to an external wiring mode.

The lighting device comprises a second shell 901 as shown in fig. 21, the second shell is fixedly arranged on the bending connector, a fourth motor 902 is fixedly arranged in the second shell, a lifting adjusting piece 903 is arranged at the driving end of the fourth motor, a guide rod 904 as shown in fig. 24 is fixedly arranged in the second shell, a tray 905 as shown in fig. 23 is arranged on the guide rod in a sliding manner, the tray is connected with the lifting adjusting piece, and a lighting lamp 906 is arranged on the tray; a collecting mirror 907 shown in fig. 22 is arranged in the second housing, the collecting mirror corresponds to the illuminating lamp, and a light transmitting plate 908 is arranged at one end of the second housing, which is far away from the fourth motor, in a sealing manner. The fourth motor is used for providing power for adjusting the vertical distance of the illuminating lamp relative to the collecting lens; the lifting adjusting piece is used for converting the rotating acting force of the fourth motor into the up-and-down moving acting force of the tray under the driving acting force of the fourth motor; the guide rod provides guide for the tray to move up and down under the lifting action force of the lifting adjusting piece, so that the tray can only move up and down in a limited direction; the tray provides a mounting position for the illuminating lamp and is used for receiving the lifting acting force transmitted by the lifting adjusting piece; the collecting lens is used for adjusting the size of an emission angle when the illuminating lamp moves up and down, so that the intensity of emitted light is adjusted; the light-transmitting plate projects light emitted by the illuminating lamp into the marine ranch on one hand, and plays a role in sealing on the other hand; when the lighting device is in wired communication, required communication lines and electric wires enter from the sealed wire outlet hole at the top of the second shell.

The lifting adjusting piece comprises a screw rod 9031, the screw rod is arranged at the driving end of the fourth motor, a threaded sleeve 9032 is in threaded connection with the screw rod, and the end part of the threaded sleeve is connected with the tray. The screw rod and the threaded sleeve matched with structure have a simple overall structure, and have a good effect of transferring the force of the fourth motor and a stable effect of adjusting the tray up and down.

The light-transmitting plate is made of borosilicate glass, and is sealed by a gland 909 at one end of the second housing remote from the fourth motor. The light-transmitting plate made of the high borosilicate glass has good light-transmitting effect and high strength; the clamp plate makes the leakproofness and the steadiness of light-passing board installation on the second casing all better. The illuminating lamp is an LED lamp.

The camera device comprises a fourth shell 701, the end portion of the fourth shell is hermetically arranged at one end, far away from the connecting section, of the first mechanical arm, at least one first supporting column 702 is arranged inside the fourth shell, a first supporting plate 703 is arranged at one end, far away from the connecting section, of the first supporting column, a camera 704 shown in fig. 14 is arranged on the first supporting plate, and a lens window 706 is hermetically arranged at one end, far away from the connecting section, of the fourth shell through a pressing ring 705. The at least one first support column and the first support plate cooperate to provide a stable installation position for the camera, so that the shooting stability of the camera is ensured; the lens window plays a role in light transmission and sealing; the clamping ring enables the lens window to be better in sealing performance and stability when being installed on the fourth shell.

At least one second supporting column 707 is arranged inside the fourth casing, the second supporting column is parallel to the first supporting column, a second baffle 708 is arranged at one end of the second supporting column, which is far away from the connecting section, the second baffle is located below the camera, a second mounting hole 709 is arranged on the second baffle, and the camera is located in the second mounting hole. The at least one second support post, the second baffle and the second mounting hole together provide further support for the camera, which is required to ensure absolute stability of the camera operation, since the camera plays a vital role for the entire monitoring in the marine ranch.

A zero-buoyancy implementation method of a marine ranch monitoring device comprises the following steps,

a. the mass M of the base 100 is obtained₁Mass M of the first driving device 200₂Mass M of the arm joint swing assembly 300₃Mass M of the connecting section 400₄Mass M of first arm 500₅Mass M of lighting drive device 600₆Mass M of image pickup device 700₇Mass M of illumination joint oscillating assembly 800₈Mass M of lighting device 900₉And mass M of the first sealing joint 1000₁₀；

b. Obtaining the volume V of the discharged water of the base_{Row 1}Volume V of discharged water of the first driving device_{Row 2}Volume V of discharged water of mechanical arm joint swinging assembly_{Row 3}Volume V of discharged water of the connection section_{Row 4}Volume V of water discharged from the first arm_{Row 5}Volume V of discharged water of lighting drive device_{Row 6}Volume V of discharged water of image pickup apparatus_{Row 7}Volume V of water discharged from the oscillating assembly of the lighting joint_{Row 8}Volume V of discharged water of lighting device_{Row 9}And volume V of water discharged from the first sealing connection_{Row 10}；

c. Judgment M₁+M₂+M₃+M₄+M₅+M₆+M₇+M₈+M₉+M₁₀And rho_{Liquid for treating urinary tract infection}×(V_{Row 1}+V_{Row 2}+V_{Row 3}+V_{Row 4}+V_{Row 5}+V_{Row 6}+V_{Row 7}+V_{Row 8}+V_{Row 9}+V_{Row 10}) Whether or not they are equal to each other,

if equal, a zero-buoyancy design is realized;

if not, adjusting the bottom surface diameter d, the bottom surface length a, the bottom surface width b, the bottom surface height h and the wall thickness z of the corresponding parts to be equal;

ρ_{liquid for treating urinary tract infection}Indicating the liquid density.

