CN215409605U - Underwater hoop assembly - Google Patents

Underwater hoop assembly Download PDF

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Publication number
CN215409605U
CN215409605U CN202121468665.7U CN202121468665U CN215409605U CN 215409605 U CN215409605 U CN 215409605U CN 202121468665 U CN202121468665 U CN 202121468665U CN 215409605 U CN215409605 U CN 215409605U
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China
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connecting arm
net cage
flange
degrees
camera
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CN202121468665.7U
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Chinese (zh)
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陈俊
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Zhejiang Gengxing Technology Co ltd
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Zhejiang Gengxing Technology Co ltd
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
    • Y02A40/81—Aquaculture, e.g. of fish

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Abstract

The utility model relates to the technical field of underwater connecting devices, and particularly discloses an underwater hoop assembly which comprises a first hoop (1201) and a second hoop (1202), wherein the outer wall of the first hoop is provided with a first screw hole (1203) and a second screw hole (1204), the outer wall of the second hoop is provided with a third screw hole (1205) and a fourth screw hole (1206), the third screw hole corresponds to the first screw hole, the fourth screw hole corresponds to the second screw hole, the third screw hole is in sealing connection with the first screw hole through a bolt, and the fourth screw hole is in sealing connection with the second screw hole through a bolt. The utility model has the characteristics of simple sealing connection and good sealing effect.