The utility model discloses a bottom surface diameter d, bottom surface length a, bottom surface width b, height h and wall thickness z of each spare part in the device are designed out in advance, then calculate M₁+M₂+M₃+M₄+M₅+M₆+M₇+M₈+M₉+M₁₀And rho_{Liquid for treating urinary tract infection}×(V_{Row 1}+V_{Row 2}+V_{Row 3}+V_{Row 4}+V_{Row 5}+V_{Row 6}+V_{Row 7}+V_{Row 8}+V_{Row 9}+V_{Row 10}) If the two numerical values are not equal, the diameter d of the bottom surface, the length a of the bottom surface, the width b of the bottom surface, the height h of the bottom surface and the wall thickness z are adjusted to be equal, so that the purpose that the gravity and the buoyancy of an object in water are equal in theory is achieved, in the working process, the power motor only needs to overcome the resistance of water, the friction force between moving parts and the like, and the difference between the gravity and the buoyancy is not needed to be overcome, so that the torque of the motor is greatly reducedBy adopting the design method of zero buoyancy, the relationship between the length and the strength of the power transmission arm or the mechanical arm is not large, and the strength only needs to meet the requirement of common mechanical strength, so that the quantity and the length of the power transmission arm or the mechanical arm can be flexibly designed, and all monitoring ranges in a marine ranch are met; the utility model discloses a design of zero buoyancy, overall structure reasonable in design can be applicable to the monitoring of the deep line sea area marine ranch beyond 30 meters.

In the step a, the step (c),

M₁＝m₁₁+m₁₂+…+m_1n；M₂＝m₂₁+m₂₂+…+m_2p；M₃＝m₃₁+m₃₂+…+m_3q；M₄＝m₄₁+m₄₂+…+m_4r；M₅＝m₅₁+m₅₂+…+m_5s；M₆＝m₆₁+m₆₂+…+m_6t；M₇＝m₇₁+m₇₂+…+m_7u；M₈＝m₈₁+m₈₂+…+m_8v；M₉＝m₉₁+m₉₂+…+m_9w；M₁₀＝m₁₀₁+m₁₀₂+…+m_10x；

in the step (b), the step (c),

V_{row 1}＝v_{Row 11}+v_{Row 12}+…+v_{Row 1n}；V_{Row 2}＝v_{Row 21}+v_{Row 22}+…+v_{Row 2p}；V_{Row 3}＝v_{Row 31}+v_{Row 32}+…+v_{Row 3q}；V_{Row 4}＝v_{Row 41}+v_{Row 42}+…+v_{Row 4r}；V_{Row 5}＝v_{Row 51}+v_{Row 52}+…+v_{Row 5s}；V_{Row 6}＝v_{Row 61}+v_{Row 62}+…+v_{Row 6t}；V_{Row 7}＝v_{Row 71}+v_{Row 72}+…+v_{Row 7u}；V_{Row 8}＝v_{Row 81}+v_{Row 82}+…+v_{Row 8v}；V_{Row 9}＝v_{Row 91}+v_{Row 92}+…+v_{Row 9w}；V_{Row 10}＝v_{Row 101}+v_{Row 102}+…+v_{Row 10x}；

v_{Row 1n}＝π(d₁₁/2)²h₁₁+a₁₁b₁₁h₁₁+π(d₁₂/2)²h₁₂+a₁₂b₁₂h₁₂+…+π(d_1n/2)²h_1n+a_1nb_1nh_1n，v_{Row 2p}＝π(d₂₁/2)²h₂₁+a₂₁b₂₁h₂₁+π(d₂₂/2)²h₂₂+a₂₂b₂₂h₂₂+…+π(d_2p/2)²h_2p+a_2pb_2ph_2p，v_{Row 3q}＝π(d₃₁/2)²h₃₁+a₃₁b₃₁h₃₁+π(d₃₂/2)²h₃₂+a₃₂b₃₂h₃₂+…+π(d_3q/2)²h_3q+a_3qb_3qh_3q，v_{Row 4r}＝π(d₄₁/2)²h₄₁+a₄₁b₄₁h₄₁+π(d₄₂/2)²h₄₂+a₄₂b₄₂h₄₂+…+π(d_4r/2)²h_4r+a_4rb_4rh_4r，v_{Row 5s}＝π(d₅₁/2)²h₅₁+a₅₁b₅₁h₅₁+π(d₅₂/2)²h₅₂+a₅₂b₅₂h₅₂+…+π(d_5s/2)²h_5s+a_5sb_5sh_5s，v_{Row 6t}＝π(d₆₁/2)²h₆₁+a₆₁b₆₁h₆₁+π(d₆₂/2)²h₆₂+a₆₂b₆₂h₆₂+…+π(d_6t/2)²h_6t+a_6tb_6th_6t，v_{Row 7u}＝π(d₇₁/2)²h₇₁+a₇₁b₇₁h₇₁+π(d₇₂/2)²h₇₂+a₇₂b₇₂h₇₂+…+π(d_7u/2)²h_7u+a_7ub_7uh_7u，v_{Row 8v}＝π(d₈₁/2)²h₈₁+a₈₁b₈₁h₈₁+π(d₈₂/2)²h₈₂+a₈₂b₈₂h₈₂+…+π(d_8v/2)²h_8v+a_8vb_8vh_8v，v_{Row 9w}＝π(d₉₁/2)²h₉₁+a₉₁b₉₁h₉₁+π(d₉₂/2)²h₉₂+a₉₂b₉₂h₉₂+…+π(d_9w/2)²h_9w+a_9wb_9wh_9w，v_{Row 10x}＝π(d₁₀₁/2)²h₁₀₁+a₁₀₁b₁₀₁h₁₀₁+π(d₁₀₂/2)²h₁₀₂+a₁₀₂b₁₀₂h₁₀₂+…+π(d_10x/2)²h_10x+a_10xb_10xh_10x，

m represents the mass of the part; n represents the number of parts in the base; p represents the number of parts in the first drive device; q represents the number of parts in the mechanical arm joint swing assembly; r represents the number of parts in the connecting section; s represents the number of parts in the first robot arm; t represents the number of parts in the illumination driving apparatus; u represents the number of parts in the image pickup apparatus; v represents the number of components in the illuminated articulated oscillating assembly; w represents the number of parts in the lighting device; x represents the number of parts in the first sealed connection; d represents the diameter of the bottom surface of the cylindrical part; a represents the length of the bottom surface of the component in the case of a cubic shape; b represents the bottom surface width when the part is in a cubic shape; h represents the height of the part in the shape of a cylinder or a cube.

The quality and quantity of each part in the device can be flexibly designed according to actual requirements, as long as the actual monitoring requirements on the whole range of the marine ranch and the design requirements on zero buoyancy are met, and when M is used, the device can be used₁+M₂+M₃+M₄+M₅+M₆+M₇+M₈+M₉+M₁₀And rho_{Liquid for treating urinary tract infection}×(V_{Row 1}+V_{Row 2}+V_{Row 3}+V_{Row 4}+V_{Row 5}+V_{Row 6}+V_{Row 7}+V_{Row 8}+V_{Row 9}+V_{Row 10}) When the values of (a) and (b) are not equal, one or more of the bottom surface diameter d, the bottom surface length a, the bottom surface width b, the height h and the wall thickness z can be adjusted.

The value of m is obtained by weighing, or the value of m is obtained by multiplying the material density by the volume of the part.

In the step c, the step (c),

if M is₁≠ρ_{Liquid for treating urinary tract infection}V_{Row 1}The base diameter d, and/or the base length a, and/or the base width b, and/or the height h, and/or the wall thickness z of the respective component are adjusted such that M₁＝ρ_{Liquid for treating urinary tract infection}V_{Row 1}；

If M is₂≠ρ_{Liquid for treating urinary tract infection}V_{Row 2}The respective base diameter d, and/or base length a, and/or base width b, and/or height h, and/or wall thickness z are adjusted such that M₂＝ρ_{Liquid for treating urinary tract infection}V_{Row 2}；

If M is₃≠ρ_{Liquid for treating urinary tract infection}V_{Row 3}The respective base diameter d, and/or base length a, and/or base width b, and/or height h, and/or wall thickness z are adjusted such that M₃＝ρ_{Liquid for treating urinary tract infection}V_{Row 3}；

If M is₄≠ρ_{Liquid for treating urinary tract infection}V_{Row 4}The respective base diameter d, and/or base length a, and/or base width b, and/or height h, and/or wall thickness z are adjusted such that M₄＝ρ_{Liquid for treating urinary tract infection}V_{Row 4}；

If M is₅≠ρ_{Liquid for treating urinary tract infection}V_{Row 5}The respective base diameter d, and/or base length a, and/or base width b, and/or height h, and/or wall thickness z are adjusted such that M₅＝ρ_{Liquid for treating urinary tract infection}V_{Row 5}；

If M is₆≠ρ_{Liquid for treating urinary tract infection}V_{Row 6}Adjusting the corresponding base diameter d, and/or base lengthDegree a, and/or base width b, and/or height h, and/or wall thickness z, such that M₆＝ρ_{Liquid for treating urinary tract infection}V_{Row 6}；

If M is₇≠ρ_{Liquid for treating urinary tract infection}V_{Row 7}The respective base diameter d, and/or base length a, and/or base width b, and/or height h, and/or wall thickness z are adjusted such that M₇＝ρ_{Liquid for treating urinary tract infection}V_{Row 7}；

If M is₈≠ρ_{Liquid for treating urinary tract infection}V_{Row 8}The respective base diameter d, and/or base length a, and/or base width b, and/or height h, and/or wall thickness z are adjusted such that M₈＝ρ_{Liquid for treating urinary tract infection}V_{Row 8}；

If M is₉≠ρ_{Liquid for treating urinary tract infection}V_{Row 9}The respective base diameter d, and/or base length a, and/or base width b, and/or height h, and/or wall thickness z are adjusted such that M₉＝ρ_{Liquid for treating urinary tract infection}V_{Row 9}；

If M is₁₀≠ρ_{Liquid for treating urinary tract infection}V_{Row 10}The respective base diameter d, and/or base length a, and/or base width b, and/or height h, and/or wall thickness z are adjusted such that M₁₀＝ρ_{Liquid for treating urinary tract infection}V_{Row 10}。

The mass of each part in the device is equal to the volume of discharged water by adjusting one or more of the diameter d of the bottom surface, the length a of the bottom surface, the width b of the bottom surface, the height h and the wall thickness z of each part in the device, so that the mass of the whole device is equal to the volume of the discharged water, the realization of the zero-buoyancy function of the whole device in water is guaranteed theoretically, and the design and the realization process of the zero-buoyancy of the whole device are simpler.