Description

Underwater hoop assembly
Technical Field
The utility model relates to the technical field of underwater connecting devices, in particular to an underwater hoop assembly.
Background
The net cage culture is a common mode for culturing aquatic products in the market at present, belongs to intensive management, can fully utilize fields, water sources, manpower and material resources, and has the characteristics of high yield, good benefit and strong technical performance. The existing net cage for cultivating aquatic products is to place the net cage in water, put aquatic product seedlings to be cultivated in the net cage, put foodstuff into the net cage regularly, and let aquatic products in the net cage grow up slowly; in the existing aquatic product culture process, the net cage is placed in water, the net cage is not lifted out, or personnel cannot fall into the water to know the condition of the net cage, generally, for large-scale culture, the net cage is large in size, the net cage is usually placed in the water and cannot be easily taken out of the water, so that the time is long, if meshes on the net cage are damaged, the personnel cannot know, and therefore the problem that aquatic products in the net cage can escape from the damaged meshes exists. Therefore, a device for detecting the working condition of the net cage and the growth condition of aquatic organisms in the net cage is needed.
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 prior device for detecting the working condition of the net cage and the growth condition of aquatic organisms in the net cage, the device for monitoring the marine ranching environment in real time on line is a mode of controlling the movement of a camera by matching a plurality of joint motors, one joint motor is responsible for rotating in the horizontal direction, other joint motors are responsible for the rotation in the vertical direction, wherein the joint motors are connected by using mechanical arms, the adjacent mechanical arms, the mechanical part and the shell of the joint motor are hermetically connected by using flanges and sealing rings, a plurality of bolts are required for the connection between the flanges each time, less bolts are used, more bolts are used, seven bolts are used, the installation and the disassembly are troublesome, wherein the sealing washer that uses also is ordinary sealing washer, has appeared the condition of water infiltration from the junction easily for a long time, influences inside electric safety.
Therefore, the current monitoring facilities who is used for box with a net under water to detect and marine ranch has the loaded down with trivial details and the not good problem of sealed effect of sealing connection.
SUMMERY OF THE UTILITY MODEL
The utility model provides the underwater hoop assembly with simple sealing connection, which aims to solve the technical problems of the existing monitoring equipment for underwater net cage detection and marine ranch.
The technical scheme of the utility model is as follows: the utility model provides a staple bolt subassembly for it is underwater, includes first staple bolt and second staple bolt, be equipped with first screw and second screw on the outer wall of first staple bolt, be equipped with third screw and fourth screw on the outer wall of second staple bolt, the third screw is corresponding with first screw, the fourth screw is corresponding with the second screw, the third screw passes through bolt sealing connection with first screw, the fourth screw passes through bolt sealing connection with the second screw. The first anchor ear and the second anchor ear can be assembled and disassembled through the two bolts, and the device has the characteristics of simplicity in operation and better connecting effect.
Preferably, including first flange and second flange, second flange and first flange are corresponding, second flange and first flange pass through first staple bolt and second staple bolt sealing connection, be equipped with bowl shape chock on first flange or the second flange, be equipped with bowl shape consent on the bowl shape chock, be equipped with bowl shape stopper in the bowl shape chock, bowl shape stopper compresses tightly in bowl shape chock through the gland, the gland is located between second flange and the first flange. Through the structure that the bowl-shaped plug seat, the bowl-shaped plug hole and the bowl-shaped plug are matched, the first connecting flange and the second connecting flange are aligned, the first hoop and the second hoop tightly hold the first connecting flange and the second connecting flange, and the bowl-shaped plug is firmly pressed in the bowl-shaped plug hole by the gland through the locking acting force when the first hoop and the second hoop are locked by two bolts, so that absolute sealing performance is realized, and the inside of the whole device is ensured to be in a sealed environment; the whole connection mode is simple, and the sealing effect after connection is better.
Preferably, the cable connector comprises a plurality of connecting sections, adjacent connecting sections are hermetically connected through a hoop component, and a wiring channel is arranged inside each connecting section; the first connecting flange is connected to one end of one connecting section, and the second connecting flange is connected to one end of the other connecting section. The staple bolt subassembly has the better characteristics of sealing connection effect, and wherein the bolt quantity that uses is very little moreover, so the installation also can become simpler.
The utility model has the following beneficial effects:
(1) the first anchor ear and the second anchor ear can be assembled and disassembled through two bolts, and the device has the characteristics of simple operation and good connection effect;
(2) through the structure that the bowl-shaped plug seat, the bowl-shaped plug hole and the bowl-shaped plug are matched, the first connecting flange and the second connecting flange are aligned, the first hoop and the second hoop tightly hold the first connecting flange and the second connecting flange, and the bowl-shaped plug is firmly pressed in the bowl-shaped plug hole by the gland through the locking acting force when the first hoop and the second hoop are locked by two bolts, so that absolute sealing performance is realized, and the inside of the whole device is ensured to be in a sealed environment; the whole connection mode is simple, and the sealing effect after connection is better.
Drawings
FIG. 1 is a schematic view of the present invention in a net cage;
FIG. 2 is a perspective view of the structure of the present invention;
FIG. 3 is a perspective view of the present invention;
FIG. 4 is a cross-sectional view of the water floatation device of the present invention;
FIG. 5 is a schematic view of the construction of a connecting segment in accordance with the present invention;
FIG. 6 is a schematic structural diagram of the routing channel of the present invention;
FIG. 7 is a schematic view of a first driving device according to the present invention;
FIG. 8 is a cross-sectional view of a first drive arrangement of the present invention;
FIG. 9 is a schematic view of a second driving device according to the present invention;
FIG. 10 is a cross-sectional view of a second drive arrangement of the present invention;
FIG. 11 is a schematic view of a third driving device according to the present invention;
FIG. 12 is a cross-sectional view of a third drive arrangement of the present invention;
FIG. 13 is a schematic view of the configuration of the camera device and the illumination device when they are connected in the present invention;
FIG. 14 is a schematic view of the structure of the image pickup apparatus according to the present invention;
FIG. 15 is a cross-sectional view of an image pickup device according to the present invention;
fig. 16 is an exploded view of the structure of the image pickup device in the present invention;
FIG. 17 is a schematic view of the structure of the lighting device of the present invention;
FIG. 18 is an exploded view of the structure of the lighting device of the present invention;
FIG. 19 is a schematic view of the flange assembly of the present invention;
FIG. 20 is an exploded view of the structure at the flange assembly of the present invention;
FIG. 21 is a schematic structural view of the hoop assembly of the present invention without hoop installed;
FIG. 22 is an exploded view of a first configuration of the hoop assembly of the present invention;
FIG. 23 is an exploded view of a second construction of the hoop assembly of the present invention;
FIG. 24 is a control circuit diagram at the control board in the present invention;
FIG. 25 is a circuit diagram showing the control of the control board for each link arm in the present invention;
FIG. 26 is a circuit diagram showing the control of the control board for the image pickup device according to the present invention;
fig. 27 is a control circuit diagram of the control board to the lighting device in the present invention.
The labels in the figures are: 100-a water floating device, 101-a floating plate, 102-a water isolating frame, 103-a mounting frame, 104-a main battery, 105-a control plate, 106-a limiting block, 107-a second mounting frame, 108-a spare battery, 109-a pressing bar, 110-a first mounting frame, 200-a first driving device, 201-a first fixed sleeve, 202-a first motor, 203-a first rotating sleeve, 204-a first fixed seat, 205-a second fixed seat, 300-a first connecting arm, 301-a connecting section, 302-a wiring channel, 400-a second driving device, 401-a second fixed sleeve, 402-a second motor, 403-a second rotating sleeve, 404-a third fixed seat, 405-a fourth fixed seat, 500-a second connecting arm, 600-a vertical swinging assembly, 601-a third driving device, 6011-a third fixed sleeve, 6012-a third motor, 6013-a third rotating sleeve, 6014-a fifth fixed seat, 6015-a sixth fixed seat, 602-a fourth connecting arm, 700-a camera shooting device, 701-a sealing cover, 702-a first installation cylinder, 703-a camera, 704-a perspective mirror, 705-a wiper component, 7051-a third installation rack, 7052-a limit switch, 7053-a fourth motor, 7054-an output shaft, 7055-a toggle block, 7056-an installation plate, 7057-a wiper plate, 7058-a third installation block, 706-a connecting pipe, 707-a first supporting column, 708-a fixing plate, 710-a second supporting column, 711-a baffle ring, 713-a press ring, 800-a lighting device and 801-a second installation cylinder, 802-a first bearing plate, 803-a driving plate, 804-a heat dissipation plate, 805-a second bearing plate, 806-a lighting lamp bead, 807-a light-transmitting mirror, 808-a third support column, 809-a pressure plate, 810-a support section, 900-a safety connecting piece, 1000-a third connecting arm, 1100-a flange plate assembly, 1101-a first flange plate, 1102-a second flange plate, 1103-a bowl-shaped plug seat, 1104-a bowl-shaped plug hole, 1106-a gland, 1200-a hoop assembly, 1201-a first hoop, 1202-a second hoop, 1203-a first screw hole, 1204-a second screw hole, 1205-a third screw hole, 1206-a fourth screw hole, 1207-a first connecting flange, 1208-a second connecting flange and 1500-a net cage.
Detailed Description
The utility model is further illustrated by the following figures and examples, which are not to be construed as limiting the utility model.