A control method of a marine ranch monitoring device comprises the following steps,

the control box positioned outside the water surface transmits the motor control signal and the illumination control signal to the main control board on the circuit board 106 through the wired communication module or the wireless communication module;

ii, the main control board controls the first motor 202 to rotate back and forth in the horizontal direction through the wired communication module and/or the wireless communication module according to the received partial motor control signals;

the main control board controls the second motor 3012 to rotate in the vertical direction through the wired communication module and/or the wireless communication module according to the received partial motor control signal;

the main control board transmits part of the motor control signals and the lighting control signals to the lighting controller 604 through the wired communication module and/or the wireless communication module;

iii, the lighting controller controls the third motor 8012 to rotate in the vertical direction through the wired communication module and/or the wireless communication module according to the received partial motor control signal;

the lighting controller transmits the received lighting control signal to the lighting driver 605, which regulates the brightness of the lighting device 900 according to the received lighting control signal;

the lighting controller receives the video data signal collected by the camera device 700 and transmits the received video data signal to the main control board.

The control box positioned outside the water surface of the utility model is used for the master control of the whole monitoring device in the marine ranch, sending control information to the master control board, and processing the information returned by the master control board to know the working condition of the whole monitoring device; the utility model provides a main control board is used for receiving the control information of control box, comes to control respectively first motor and second motor, thereby realizes camera device and lighting device removal on the horizontal direction, makes camera device can carry out no dead angle clear shooting to the environmental condition in 360 degrees scopes of horizontal direction in the marine ranch, also realizes camera device and lighting device and is erecting ascending and descending and horizontal hunting of orientation, makes camera device can carry out no dead angle clear shooting to the environmental condition of all scopes of vertical longitudinal dimension in the marine ranch; meanwhile, the main control board is used for sending control information to the lighting controller and processing information returned by the lighting controller; the lighting controller in the utility model is used for receiving the control information of the main control board to control the third motor, so as to adjust the lighting angle of the lighting device, so that the lighting device can illuminate all angles in the marine ranch as required, thereby providing brightness support for the camera shooting operation cleaning degree of the camera shooting device; the lighting controller is also used for receiving video data signals collected by the camera device, transmitting the received video data signals to the main control board, and transmitting the video data signals to the control box outside the water surface through the main control board; the lighting driver is used for adjusting the lighting brightness of the lighting device according to the control information of the lighting controller; the utility model discloses wholly adopt wired communication and/or wireless communication's mode, specifically adopt wired communication or wireless communication can select according to actual need for whole device can satisfy the information transfer requirement of the monitoring of deep line sea area marine ranch beyond 30 meters.

The method further comprises the step that the lighting controller controls the fourth motor 902 to rotate in the horizontal direction through the wired communication module and/or the wireless communication module according to the received part of the motor control signal. After receiving the control signal of the lighting controller, the fourth motor may provide power for adjusting the up-down distance of the illumination lamp with respect to the condenser lens.

Part of control signals for the first motor are control signals which rotate in a reciprocating mode within the range of 0-360 degrees in the horizontal direction. First motor is at 0 ~ 360 degrees within ranges reciprocating rotation of horizontal direction for camera device can carry out the clear shooting in no dead angle to the environmental aspect of 360 degrees within ranges of horizontal direction in the marine ranch.

Part of control signals for the first motor are control signals which rotate in a reciprocating mode within the range of 0-320 degrees in the horizontal direction. The first motor rotates in a reciprocating mode within the range of 0-320 degrees in the horizontal direction, and therefore the shooting device can shoot in a dead angle-free mode within the range of 360 degrees.

And part of control signals for the second motor are control signals rotating within the range of 0-320 degrees in the vertical direction. The second motor rotates within the range of 0-360 degrees in the horizontal direction, so that the camera device can clearly shoot the environment conditions of all ranges of the vertical longitudinal dimension in the marine ranch without dead angles.

And part of control signals for the third motor are control signals rotating within a range of-90 degrees in the vertical direction. If one third motor is provided, the rotation range of the third motor is preferably 0-90 degrees; if the number of the third motors is at least two, the rotation range of the third motor close to the camera device is preferably 0-90 degrees, and the rotation ranges of other third motors are-90 degrees; make lighting device can illuminate all angles in the marine ranch as required, come to provide luminance for camera device's the operation clearance of making a video recording and support.

The wired communication module is an RS485 bus and/or a CAN bus; the wireless communication module is a 4G module, a 5G module or a WIFI module.

The wired communication module between the control box and the main control board is an RS485 bus; and wired communication modules among the main control board, the first motor and the lighting controller are all CAN buses.

The lighting controller transmits the received lighting control signal to the lighting driver through the PWM module.

The underwater visual marine ranch monitoring device is mainly used for underwater video monitoring, and the device is utilized to know the growth and development processes of underwater plants, organisms and the like and the relation with the environment; the device can be used for muddy water areas and water areas with relatively clear water quality; in view of the complexity of environment under water, and the limitation of optical imaging under water, the utility model provides an underwater visual marine ranch monitoring devices is great at the monitoring range under water, and the image definition that obtains is higher, and the method that uses in the design process is zero buoyancy design, and we name "zero buoyancy design method".