As shown in fig. 22 and 23, the underwater hoop assembly comprises a first hoop 1201 and a second hoop 1202, wherein the outer wall of the first hoop is provided with a first screw hole 1203 and a second screw hole 1204, the outer wall of the second hoop is provided with a third screw hole 1205 and a fourth screw hole 1206, the third screw hole corresponds to the first screw hole, the fourth screw hole corresponds to the second screw hole, the third screw hole is connected with the first screw hole in a bolt sealing manner, and the fourth screw hole is connected with the second screw hole in a bolt sealing manner. The connecting structure comprises a plurality of connecting sections 301, wherein adjacent connecting sections are connected in a sealing mode through a hoop component 1200, and a wiring channel 302 is arranged inside each connecting section. One end of one connecting section is provided with a first connecting flange 1207, one end of the other connecting section is provided with a second connecting flange 1208, the second connecting flange corresponds to the first connecting flange, the second connecting flange and the first connecting flange are connected in a sealing mode through a first anchor ear and a second anchor ear, a bowl-shaped plug seat 1103 is arranged on the first connecting flange or the second connecting flange, a bowl-shaped plug hole 1104 is arranged on the bowl-shaped plug seat, a bowl-shaped plug is arranged in the bowl-shaped plug hole, the bowl-shaped plug is tightly pressed in the bowl-shaped plug hole through a pressing cover 1106, and the pressing cover is located between the second connecting flange and the first connecting flange.
A net cage net-breaking leakage-checking device as shown in fig. 1 and fig. 2, including floating device 100 on water, floating device on water is close to the sealed first drive arrangement 200 that is equipped with in one side of the surface of water, the drive end of first drive arrangement rotates in the horizontal direction, first drive arrangement is located below the surface of water when using, the drive end of first drive arrangement has at least one second drive arrangement 400 through first connecting arm 300 sealing connection, the drive end of second drive arrangement rotates in vertical direction, the drive end sealing connection of second drive arrangement has second connecting arm 500, the one end that the second drive arrangement was kept away from to the second connecting arm has camera device 700 through at least one vertical swing subassembly 600 sealing connection, be equipped with at least one lighting device 800 on the vertical swing subassembly close to the position of camera device or the camera device. According to the utility model, the overwater floating device is arranged, under the floating action force of the overwater floating device on the water surface, the whole device is positioned in the net cage in the water, the mesh situation on the net cage is detected in real time, and the camera device finds that the meshes are worn and can send an alarm to the outside, so that a worker can know the damage situation of the meshes, and the meshes are repaired or the net cage is replaced in time, aquatic products such as fishes, shrimps and crabs in the net cage are prevented from escaping from the broken meshes, and the loss is prevented; meanwhile, the camera device can also find whether the meshes on the net cage are blocked by microorganisms or algae and other substances in water in time, once the camera device finds that the meshes are blocked, the camera device can send an alarm to the outside immediately to enable workers to know the situation that the meshes are blocked, so that the meshes are cleaned and dredged in time, and the situation that the oxygen deficiency in the net cage is caused because the meshes are blocked and the water inside and outside the net cage is not convective is prevented; according to the utility model, the first driving device is arranged, and the driving end of the first driving device can rotate in the horizontal direction, so that the camera device can move along the same annular track, and the mesh situation of the net cage on the same layer can be comprehensively shot; according to the mesh opening shooting device, the second driving device and the vertical swinging assembly are arranged, the driving end of the second driving device rotates in the vertical direction, the second driving device and the vertical swinging assembly cooperate to enable the shooting device to be located at any vertical position in the net cage, and the second driving device and the vertical swinging assembly cooperate to enable the shooting device to be located at a proper distance relative to the mesh opening, so that the shooting device can clearly shoot the situation of the mesh opening; the utility model provides brightness support for the shooting operation of the camera device by arranging at least one lighting device, thereby ensuring the shooting definition; in order to ensure that the water floating device is in a stable position on the water surface, does not shake along with the fluctuation of the water surface too much and ensures the detection stability of the whole device, a plurality of connecting holes are formed in the water floating device, are connected in the connecting holes through connecting ropes and are connected with an external fixed wall or a fixed column, so that the stability of the water floating device on the water surface is better; the part of the utility model below the water surface is designed into a full-sealing structure to ensure the long-term stable work of the equipment in water, wherein the full-sealing comprises welding sealing and sealing by using a sealing ring; the number of the second driving devices on the first connecting arm can be one or more, the specific number of the second driving devices can be flexibly set according to actual conditions, and each second driving device corresponds to one camera device, namely, a plurality of camera detection units can be arranged, so that the flexibility is better, and a good net cage detection effect can be ensured according to the actual conditions.
The second driving means is connected to the first driving means through a safety connection 900. The safety connection member can ensure the safety and stability of the operation of the second driving device, and because the second driving device is provided with one or more second driving devices, and the second driving means are provided on the first link arm, and when the first link arm is too long, the second drive means on the first connecting arm, in particular at the end of the first connecting arm, will possibly bend or break the first connecting arm, thus the second driving device and other parts connected with the second driving device can not work because of losing the support, the second driving device is connected with the first driving device through the safety connecting piece, when the first connecting arm is stressed too much, the safety connecting piece can share a part of acting force for the first connecting arm, so that the first connecting arm is prevented from being bent or broken, and the working stability of the second driving device and other parts connected with the second driving device is ensured.
The safety connecting piece is a rigid connecting rod and/or a flexible connecting rope. Arrange in and select rigid connection pole or flexible connection rope for use, can select for use according to actual conditions is nimble.
The water floating device shown in fig. 3 and 4 comprises a floating plate 101, a water-resisting frame 102 is hermetically arranged on one side of the floating plate, which is far away from the water surface, the water-resisting frame is a sealing structure, an installation frame 103 is arranged in the water-resisting frame on the floating plate, at least one main battery 104 is detachably arranged in the installation frame, a control panel 105 is arranged in the installation frame, and the control panel is electrically connected with the main battery; the floating plate is connected with the first driving device in a sealing mode. The whole device can float on the water surface well by arranging the floating plate, and the surface area and the thickness of the floating plate are based on the fact that the whole device can float on the water surface well; the installation safety of electric devices such as the main battery and the control panel is ensured by arranging the water-proof frame, and the hollow structure in the water-proof frame can supplement the buoyancy of the floating plate, so that the volume of the floating plate can be properly reduced; the main battery provides power for normal operation of the whole device; the control panel is internally integrated with a control program, and after the switch is started, the whole device is provided with a setting program to start detecting the mesh situation on the net cage.
The main battery is defined inside the mounting frame by a definition block 106. The main battery can have one, two or more, and specific quantity can be set for according to actual conditions is nimble, and the stability of main battery installation can be guaranteed to the restriction piece for the main battery can be stably installed in the installing frame, through the locking or the unblock of restriction piece, can realize the installation and take off of main battery.
A second mounting frame 107 is arranged in the mounting frame, and the control panel is arranged on the second mounting frame. The second mounting bracket provides the mounted position for the control panel can be stable be located the installing frame.
At least one spare battery 108 is detachably arranged in the mounting frame and is electrically connected with the control panel. The standby battery is used as a backup of the main battery, when the electric quantity of the main battery is insufficient, the standby battery is automatically switched to supply power, so that the uninterrupted work of the whole device is ensured until the whole device finishes the complete net cage detection work; the spare battery can be one, two or more, and the specific number can be flexibly set according to the actual situation.
The backup battery is disposed inside the mounting frame via a bead 109. The layering can guarantee the stability of backup battery installation for backup battery can be stable install in the installing frame, through the locking or the unblock of layering, can realize backup battery's installation and take off.
A first mounting frame 110 is arranged in the mounting frame, and the standby battery is arranged on the first mounting frame through a pressing strip. The first mounting bracket provides the mounted position for the spare battery can be stable be located the installing frame.
One side that the flotation device on water is close to the surface of water is sealed to be equipped with third linking arm 1000, and the sealed one end of keeping away from the flotation device on water that sets up at the third linking arm of first drive arrangement. The third connecting arm can enable the main body part of the device to be located in the net cage in the deepwater zone, and can accurately detect the mesh condition of the net cage in the deepwater zone.
The floating plate is connected with one end of the third connecting arm far away from the water floating device in a sealing manner. The sealing connection is realized by a flange plate assembly or a hoop assembly.
The second driving means is connected to the third connecting arm by a safety link 900. The safety connection member can ensure the safety and stability of the operation of the second driving device, and because the second driving device is provided with one or more second driving devices, and the second driving means are provided on the first link arm, and when the first link arm is too long, the second drive means on the first connecting arm, in particular at the end of the first connecting arm, will possibly bend or break the first connecting arm, thus the second driving device and other parts connected with the second driving device can not work because of losing the support, the second driving device is connected with the third connecting arm through the safe connecting piece, when the first connecting arm is stressed too much, the safety connecting piece can share a part of acting force for the first connecting arm, so that the first connecting arm is prevented from being bent or broken, and the working stability of the second driving device and other parts connected with the second driving device is ensured.