The buoyancy is zero, namely the gravity and the buoyancy of the object in water are equal, the object can float in water, when the object moves or rotates in water, only the resistance and the friction of the water need to be overcome, and the driving force required by the object during the motion is greatly reduced.

The torque formula M is F multiplied by L, wherein F comprises gravity, buoyancy, friction, water resistance and the like, and L represents an arm of force;

take the example of a robot arm rotating upward in water, F ═ F_{Gravity force}+F_{Resistance force}-F_{Buoyancy force}；

Assuming that the buoyancy is much less than gravity, F ═ F_{Gravity force}+F_{Resistance force}，M＝(F_{Gravity force}+F_{Resistance force})×L；

When the arm of force is very big, on the one hand need the motor of very big moment, on the other hand, the intensity of arm needs very big, and when big to a certain extent, from the function difficult realization to the cost also can improve a lot.

In order to solve the problems, the utility model discloses the visual marine ranch monitoring devices in the underwater has adopted zero buoyancy design method, namely when designing, the gravity and the buoyancy of spare parts such as arm and joint are the same, in the course of the work, the motor only need overcome the resistance of water, and the resistance such as frictional force between the moving part just can, greatly reduced the moment of torsion of motor, and from the theory, adopt zero buoyancy design method, can be as required, increase or reduce the scope of monitoring under water; the zero-buoyancy design method is not only suitable for the condition of long mechanical arms, but also suitable for equipment with short mechanical arms.

The zero buoyancy implementation process comprises the following steps:

the design method of the zero buoyancy of each part is basically the same, and now the process of realizing the equal gravity and buoyancy is described by taking the second driving device 301 at one joint as an example:

according to the formula F of buoyancy of the object in water_{Floating body}＝ρ_{Liquid for treating urinary tract infection}gV_{Row board}It can be seen that the object is the buoyancy in water and the density ρ of water_{Liquid for treating urinary tract infection}The gravitational acceleration g is related to the volume of water drained by the object, rho_{Liquid for treating urinary tract infection}And g is a fixed value, and the design only needs to consider the volume of water drained by an object;

G-Mg, F-when gravity and buoyancy are required to be the same_{Floating body}＝G，ρ_{Liquid for treating urinary tract infection}gV_{Row board}Mg, i.e. p_{Liquid for treating urinary tract infection}V_{Row board}When the buoyancy is zero, the mass of the required parts is equal to the product of the volume of the drained water and the density of the water;

the design begins by initially designing the diameter d, wall thickness t, length L of the joint based on the weight of the second motor 3012 used by the second drive 301 at that joint.

Joint mass M: A3D model is built in SolidWorks software, a material density is attached, the mass M of the second driving device 301 at the joint can be calculated, and the mass of the second motor 3012 is the total mass of the second driving device at the joint, so that the bolts and the lines are lighter in mass, and are not considered in the initial design, and more accurate numerical values are calculated according to the number and the length of the bolts actually used when parts are refined in the later period.

Joint rho_{Liquid for treating urinary tract infection}V_{Row board}: and calculating the buoyancy of the joint according to the outer diameter and the length of the joint, wherein the density of water is a fixed value.

Calculated M and rho_{Liquid for treating urinary tract infection}V_{Row board}Comparing if M < rho_{Liquid for treating urinary tract infection}V_{Row board}In the process, buoyancy needs to be reduced or mass needs to be increased, and several methods can be adopted according to the needs: 1. reducing the diameter; 2. reducing the length; 3. increasing the wall thickness; several methods can be adjusted simultaneously or only one of the methods can be adjusted; the wall thickness is generally calculated according to the using condition of the device at the initial design stage, so when the wall thickness is adjusted, the basic wall thickness is generally unchanged, and the local wall thickness can be adjusted.

Recalculating the relationship between the second drive 301 mass and buoyancy at the joint after adjustment, ρ_{Liquid for treating urinary tract infection}V_{Row board}And several tens grams larger than the mass, because the mass of the bolt and the wire is not considered at this time, the components are designed in detail.

For example, the mass m of the fourth sealing cover 3014 in the second driving device 301₃₁Mass m of the second fixing sleeve 3011₃₂Mass m of the second rotary sleeve 3013₃₃Mass m of the second motor 3012₃₄Mass of all bolts expressed and indicated in m₃₅；

Diameter d of the second rotary sleeve 3013₃₃Indicating, the height h of the second rotating sleeve₃₃The diameter d of the second fixing sleeve 3011 is shown₃₂Indicating, the height h of the second fixing socket₃₂The diameter d of the fourth sealing flap 3014₃₁Height h of the indicating and fourth sealing cover plate₃₁Represents;

total joint volume: v_{Row 33}＝π(d₃₁/2)²h₃₁+π(d₃₂/2)²h₃₂+π(d₃₃/2)²h₃₃

Or can be directly calculated by SolidWorks software

F_{Floating body}＝ρ_{Liquid for treating urinary tract infection}gV_{Row board}

The mass of the wire and the O-ring is predicted to be m

The total mass M of the second drive 301 is M₃₁+m₃₂+m₃₃+m₃₄+m₃₅

Total weight G ═ M + M) G of joint

Comparison F_{Floating body}If the size of G is equal, the design is finished, and if the size of G is not equal, the diameter, the length or the wall thickness are adjusted; until the buoyancy and gravity are equal.