The first driving device shown in fig. 7 and 8 includes a first fixed sleeve 201, the first fixed sleeve is connected with one side of the water floating device close to the water surface in a sealing manner, a first motor 202 is arranged inside the first fixed sleeve, a first rotating sleeve 203 is arranged on the first fixed sleeve in a sealing and rotating manner, the first rotating sleeve is connected with a driving end of the first motor, and the first motor is respectively connected with a main battery, a backup battery and a control board in an electric manner. The first fixing sleeve is used for stably and hermetically mounting the first driving device on the third connecting arm or the water floating device; 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 mounting position for the first connecting arm; the whole very heavy weight that has of first drive arrangement, first drive arrangement is connected the effect that acts as the weight after with floating device on water through the third linking arm, when floating the board because rocking of the surface of water and take place the swing, under the effect of first drive arrangement self gravity, first drive arrangement can make and float the board and resume steadily as early as possible.
The first fixing sleeve is connected with one end, far away from the water floating device, of the third connecting arm in a sealing mode. The sealing connection is realized by a flange plate assembly or a hoop assembly.
The inside of first fixed sleeve is equipped with first fixing base 204, and first motor setting is on first fixing base. First fixing base provides the mounted position for first motor in first fixed sleeve's inside, guarantees the stability of first motor installation and work.
The driving end of the first motor is provided with a second fixed seat 205 on which the first rotating sleeve is arranged. The second fixed seat provides a stable mounting position for the first rotating sleeve on one hand, and transmits the driving force of the first motor to the first rotating sleeve smoothly on the other hand; wherein for rotating sealing connection between first rotation sleeve and the first fixed sleeve, when first rotation sleeve rotated, still can guarantee with the leakproofness between the first fixed sleeve to guarantee the electrical safety of first motor work.
The first rotating sleeve is connected with one end of the first connecting arm in a sealing mode. The sealing connection is realized by a flange plate assembly or a hoop assembly.
The second driving device shown in fig. 9 and 10 includes a second fixed sleeve 401, the second fixed sleeve is connected with one end of the first connecting arm far from the first driving device in a sealing manner, a second motor 402 is arranged inside the second fixed sleeve, a second rotating sleeve 403 is arranged on the second fixed sleeve in a sealing manner, the second rotating sleeve is connected with a driving end of the second motor, and the second motor is respectively connected with the main battery, the backup battery and the control board in an electric manner. The second fixing sleeve is used for stably mounting the second driving device on the first connecting arm; the second motor provides acting force for the camera device and the lighting device to rotate in the vertical direction; the second rotating sleeve is used for stably transmitting vertical rotating force of the second motor.
The inside of second fixed sleeve is equipped with third fixing base 404, and the second motor setting is on the third fixing base. The third fixing base provides the mounted position for the second motor in the inside of second fixed sleeve, guarantees the second motor installation and the stability of work.
The drive end of the second motor is provided with a fourth fixed seat 405 on which a second rotating sleeve is arranged. The fourth fixed seat provides a stable mounting position for the second rotating sleeve on one hand, and transmits the driving force of the second motor to the second rotating sleeve smoothly on the other hand; wherein for rotating sealing connection between second rotating sleeve and the second fixed sleeve, when the second rotating sleeve rotates, still can guarantee with the leakproofness between the second fixed sleeve to guarantee the electrical safety of second motor work.
The second rotating sleeve is connected with the vertical swinging assembly in a sealing mode. The sealing connection is realized by a flange plate assembly or a hoop assembly.
The vertical swinging assembly comprises a third driving device 601 and a fourth connecting arm 602, the fixed end of the third driving device is connected with one end, far away from the second driving device, of the second connecting arm in a sealing mode, the driving end of the third driving device rotates in the vertical direction, one end of the fourth connecting arm is connected with the driving end of the third driving device, and the other end of the fourth connecting arm is connected with the camera device in a sealing mode. The vertical swing assembly consisting of the third driving device and the fourth connecting arm further provides rotation in the vertical direction for the camera device and the lighting device, and the vertical swing assembly and the second driving device can provide accurate movement for the camera device together, so that the camera device can move with the distance between the camera device and the wall surface of the net cage unchanged, the definition of the camera device for shooting the wall surface of the net cage can be ensured, and the accuracy of the camera device for detecting the meshes can be further ensured; the sealing connection is realized by a flange plate assembly or a hoop assembly.
And the plurality of vertical swinging assemblies are sequentially connected in a sealing manner. The number of the vertical swing assemblies can be flexibly set according to the size of the actual net cage and the depth in water, and the standard of the vertical swing assemblies is that the vertical swing assemblies can move under the condition that the distance between the camera device and the wall surface of the net cage is kept unchanged; the sealing connection is realized by a flange plate assembly or a hoop assembly.
The third driving device shown in fig. 11 and 12 includes a third fixed sleeve 6011, the third fixed sleeve is connected to one end of the second connecting arm away from the second driving device in a sealing manner, a third motor 6012 is disposed inside the third fixed sleeve, a third rotating sleeve 6013 is disposed on the third fixed sleeve in a sealing manner, the third rotating sleeve is connected to a driving end of the third motor, and the third rotating sleeve is connected to one end of the fourth connecting arm in a sealing manner; the third motor is electrically connected with the main battery, the standby battery and the control panel respectively. The third fixing sleeve is used for stably mounting the third driving device on the second connecting arm; the third motor provides acting force for the camera device and the lighting device to rotate in the vertical direction; the third rotating sleeve is used for stably transmitting vertical rotating force of a third motor; the third driving device and the second driving device can provide accurate movement for the camera device, and the camera device can move with the distance between the camera device and the wall surface of the net cage unchanged, so that the definition of the camera device for shooting the wall surface of the net cage can be ensured, and the accuracy of the camera device for detecting the mesh holes can be further ensured; the sealing connection is realized by a flange plate assembly or a hoop assembly.
A fifth fixing seat 6014 is disposed inside the third fixing sleeve, and the third motor is disposed on the fifth fixing seat. The fifth fixing seat provides a mounting position for the third motor in the third fixing sleeve, and the mounting and working stability of the third motor is guaranteed.
The driving end of the third motor is provided with a sixth fixed seat 6015, and the third rotating sleeve is arranged on the sixth fixed seat. The sixth fixing seat provides a stable mounting position for the third rotating sleeve on one hand, and transmits the driving force of the third motor to the third rotating sleeve smoothly on the other hand; wherein for rotating sealing connection between third rotating sleeve and the third fixed sleeve, when the third rotating sleeve rotates, still can guarantee with the leakproofness between the third fixed sleeve to guarantee the electric safety of third motor work.
The image capturing device shown in fig. 14, 15 and 16 includes a sealing cover 701, the sealing cover is connected to an end of the fourth connecting arm away from the third driving device in a sealing manner, a first mounting cylinder 702 is arranged on the sealing cover in a sealing manner, a camera 703 is arranged in the first mounting cylinder, a perspective mirror 704 is arranged on an end of the first mounting cylinder away from the sealing cover, and the perspective mirror is opposite to a camera of the camera; a wiper component 705 is arranged on the first mounting cylinder, and corresponds to the perspective mirror; the camera and the wiper assembly are electrically connected with the main battery, the backup battery and the control panel. The sealing cover can not only ensure the sealing performance when being connected with the fourth connecting arm, but also ensure the sealing performance after being installed with the first installation cylinder; the first mounting cylinder is used as a main shell of the camera device; the camera is used for shooting images, and accurately detecting the condition of meshes on the net cage through image recognition in an image vision mode; the cleanliness of perspective mirror department is guaranteed through setting up the water subassembly of scraping to guarantee that the camera shoots the definition and the degree of accuracy of image.
The sealing cover is provided with a connecting pipe 706 in a sealing manner as shown in fig. 13, and the connecting pipe is connected with one end of the fourth connecting arm far away from the third driving device in a sealing manner. The connecting pipe is used for excessively being connected between sealed lid and the fourth linking arm for the leakproofness and the connection effect of being connected between sealed lid and the fourth linking arm are better.
The sealing cover is provided with at least one first supporting column 707, the first supporting column is positioned inside the first installation cylinder, the first supporting column is provided with a fixing plate 708, and the camera is arranged on the fixing plate. The first supporting column stably supports the fixing plate on the sealing cover, and the fixing plate is supported at a proper position in the first mounting cylinder through the length of the first supporting column; the fixed plate provides the mounted position for the camera, guarantees the stability of camera work.
The first elastic cushion is arranged at the joint of the first support column and the sealing cover. The first supporting column is connected with the sealing cover in a mode that the inserted bar is matched with the slot; the first elastic pad provides the buffering for the junction of first support column and sealed lid, prevents to make the camera take place to shake because unexpected collision and influence the shooting effect, also prevents to make the camera take place to shake because unexpected collision and damage.