Because the density of the stainless steel is high, the outer diameter, the length and the wall thickness of the part need to be adjusted for multiple times in order to realize equal gravity and buoyancy, and a weight reduction design is needed; because the second rotary sleeve 3013 is connected to the second mechanical arm 302, the wall thickness of the second rotary sleeve is larger than that of the second fixed sleeve 3011, so that the strength of the second rotary sleeve is ensured, and the joint quality is reduced.

Because the material of the parts and the density of the seawater are generally in a range and not fixed values, and in addition, the machining errors of the parts exist, the zero-buoyancy design cannot achieve absolute zero buoyancy, and only the approximate equality of the gravity and the buoyancy of the parts can be achieved. The utility model provides an underwater visualization device is at the during operation, except the resistance and the frictional force that will overcome water, still need overcome partly gravity or buoyancy, and this partial gravity or buoyancy are compared with the gravity of arm itself and can be ignored.

As shown in fig. 1, a first motor 202 and four second motors 3012 are joint motors, and are powered by 36V batteries 105 to control the movement of the second robot arm 302, the first motor is responsible for the rotation in the horizontal direction, and the second motor is responsible for the rotation in the vertical plane. The six low-power third motors 8012 are powered by 12V and are used for adjusting the irradiation directions of the 3 LED lighting lamps, the rotation ranges of the three third motors close to the camera 704 are 0-90 degrees, and the 0 degree direction is parallel to the camera direction; the rotation range of three third motors far away from the camera is-90 degrees, wherein the 0-degree direction is parallel to the direction of the third mechanical arm 803, the inward rotation is positive, and the outward rotation is negative; three third motors close to the camera move synchronously, and three third motors far away from the camera move synchronously.

The underwater base is provided with 3 circuit boards which are respectively a control box on the water surface, a main control board in the underwater base and an illumination controller 604 on a driving support, wherein RS485 bus communication is adopted between the control box and the main control board, the control box is a 485 host, the main control board is a 485 slave, and the transmission distance is about 60 meters; the CAN bus is connected in parallel with 2 120-ohm resistors, the transmission rate is 1Mbps, and the baud rate of the RS485 bus is 115200 bps.

The lighting controller 604 as a lamp control board is controlled by the master control board as a CAN bus communication slave, and CAN control the 6 third motors 8012 to complete the adjustment of the lamp angle by passively receiving signals of the master control board; the communication with the lighting driver 605 through the PWM module is completed, and the regulation of the lamp brightness is completed; the work of transmitting the video signal collected by the camera to the main control board on the base 100 is completed.

The master control board is used as an RS485 slave and a CAN host, is controlled by the control box and CAN control the first motor 202, the second motor 3012 and the lighting controller 604. There are two modes of operation, remote control mode and intelligent mode respectively: in the remote control mode, the camera 704 at the end of the first robot 500 can move back and forth and up and down through the marine control box, rotate up and down around the camera lens, and rotate left and right around the base 100.

The control box on the water surface is used as an RS485 host to control a main control board, and 3 remote sensing joysticks are used for motion control and 9 keys; remote sensing 1 joystick control forward, backward, left turn and right turn; remote sensing 2, the joystick controls upward, downward, upward rotation and downward rotation; the remote sensing 3 joystick controls the opening and closing of the six third motors and controls the light gathering and dispersing of the fourth motor 902; the 1 button controls starting and shutting down, after starting, the mechanical arm enters a reset posture, is pressed again to enter a shutting down state, and returns to a shutting down position; the 1 key controls resetting, and when the position of the mechanical arm is wrong or the current position is unclear, the mechanical arm can be pressed down, so that the mechanical arm enters a resetting posture; the two keys respectively control the distance between the lamp and the lens and are used for adjusting the size of the aperture; two of the keys are used for respectively adjusting the brightness of the LED lamp to increase and decrease.

The whole system is divided into a non-factory mode and a factory mode. In a non-delivery mode, the wiring of the main control board and the control box can be changed into the connection of the main control board and an upper computer, the main control board is debugged through the upper computer, the rotation of each motor and the brightness of each lamp can be independently adjusted through a special instruction, and the mode is used for 0-degree adjustment during production and assembly and after-sale maintenance adjustment after deviation occurs; after the adjustment is finished, the device is configured into a factory leaving mode, and a user can select a remote control mode or an intelligent mode; after the system is started and reset, the system enters a remote control mode, a user can adjust a proper shooting angle and a proper light angle through a remote sensing joystick on a control box panel shown in fig. 43, the system can enter an intelligent mode after the setting is finished, the underwater water is shot in a circulating mode at the set angle of a camera 704, the underwater water is advanced for a preset distance after the horizontal rotation is finished to 320 degrees, the underwater water returns to the horizontal position of 0 degree, the underwater water is advanced for a distance again, the underwater water is scanned in a circulating mode, the underwater water reaches the front extreme position, the underwater water is scanned backwards in a circulating mode to the extreme position, and the underwater water.

In the remote control mode, a user can control the motion of the underwater mechanical arm through the control box on the water surface,

if the wave remote sensing 1 joystick moves forwards, the control box sends a forward movement instruction to the main control board through the RS485 bus, the main control board performs forward and reverse kinematics calculation after receiving the forward and reverse kinematics calculation, the rotation angle of each joint motor after the camera 704 moves forwards for a certain distance is calculated, the distance is set by a system, the distance is moved after receiving the instruction every time, and then each motor is rotated through the CAN bus to move to a corresponding position at a specified speed, so that the camera reaches a target point; and the execution result is returned to the control box through an RS485 bus.