The fixed plate is provided with a plurality of second supporting columns 710, one ends of the second supporting columns, far away from the fixed plate, are provided with blocking rings 711, the blocking rings are opposite to the camera of the camera, and the perspective lens is arranged on the blocking rings. The second support column provides the mounted position for keeping off the ring, keeps off the ring and is used for fixing a position perspective mirror again, and the shooting angle range behind the camera transmission perspective mirror has also been decided to the self length of second support column, so the self length of second support column is based on the camera can shoot suitable visual field angle range.
The joint of the second support column and the fixing plate is provided with a second elastic cushion. The second supporting column is connected with the fixing plate in a mode that the inserted bar is matched with the slot; the second cushion provides the buffering for the junction of second support column and fixed plate, prevents to make the fixed plate take place to shake because of accidental collision and influences the shooting effect of camera, also prevents to make camera or perspective mirror take place to shake because of accidental collision and damages.
The first elastic cushion and the second elastic cushion are spring cushions. The spring pad has the advantages of simple structure, low price and good damping effect.
The perspective mirror is made of high borosilicate glass. The perspective mirror made of the high borosilicate glass material has good light transmission effect and high strength.
The perspective mirror is arranged on the retaining ring through a pressing ring 713, and the pressing ring is connected with the first installation cylinder in a sealing mode. The clamping ring enables the sealing performance and the stability of the perspective mirror mounted on the baffle ring to be better.
The wiper component comprises a third mounting rack 7051, the third mounting rack is arranged inside the first mounting cylinder, a group of limit switches 7052 is arranged on the third mounting rack, a fourth motor 7053 is arranged on the third mounting rack, an output shaft 7054 is arranged at the driving end of the fourth motor, a poking block 7055 is arranged on the output shaft and is positioned between the group of limit switches, a mounting plate 7056 is rotatably arranged at one end, far away from the fourth motor, of the output shaft, a wiper plate 7057 is detachably arranged on the mounting plate, and the wiper plate corresponds to the perspective mirror; the fourth motor is electrically connected with the main battery, the standby battery and the control board. The third mounting frame provides mounting positions for the limit switch and the fourth motor, and the working stability of the limit switch and the fourth motor is ensured; the group of limit switches are electrically connected with the control panel, and the limit switches are matched with the poking block to control the forward and reverse rotation of the fourth motor, so that the function of cleaning the surface of the perspective mirror by the reciprocating of the wiper is realized; the mounting plate provides a mounting position for the wiper blade.
And a third mounting block 7058 is arranged on the third mounting frame, and a group of limit switches are arranged on the mounting blocks. The third installation block provides the mounted position for limit switch alone, guarantees limit switch and dials piece matched with stability to the positive and negative rotation of control fourth motor that can be more stable.
The lighting device shown in fig. 17 and 18 includes a second mounting barrel 801, the second mounting barrel is connected with a position close to the camera device or the camera device on the vertical swing assembly in a sealing manner, a first bearing plate 802 is arranged inside the second mounting barrel, a driving plate 803 is arranged on the first bearing plate, a heat dissipation plate 804 is arranged on the driving plate, a second bearing plate 805 is arranged inside the second mounting barrel, lighting beads 806 are arranged on the second bearing plate, the lighting beads are electrically connected with the driving plate, a transparent mirror 807 is arranged on the second mounting barrel, the transparent mirror is opposite to the lighting beads, and the driving plate is respectively electrically connected with a main battery, a backup battery and a control board. The driving board is electrically connected with the control board and used for controlling the on-off and the light and shade conditions of the illuminating lamp beads according to signals of the control board; the heat dissipation plate is used for timely evacuating heat generated on the drive plate, so that the drive plate is prevented from being overheated, and the service life and the use safety of the drive plate are ensured; the second bearing plate provides a mounting position for the illuminating lamp beads, so that the working stability of the illuminating lamp beads is ensured; wherein the illuminating lamp beads are led lamp beads; the light-transmitting mirror is made of high borosilicate glass material and has the characteristics of good light-transmitting effect and high strength.
The first bearing plate is provided with at least one third supporting column 808, and the second bearing plate is arranged at one end of the third supporting column far away from the first bearing plate. The third support column provides the mounted position for the second loading board, and the distance between second loading board and the printing opacity mirror has been decided to the self length of third support column, because the illumination lamp pearl is installed on the second loading board, the self length of third support column has just decided the scope and the luminous intensity that the illumination lamp pearl can illuminate outside, and the self length of third support column uses illumination lamp pearl to illuminate outside scope and light intensity equal the standard.
The light-transmitting mirror is hermetically disposed on the second mounting cylinder by a platen 809. The pressure disk makes the steadiness and the leakproofness of printing opacity mirror installation on the second installation section of thick bamboo all better.
The illumination direction of the illumination device is inclined toward the image pickup device. The lighting device mainly provides brightness for the camera device, the lighting device has a better lighting effect when the camera device is inclined, and the specific inclination angle is 0-60 degrees; more preferably, the specific inclination angle is 15 to 45 degrees.
The vertical swing assembly is provided with a support section 810 at a position close to the camera device or on the camera device, and the lighting device is arranged on the support section. The support section provides mounted position for lighting device is suitable for camera device's distance and position, and lighting device can provide the illumination of suitable intensity and suitable width for camera device.
The second installation cylinder is arranged on the support section in a sealing mode. The supporting section provides an installation position for the second installation cylinder; the sealing connection is realized by a flange plate assembly or a hoop assembly.
The first connecting arm, the second connecting arm, the third connecting arm and the fourth connecting arm are all composed of at least one connecting section 301 as shown in fig. 5 and 6, a wiring channel 302 is arranged inside the connecting section, and the electrically connected wires penetrate through the wiring channel. The specific lengths of the first connecting arm, the second connecting arm, the third connecting arm and the fourth connecting arm are formed by sealing and splicing the connecting sections according to actual conditions, so that the device has good adaptability; because the whole electric part of the device can not have water, the device needs to be completely sealed, and the wiring channel provides a safe installation position for the electric wire or the signal wire, thereby ensuring the electric safety of the whole device.
The plurality of connection segments are sealingly connected by a flange plate assembly 1100 and/or a hoop assembly 1200. The flange plate assembly and the hoop assembly can be flexibly selected according to actual conditions and have the characteristic of good sealing connection effect; and the hoop component connection mode is simple in installation because the number of the used bolts is small.
The first connecting arm, the second connecting arm, the third connecting arm and the fourth connecting arm are hermetically connected with corresponding parts through the flange assemblies and/or the hoop assemblies. The flange plate assembly and the hoop assembly can be flexibly selected according to actual conditions and have the characteristic of good sealing connection effect; and the hoop component connection mode is simple in installation because the number of the used bolts is small.
The flange plate assembly shown in fig. 19 and 20 includes a first flange plate 1101 and a second flange plate 1102, the first flange plate is fixedly connected with one end of one connecting section in a sealing manner, the second flange plate is fixedly connected with one end of the other connecting section in a sealing manner, the first flange plate is connected with the second flange plate in a sealing manner, a bowl-shaped plug seat 1103 is arranged on the first flange plate or the second flange plate, a bowl-shaped plug hole 1104 is arranged on the bowl-shaped plug seat, a bowl-shaped plug is arranged in the bowl-shaped plug hole, the bowl-shaped plug is pressed in the bowl-shaped plug hole through a pressing cover 1106, and the pressing cover is arranged between the second flange plate and the first flange plate. Through bowl shape stopper seat, bowl shape consent and bowl shape stopper matched with structure, when first ring flange and second ring flange passed through bolt matched with, the gland compressed tightly bowl shape stopper firmly in bowl shape consent, and electric wire or signal line pass through from the mesopore of bowl shape stopper, have absolute leakproofness, have guaranteed that whole device is inside all to be in sealed environment, have guaranteed the electrical safety of whole device.
As shown in fig. 21, 22 and 23, the hoop assembly includes a first hoop 1201 and a second hoop 1202, the outer wall of the first hoop is provided with a first screw hole 1203 and a second screw hole 1204, the outer wall of the second hoop is provided with a third screw hole 1205 and a fourth screw hole 1206, the third screw hole corresponds to the first screw hole, the fourth screw hole corresponds to the second screw hole, the third screw hole is connected with the first screw hole through a bolt seal, and the fourth screw hole is connected with the second screw hole through a bolt seal. The first hoop and the second hoop can be mounted and dismounted through the two bolts, and the novel hoop has the advantages of being simple in operation and good in connecting effect.
One end of one connecting section is equipped with first connecting flange 1207, the one end of another connecting section is equipped with second connecting flange 1208, second connecting flange and first connecting flange are corresponding, second connecting flange and first connecting flange pass through first staple bolt and second staple bolt sealing connection, be equipped with bowl shape chock 1103 on first connecting flange or the second connecting flange, be equipped with bowl shape consent 1104 on the bowl shape chock, be equipped with bowl shape stopper in the bowl shape chock, bowl shape stopper compresses tightly in bowl shape chock through gland 1106, the gland is located between second connecting flange and the first connecting flange. Through the structure that the bowl-shaped plug seat, the bowl-shaped plug hole and the bowl-shaped plug are matched, the first connecting flange and the second connecting flange are aligned, the first hoop and the second hoop tightly hold the first connecting flange and the second connecting flange, and the bowl-shaped plug is firmly pressed in the bowl-shaped plug hole by the gland through the locking acting force when the first hoop and the second hoop are locked by two bolts; the whole connection mode is simple, and the sealing effect after connection is better.
In an initial state, the first connecting arm, the second connecting arm and the fourth connecting arm are positioned on the same plane.
In the initial state, the first connecting arm is inclined downwards relative to the horizontal plane, and the inclination angle is 0-15 degrees. More preferably, the inclination angle is 2 to 10 degrees.
The rotation angle of the driving end of the first driving device in the horizontal direction is 0-360 degrees. More preferably, the driving end of the first driving device is rotated by 0 to 320 degrees in the horizontal direction. Within this angular range, the camera device takes a picture on a circular path without dead angles.
The rotation angle of the driving end of the second driving device in the vertical direction is 0-360 degrees. More preferably, the driving end of the second driving device is rotated by 0 to 320 degrees in the vertical direction. More preferably, the driving end of the second driving device is rotated by an angle of 0 to 270 degrees in the vertical direction. More preferably, the driving end of the second driving device is rotated by 0 to 180 degrees in the vertical direction.
The rotation angle of the driving end of the third driving device in the vertical direction is 0-360 degrees. More preferably, the driving end of the first driving device is rotated by 0 to 320 degrees in the horizontal direction. Within this angular range, the camera device takes a picture on a circular path without dead angles. The part of the camera device in water is designed to be zero buoyancy, and the angle inside the whole device rotates to the aim that the underwater part cannot exceed the water surface.
The shape of the net cage is frustum shape, spherical shape or column shape. The specific shape of the net cage can be flexibly designed according to actual conditions, and the net cage is preferably in a regular shape, so that programs can be written conveniently, and the accurate control of the distance between the camera and each wall surface of the net cage is well realized.
The main and backup batteries are lead acid and/or lithium batteries. The main battery and the backup battery can be rechargeable batteries, and can be charged by external clean energy such as wind energy or solar energy.
A net cage broken net leak detection method, which comprises the following steps,
(a) placing the net breaking and leakage detecting device in an initial state in a net cage in water, wherein the net breaking and leakage detecting device corresponds to the center of the top of the net cage;
(b) starting a power switch of the net breaking and leakage detecting device positioned in water, so that the first driving device, the second driving device, the third driving device, the camera device and the illuminating device are all in a starting state;
(c) when the shooting direction of the camera device is vertical to the bottom of the net cage, the control panel controls the third driving device to stop rotating; at the moment, the center position of the bottom of the net cage is within the angle range of the shooting field of view of the camera device, and the distance between the camera device and the bottom of the net cage is L;
(d) when the shooting direction of the image shooting device in the step (c) is vertical to the bottom of the net cage, the control panel controls the driving end of the first driving device to rotate 320-360 degrees in the horizontal direction;
(e) after the first driving device in the step (d) is rotated, controlling the driving ends of the second driving device and the third driving device to rotate at a proper angle in the vertical direction by the control board, and enabling the camera device to move a distance M in a direction towards the side wall surface of the net cage under the condition that the shooting direction of the camera device is perpendicular to the bottom of the net cage;
(f) after the camera device in the step (e) moves a distance M towards the direction of the side wall surface of the net cage, the control panel controls the driving end of the first driving device to rotate 320-360 degrees in the horizontal direction;
(g) circulating the steps (e) and (f) until the whole bottom surface of the net cage is photographed by the camera device;
(h) after the shooting device shoots the whole bottom surface of the net cage, the control panel controls the driving ends of the second driving device and the third driving device to rotate at a proper angle in the vertical direction, so that the shooting direction of the shooting device is perpendicular to the position, close to the bottom, of the side wall surface of the net cage, and the distance between the shooting device and the side wall surface of the net cage is S;
(i) when the shooting direction of the camera device is vertical to the position, close to the bottom, of the side wall surface of the net cage, the control panel controls the driving end of the first driving device to rotate 320-360 degrees in the horizontal direction;
(j) after the first driving device in the step (i) is rotated, the control panel controls the driving ends of the second driving device and the third driving device to rotate at a proper angle in the vertical direction at the same time, and under the condition that the shooting direction of the camera device is perpendicular to the side wall of the net cage, the camera device moves a distance N along the side wall surface of the net cage towards the top of the net cage;
(k) after the image pickup device moves a distance N towards the top of the net cage in the step (j), the control panel controls the driving end of the first driving device to rotate 320-360 degrees in the horizontal direction;
(l) And (j) and (k) are circulated until the camera device shoots the whole side wall surface of the net cage.
The utility model takes the image shot by the camera device to the bottom surface and the wall surface of the net cage as reference, adopts the image vision technology, the control panel controls the second driving device and the third driving device to cooperatively rotate, so that the camera end of the camera device is always in a vertical state with the bottom surface and the wall surface of the net cage, and the direct distance between the camera device and the bottom surface and the wall surface of the net cage can be conveniently regulated and controlled just because the camera end is in a vertical state with the bottom surface and the wall surface of the net cage, so that the distance is based on the clear image shot to each surface of the net cage, if the water quality is clear, the distance between the camera device and the bottom surface and the wall surface of the net cage can be far, if the water quality is turbid, the distance between the camera device and the bottom surface and the wall surface of the net cage can be close by controlling the second driving device and the third driving device to cooperatively rotate, in the whole shooting process, the distance between the camera device and the bottom surface and/or the wall surface of the net cage is the same, and the camera device moves in parallel relative to the bottom surface and the wall surface of the net cage, so that the automatic operation can be carried out according to the set program on the control panel, the inspection mode of net cage meshes is simple, the automation degree is higher, and the inspection effect is better; the distance of each movement of the camera device is limited, and according to the shooting visual angle of the camera device, the overlapping area of the shooting areas of the camera devices at two adjacent places on the net cage is taken as the reference, so that the dead-angle-free detection of the net holes on the whole net cage can be ensured, the absolute reliability of the whole net cage can be ensured, and the situations that aquatic products are lost due to poor net holes and the water products in the net cage are anoxic due to the blockage of the net holes do not exist.
The initial state of the net breaking and leakage detecting device is the state that the first connecting arm, the second connecting arm and the fourth connecting arm are located on the same plane.
The first connecting arm, the second connecting arm and the fourth connecting arm are all located below the water surface.
The range of the shooting field angle alpha of the camera device is 10-120 degrees. More preferably, the imaging field angle α of the imaging device is in the range of 30 degrees to 90 degrees. More preferably, the imaging field angle α of the imaging device is in the range of 45 degrees to 70 degrees.
The moving distance M and the moving distance N are based on the overlapping area of the shooting view field angles alpha of two adjacent positions of the camera device. The existence of the overlapping area can ensure that the device has no dead angle for the whole detection of the net cage meshes.
The distance L and the distance S are equal or unequal; the moving distance M and the moving distance N are equal or different.
The principle of the operation track of the net cage broken net and leak detection connecting arm is as follows:
a first driving device: the first connecting arm is controlled to rotate 360 degrees in a given direction by using the driving of a planetary gear speed reducing motor;
a second driving device: a planetary gear reduction motor is used for driving, the second connecting arm is controlled to swing up and down according to requirements, and the range is 0-360 degrees;
first and third driving means: the steering engine is used for driving, the first fourth connecting arm is controlled to swing according to a given angle, and the range is 0-360 degrees;
second third driving means: the steering engine is used for driving, the second fourth connecting arm is controlled to swing according to a given angle, and the range is 0-360 degrees;
a first connecting arm: 5.8 m long (center distance between the first and second driving device)
A second connecting arm: 6 m long (center distance between the second driving device and the first third driving device)
First fourth connecting arm: length 1.5 m (center distance between the first and second third driving devices)
Second fourth link arm: length 1.8 m (distance from the center of the second third driving device to the front end of the camera)
Initial position: the initial position of the whole machine is that each connecting arm is positioned on the same plane and the whole machine is inclined downwards by 0.2 degrees.
The size of the net cage is as follows: the overall shape of the net cage is conical, the diameter of the top part is 25500mm, the diameter of the bottom part is 2450 mm, and the height is 7000 mm.
Description of the electronic devices:
lighting lamp: 2, each with 20w of power and 12v of voltage;
a camera: 1, power 20w, voltage 12 v;
linear velocity of camera movement: 0.2m/s
A first motor: 1, power 120w, voltage 24 v;
a second motor: 1, power 60w, voltage 24 v;
steering engine or third motor: 2, power 30w, voltage 24 v;
a lead-acid battery;
assembling position of the whole machine: after the net breaking and leakage detecting device is assembled according to the initial position, the net breaking and leakage detecting device is fixed at the center of the top of the net cage, and the connecting arm is arranged below the water surface.
Description of the moving track of the camera: the field angle of the camera is 80 degrees, the visible distance is 400mm, the maximum visible distance is 450mm, and the minimum visible distance is 100 mm;