The CAN bus communication between the main control board and the first motor 202, the second motor 3012 and the lighting controller 604 adopts the CANOPEN protocol SDO mode, and complies with the DS301 standard, and the built-in drivers of the first motor and the second motor comply with the DS402 standard.

The control box chip shown in fig. 25 adopts STM32F103RCT6, the main control board chip adopts STM32F407VET6, and the lighting controller chip adopts STM32F103RCT 6.

As shown in fig. 32, the main control board on the underwater base circuit board adopts an STM32F407VET6 single chip microcomputer.

An external FLASH memory circuit on the circuit board as shown in figure 34, using a W25Q128 FLASH chip, 16M memory capacity, is used to store data for robot arm settings, operation, faults, etc. And the single chip microcomputer is communicated with the SPI in a Serial Peripheral Interface (SPI) communication mode.

The CAN bus circuit on the main control board shown in FIG. 35 is powered by 5V by using TJA1050T chip.

As shown in fig. 33, the communication circuit of the RS485 bus on the main control board realizes the 485 self-transceiving function and the lightning protection function. MAX485ESA is 485 communication chip, RE low level receives, high level is invalid, DE high level sends, low level is invalid, 74HC14 gate level and inverter are used for automatic switching of receiving and sending, wherein TX and RX default high level, signal transmission TX is pulled down, RE/DE is pulled up through the inverter, sending is enabled, and self-receiving and sending are achieved. D3, D4 and D5 are Schottky diodes for lightning protection.

The first DC-DC voltage reduction circuit on the circuit board shown in fig. 36 reduces 36V to 5V using the LM2576-5 chip. D1 Schottky diode, L1 power inductor of 150uh, C13 and C14 electrolytic capacitor.

The second DC-DC voltage reduction circuit on the circuit board shown in fig. 37 reduces the voltage from 5V to 3.3V to supply power to the single chip microcomputer.

As shown in fig. 39, in the circuit board for detecting the battery voltage, the power supply voltage is reduced by 20 times through the R7 resistor and the R5 resistor, and the sampling voltage range of the ADC of the single chip microcomputer is 0v-3.3 v. C20 and C21 are electrolytic capacitors for voltage regulation and C22 patch capacitors for filtering. And monitoring the electric quantity change of the power supply.

Fig. 38 shows a circuit board for controlling power supply to a motor, where K1 denotes a relay, Q1 denotes a transistor, and a high level of a control pin of a single chip microcomputer turns on 36V and a low level turns off 36V.

The 3.7V charging circuit shown in FIG. 40 for charging the battery or the backup battery in the base is used for charging the 3.7V backup battery, supplying power to the joint motor encoder, constantly saving the position of the motor and preventing power loss.

The first DC-DC voltage reduction circuit in the lighting controller shown in fig. 46 reduces the 36V supply voltage to 12V to power the 12V small motor.

The second DC-DC voltage reduction circuit in the lighting controller shown in fig. 47 reduces 12V to 5V to power the CAN module.

The third DC-DC buck circuit in the lighting controller, shown in fig. 48, steps down the 5V to 3.3V.

The single chip circuit in the lighting controller shown in fig. 42 uses an STM32F103RCT6 chip. C17, C18, and Y1 form an external crystal circuit. R3 and C16 form a reset circuit.

As shown in fig. 41, 44 and 45, the driving circuit for controlling 3 brushed third motors in the lighting controller adopts an a4950 motor driving chip. R5, R6 and R7 employ 0.25 Ω power resistors. The motor 12V supplies power.

Such as the communication circuit of the CAN bus within the lighting controller shown in fig. 49.

As shown in fig. 25, the single chip microcomputer circuit in the water control box adopts STM32F103RCT6, wherein Y1, C3 and C4 form a crystal oscillator circuit, and R2 and C5 form a reset circuit.

As shown in the DC-DC voltage reduction circuit of FIG. 29, the power supply is powered by 12V, 78M05 reduces 12V to 5V, and AMS1117-3.3 reduces 5V to 3.3V.

The RS485 bus communication circuit in the control box shown in figure 31 realizes the 485 self-receiving and transmitting function and the lightning protection function. MAX485ESA is 485 communication chip, RE low level receives, high level is invalid, DE high level sends, low level is invalid, 74HC14 gate level and inverter are used for automatic switching of receiving and sending, wherein TX and RX default high level, signal transmission TX is pulled down, RE/DE is pulled up through the inverter, sending is enabled, and self-receiving and sending are achieved. D1, D2 and D3 are schottky diodes for lightning protection.

Such as the key circuitry on the control box shown in fig. 30.

The joystick circuit shown in fig. 26, 27 and 28, which is composed of a pull-up resistor and a filter capacitor, is used for controlling the control of the mechanical arm, the camera and the lighting of the lighting lamp by the joystick on the control box.

The underwater visualization device of the marine ranch makes a marine organism inhabitation place similar to a human city, is used for observing fish, shrimps, algae and the like underwater, and comprises three illuminating lamps 906, wherein the middle part of each illuminating lamp is provided with a motor which can rotate, each joint is driven by the motor, and the horizontal direction is upwards rotated to 320 degrees without dead angles, so that the underwater visualization device is not meaningful in the process of rotating more, can be seen in the whole range, and the base 100 is firm to be fixed, can be designed to be movable and can also be designed to be immovable.