the camera starts to look over from the center of the bottom of the net cage, moves 660mm outwards (micro adjustment can be carried out according to the rotation angle of the second connecting arm) after rotating for a circle, then rotates for a circle, and so on until the bottom of the net cage is checked, and then deflects the direction and checks the side wall of the net cage. In order to avoid the leakage area or the repeated inspection area in the net cage inspection process, the two adjacent scanned visual areas need to have an overlapping part, wherein the overlapping part is 40mm basically, 50mm in the maximum overlapping area and 20mm in the minimum overlapping area. Except the included angle position between the bottom of the net cage and the side wall, the camera is used and kept vertical to the net cage when other positions are checked.
The water floating device sinks 30mm below the water surface, and the redundant gravity is overcome by buoyancy foam. The first connecting arm is close to the first motor and is 104.2mm away from the water surface.
Moving track of camera
First circumferential trajectory: the first connecting arm keeps unchanged in position, the second connecting arm swings downwards at an angle of 32.9 degrees, an included angle between the first fourth connecting arm and the second connecting arm is 139.7 degrees, and the second fourth connecting arm is perpendicular to the bottom of the net cage. At the moment, the distance between the camera and the bottom of the net cage is about 400mm, the visual range exceeds 40mm of the center of the net cage, and after the camera reaches the position, the first connecting arm rotates 360 degrees and stops.
Second circumferential trajectory: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 32.4 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 112.44 degrees, and the second fourth connecting arm is perpendicular to the bottom of the net cage. After the camera reaches this position, the first link arm rotates 360 ° and stops.
Third circular trajectory: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 34.7 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 92.86 degrees, and the second fourth connecting arm is perpendicular to the bottom of the net cage. After the camera reaches this position, the first link arm rotates 360 ° and stops.
Fourth circumferential trajectory: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 39 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 76.43 degrees, and the second fourth connecting arm is perpendicular to the bottom of the net cage. After the camera reaches this position, the first link arm rotates 360 ° and stops.
Fifth circumferential trajectory: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 45 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 62.16 degrees, and the second fourth connecting arm is perpendicular to the bottom of the net cage. After the camera reaches this position, the first link arm rotates 360 ° and stops.
Sixth circular trajectory: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 52.6 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 49.41 degrees, and the second fourth connecting arm is perpendicular to the bottom of the net cage. After the camera reaches this position, the first link arm rotates 360 ° and stops.
Seventh circular trajectory: the first connecting arm keeps unchanged in position, the included angle of the second connecting arm and the first connecting arm is 61.5 degrees, the included angle of the first fourth connecting arm and the second connecting arm is 38.24 degrees, and the second fourth connecting arm is perpendicular to the bottom of the net cage. After the camera reaches this position, the first link arm rotates 360 ° and stops.
Eighth circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 71.1 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 29.37 degrees, and the second fourth connecting arm is perpendicular to the bottom of the net cage. After the camera reaches this position, the first link arm rotates 360 ° and stops.
Ninth circular trajectory: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 80.4 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 24.6 degrees, and the second fourth connecting arm is perpendicular to the bottom of the net cage. After the camera reaches this position, the first link arm rotates 360 ° and stops.
10 th circular locus: the first connecting arm keeps unchanged in position, the included angle of the second connecting arm and the first connecting arm is 88.1 degrees, the included angle of the first fourth connecting arm and the second connecting arm is 26.23 degrees, and the second fourth connecting arm is perpendicular to the bottom of the net cage. After the camera reaches this position, the first link arm rotates 360 ° and stops.
11 th circular locus: the first connecting arm keeps unchanged in position, the included angle of the second connecting arm and the first connecting arm is 94.3 degrees, the included angle of the first fourth connecting arm and the second connecting arm is 34.07 degrees, and the second fourth connecting arm is perpendicular to the bottom of the net cage. After the camera reaches this position, the first link arm rotates 360 ° and stops.
12 th circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 99.7 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 43.6 degrees, and the second fourth connecting arm is perpendicular to the bottom of the net cage. After the camera reaches this position, the first link arm rotates 360 ° and stops.
The 13 th circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 104.9 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 53.93 degrees, and the second fourth connecting arm is perpendicular to the bottom of the net cage. After the camera reaches this position, the first link arm rotates 360 ° and stops.
14 th circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 110.1 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 69.79 degrees, and the second fourth connecting arm is perpendicular to the bottom of the net cage. After the camera reaches this position, the first link arm rotates 360 ° and stops.
Circle locus number 15: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 115.5 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 85.34 degrees, and the second fourth connecting arm is perpendicular to the bottom of the net cage. After the camera reaches this position, the first link arm rotates 360 ° and stops.
16 th circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 121.4 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 103.48 degrees, and the second fourth connecting arm is perpendicular to the bottom of the net cage. After the camera reaches this position, the first link arm rotates 360 ° and stops.
17 th circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 128.4 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 126.68 degrees, and the second fourth connecting arm is perpendicular to the bottom of the net cage. After the camera reaches this position, the first link arm rotates 360 ° and stops.
18 th circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 140.7 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 174.51 degrees, and the second fourth connecting arm is perpendicular to the bottom of the net cage. After the camera reaches this position, the first link arm rotates 360 ° and stops.
19 th circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 141.9 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 217.75 degrees, and the included angle between the second fourth connecting arm and the bottom of the net cage is 50.54 degrees. After the camera reaches this position, the first link arm rotates 360 ° and stops.
Circle trajectory 20: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 126.9 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 188.52 degrees, and the included angle between the second fourth connecting arm and the bottom of the net cage is 4.09 degrees. After the camera reaches this position, the first link arm rotates 360 ° and stops.
The 21 st circumferential trajectory: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 118.7 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 126.01 degrees, and the included angle between the second fourth connecting arm and the bottom of the net cage is 4.09 degrees. After the camera reaches this position, the first link arm rotates 360 ° and stops.
22 nd circular trajectory: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 119.7 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 103.59 degrees, and the included angle between the second fourth connecting arm and the bottom of the net cage is 4.09 degrees. After the camera reaches this position, the first link arm rotates 360 ° and stops.
23 rd circular trajectory: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 122.9 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 85.97 degrees, and the included angle between the second fourth connecting arm and the bottom of the net cage is 4.09 degrees. After the camera reaches this position, the first link arm rotates 360 ° and stops.
24 th circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 127.9 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 70.91 degrees, and the included angle between the second fourth connecting arm and the bottom of the net cage is 4.09 degrees. After the camera reaches this position, the first link arm rotates 360 ° and stops.
Circumferential track number 25: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 134.5 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 57.67 degrees, and the included angle between the second fourth connecting arm and the bottom of the net cage is 4.09 degrees. After the camera reaches this position, the first link arm rotates 360 ° and stops.
26 th circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 142.5 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 46.06 degrees, and the included angle between the second fourth connecting arm and the bottom of the net cage is 4.09 degrees. After the camera reaches this position, the first link arm rotates 360 ° and stops.
27 th circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 151.5 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 36.4 degrees, and the included angle between the second fourth connecting arm and the bottom of the net cage is 4.09 degrees. After the camera reaches this position, the first link arm rotates 360 ° and stops.
28 th circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 160.8 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 29.52 degrees, and the included angle between the second fourth connecting arm and the bottom of the net cage is 4.09 degrees. After the camera reaches this position, the first link arm rotates 360 ° and stops.
Circumferential track 29: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 169.2 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 27.97 degrees, and the included angle between the second fourth connecting arm and the bottom of the net cage is 4.09 degrees. After the camera reaches this position, the first link arm rotates 360 ° and stops.
30 th circular locus: the first connecting arm keeps unchanged in position, the included angle between the second connecting arm and the first connecting arm is 171.1 degrees, the included angle between the first fourth connecting arm and the second connecting arm is 28.28 degrees, and the included angle between the second fourth connecting arm and the bottom of the net cage is 4.09 degrees. After the camera reaches this position, the first link arm rotates 360 ° and stops.
At this point, the net cage is checked, and the connecting arm is retracted to the initial position.
As a control board single chip circuit shown in fig. 24, STM32F103RCT6 was used, in which Y1, C3, and C4 formed a crystal oscillator circuit, and R2 and C5 formed a reset circuit.
The control circuit shown in fig. 25, 26 and 27 is composed of a pull-up resistor and a filter capacitor, and is used for controlling the control of the control board for each connecting arm, the camera and the illumination lamp.

Claims (3)

1. The utility model provides a staple bolt subassembly for under water, characterized by: including first staple bolt (1201) and second staple bolt (1202), be equipped with first screw (1203) and second screw (1204) on the outer wall of first staple bolt, be equipped with third screw (1205) and fourth screw (1206) on the outer wall of second staple bolt, the third screw is corresponding with first screw, the fourth screw is corresponding with the second screw, the third screw passes through bolt sealing connection with first screw, the fourth screw passes through bolt sealing connection with the second screw.
2. The hoop assembly as claimed in claim 1, wherein: including first flange (1207) and second flange (1208), second flange is corresponding with first flange, second flange and first flange pass through first staple bolt and second staple bolt sealing connection, be equipped with bowl shape chock (1103) on first flange or the second flange, be equipped with bowl shape consent (1104) on the bowl shape chock, be equipped with bowl shape stopper in the bowl shape chock, bowl shape stopper compresses tightly in bowl shape chock through gland (1106), the gland is located between second flange and the first flange.
3. The hoop assembly as claimed in claim 2, wherein: the cable connector comprises a plurality of connecting sections (301), wherein adjacent connecting sections are hermetically connected through a hoop component (1200), and a wiring channel (302) is arranged inside each connecting section; the first connecting flange (1207) is connected to one end of one connecting section, and the second connecting flange (1208) is connected to one end of the other connecting section.
CN202121468665.7U 2021-06-30 2021-06-30 Underwater hoop assembly Active CN215409605U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202121468665.7U CN215409605U (en) 2021-06-30 2021-06-30 Underwater hoop assembly

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202121468665.7U CN215409605U (en) 2021-06-30 2021-06-30 Underwater hoop assembly

Publications (1)

Publication Number Publication Date
CN215409605U true CN215409605U (en) 2022-01-04

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202121468665.7U Active CN215409605U (en) 2021-06-30 2021-06-30 Underwater hoop assembly

Country Status (1)

Country Link
CN (1) CN215409605U (en)

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