The base 100 is a square box and plays a supporting role, functional devices such as a discharge cell 105, a circuit board 106 and the like can be arranged in the base, all structures are waterproof and cannot enter water, the battery is arranged on the first sliding plate 104, the first sliding ways 103 are arranged on two sides of the battery, the service life of the battery is about two years, the battery can be replaced after two years, the battery can be used for generating electricity by solar energy or wind power to charge, the previous battery replacement is performed by a diver who needs to go down, the diver who goes down by sixty-seven meters is difficult, the diver does not need to go down directly at present, a lifting device is reserved, the battery is directly pulled up when the battery replacement is needed, all the waterproof design is adopted, the waterproof principle is almost the same, and the first sliding plate is directly pushed into the first sliding way and then is provided with the first baffle 120 to block the battery and does not. The circuit board provides control among line signals, the sealing is realized by adopting a sealing ring, the sealing groove is arranged, a sealing gasket is arranged in the sealing groove, a pressing plate is arranged outside the sealing groove, namely a cover plate, bolt holes are arranged on the outermost side, only the cover plate is sealed, other sealing grooves are welded and water can not leak, the sealing gasket is required to be lifted out for replacement when a battery is replaced, a lifting device is arranged on the side of the sealing groove and can be directly lifted up, the motor is purchased at present, the whole 320 degrees is driven by a first motor 202, the rotation is realized by rotating a first rotating sleeve 203 relative to a first fixed sleeve 201 below, a groove is formed in the first fixed sleeve, a waterproof ring is arranged in the groove, the water can not enter even if the water enters the groove, the wire is arranged in the first fixed sleeve, the wire goes inside the first fixed sleeve, the wire enters and exits, the first motor is required to rotate horizontally, and the second motor 3012 is required to realize the function of vertically placing and swinging, therefore, the second motor is horizontally placed, the sealing has two states, one is dynamic, the other is static, and only one sealing is needed, because the sealing is static and is directly pressed, the static double sealing is also needed, the structures of the motors are the same, and only the sizes of the motors are different. The wire is passed from the hollow first bolt 1003 into the motor casing. The heat dissipation member 607 may be coated with some heat conductive silica gel, the heat dissipation member contacts with the corresponding lighting driver 605, the heat can be dissipated, the first arm 500 is hollowed to reduce the weight, the waist-shaped hole 6062 may adjust the gap, may move a little, the bolt may move left and right, the three lighting drivers are specifically installed in the form of a clamping groove 6015, the heat dissipation member may be made of aluminum, the fixing strip 6014 may also be made of aluminum, and the L-shaped heat dissipation member is adjusted by the matching between the waist-shaped hole, the circular hole and the bolt; the buoyancy design is 0, the buoyancy and the weight are equal and offset, the weight is heavier, and the buoyancy is larger; insulating oil can be added into the motor for protecting the motor, and even if water enters the motor under a large pressure, the water cannot enter the motor; the sealing problem of the cable is that a bowl-shaped groove is formed in the position where the cable is going out quickly, bowl-shaped rubber is placed in the bowl-shaped groove, an annular gland is arranged, the gland presses the rubber, the rubber can move towards two sides when the gland presses the rubber, a hole is formed in the middle of the gland and penetrates through the cable, and the sealing effect is achieved; wherein the launch angle of light 906 can change, and the launch angle changes, and illumination intensity is just different, aspherical condensing lens 907, if this of design diameter ratio of sphere is most, the light-passing board uses the glass window, plays sealed effect, and glass is planar easy washing.

Claims (4)

1. An illumination driving device in a marine ranch monitoring device is characterized in that: the LED lamp driving device comprises a driving support (601), wherein a first mounting part (602) and at least one pair of second mounting parts (603) are respectively arranged on the driving support, an illumination controller (604) is arranged on the first mounting part, an illumination driver (605) is detachably arranged on the second mounting part, and the illumination driver is electrically connected with the illumination controller; at least one heat dissipation member (607) is arranged on the driving bracket through a regulating member (606), the heat dissipation member corresponds to the lighting driver, and the heat dissipation member is in contact with the corresponding lighting driver.

2. The illumination driving device in the marine ranch monitoring device of claim 1, characterized in that: the utility model discloses a lighting driver, including the first fixed plate (6011), second fixed plate (6012) and third fixed plate (6013) that set up side by side in proper order, first fixed plate, second fixed plate and third fixed plate link together through many fixed strip (6014), first installation department sets up on first fixed plate, a pair of second installation department sets up relatively respectively on second fixed plate and third fixed plate, homogeneous phase is equipped with draw-in groove (6015) on a pair of second installation department relatively, be equipped with joint portion (6051) on the lighting driver, joint portion and corresponding draw-in groove phase-match.

3. The illumination driving device in the marine ranch monitoring device of claim 1, characterized in that: the adjusting part comprises a fixing block (6061), the fixing block is fixedly arranged on the fixing strip, at least one waist-shaped hole (6062) is formed in the fixing block, and the radiating part is arranged in the waist-shaped hole through an adjusting bolt.

4. The illumination driving device in the marine ranch monitoring device of claim 1, characterized in that: the heat dissipation piece is of an L-shaped plate structure.

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