CN217766382U - Bionic water strider water quality detection machine - Google Patents

Abstract

A water quality detecting machine for bionic water strider comprises a bionic water strider and an integrated water quality detecting sensor; the bionic water strider comprises a main bin, wherein the left and right sides of the main bin are provided with a front limb, a rear limb and a middle limb; the front limbs and the rear limbs comprise two groups of first steering engines, the two groups of first steering engines are arranged on the main bin through bracket components and drive the first legs to swing or lift, and the first legs are provided with buoys; the middle limb comprises a third steering engine and a fourth steering engine, the third steering engine and the fourth steering engine are installed on the main bin through a support component and drive the second leg to swing or lift, and the end of the second leg is provided with a flexible paddle. The utility model provides a pair of bionical water strider water quality testing machine, but the greatly reduced cost reduces the influence to the environment simultaneously.

Description

Bionic water strider water quality detection machine

Technical Field

The utility model relates to a robot, especially a bionical water strider water quality testing machine are applicable to high density fish and breed.

Background

At present, the nation has issued a fish prohibition policy, and the great rivers are protected from fish prohibition, so that the people are not allowed to catch fish in the great rivers and the important water bodies are not allowed to carry out artificial culture. Nowadays, the main source of edible fish is fish farms. Fish farms include pond free-ranging modes and high-density farming. Currently, most farmers perform high-density farming to improve the yield and quality of aquatic products with a large reduction in the area of the farming waters. The quality of the fish depends on the culture conditions, and the temperature of the water body, the dissolved oxygen amount of the water and the pH of the water can influence the culture quality.

The high-density culture has high requirements on the quality of a water body, needs mechanical oxygenation and active water circulation, and discharges waste in time, otherwise, a large number of cultured objects die in a short time due to poor water quality. Traditional water quality testing equipment needs to be placed in water for a long time, is very easy to lose efficacy because of algae production adhesion, and for a larger fishpond, the water quality measured by equipment fixed at one position has limitation and contingency, and a plurality of water quality testing equipment are required to be respectively placed at different positions. One set of water quality detection equipment needs tens of thousands of yuan, the service life is only 3 to 6 months usually, and the cost is far higher than the culture profit. Another water quality testing needs the people to take water sample every day and then reuse machine analysis quality of water, and its real-time is poor, and when people drive the ship or adopt other modes to breed ground sampling everywhere, the noise that it brought can disturb the shoal of fish in the aquatic, has also increased the cost of labor when not high. Therefore, the mobility and flexibility of the existing water quality detection machine are not high, the bad influence on the environment and fish school exists due to the partial water quality detection mode, real-time dynamic detection on a large farm or a plurality of farms cannot be realized by one device, the cost is high, and the service life is short.

Disclosure of Invention

The utility model aims to solve the technical problem that a bionical water strider water quality testing machine is provided, detection efficiency is high, the sample is easy, and cost, power consumption are low, and are little to shoal of fish and environmental impact.

In order to solve the technical problem, the utility model discloses the technical scheme who adopts is:

a water quality detecting machine for bionic water strider comprises a bionic water strider and an integrated water quality detecting sensor;

the bionic water strider comprises a main bin and six limbs, wherein the main bin is hollow and is provided with an electric control module;

the six limbs comprise front limbs, rear limbs and middle limbs, wherein the front limbs and the rear limbs comprise two groups of first steering engines, the two groups of first steering engines are mounted on the main bin through support assemblies, and output shafts of the two groups of first steering engines are perpendicular to each other on corresponding projection surfaces; the two groups of first steering engines drive the first leg parts to swing or lift, and the first leg parts are provided with floating barrels;

the middle limb comprises a third steering engine and a fourth steering engine, the third steering engine and the fourth steering engine are mounted on the main bin through a support assembly, and output shafts of the third steering engine and the fourth steering engine are perpendicular to each other on corresponding projection surfaces; and the third steering engine and the fourth steering engine drive the second leg to swing or lift, and the end of the second leg is provided with a flexible paddle.

The main bin is positioned at the eye part and is provided with a camera.

The forelimb is provided with a forceps with a flexible structure.

The first leg part and the second leg part are carbon fiber rods.

The main bin is made of photosensitive resin, and the six limbs are made of polymer resin materials.

The utility model relates to a bionical water strider water quality testing machine has following technological effect:

1) Referring to the body structure of the water strider, a bionic mode is adopted, so that the machine has the same motion mode as the water strider. Because of the bionic, the machine has no paddle wheel and no propeller, has low noise during movement and work, and has small influence on aquatic organisms and low disturbance degree when being used for water quality detection. Simultaneously, the volume and the quality of machine are less, can reduce the influence to the shoal of fish. In addition, the machine has a motion mode similar to that of the water strider, can perform different functions with an operation state in a traveling process through the form change of the machine, reduce the resistance of a water body in the traveling process, lower the center of gravity in the operation process and improve the stability. And the machine is also provided with a self-stabilizing system, so that the machine can stably work in different environments, can resist most of external interference and has strong environmental adaptability.

2) The machine is provided with an integrated water quality detection device and a WeChat small program, the results of water quality detection can be uploaded to the WeChat small program in time, and an operator can check the results through the WeChat small program. By means of the high maneuverability and the amphibious capacity of the machine, the machine can perform water quality detection at any position of a fishpond through control, can also move across the water area through mechanical legs, achieves the effect that one machine detects multiple water areas, achieves the detection mode that one machine detects multiple high-density cultivation boxes, greatly reduces the cost of water quality detection compared with a fixed detection device, and reduces energy consumption. In addition, the height of the machine main body bin can be changed by controlling the change of the supporting positions of the four limbs of the machine, so that the fixed-point throwing function is achieved, and the water quality at any position can be accurately detected.

Drawings

The invention will be further explained with reference to the following figures and examples:

fig. 1 is a block diagram of the present invention.

Fig. 2 is a schematic view of a bionic water strider of the present invention.

Fig. 3 is a schematic view of six limbs in the present invention.

Fig. 4 is a schematic view of the middle and rear limbs of the present invention.

Fig. 5 is a schematic view of a middle limb of the present invention.

Fig. 6 is a schematic structural view of the middle steering engine bracket of the present invention.

Fig. 7 is a schematic structural view of the middle flexible blade of the present invention.

In the figure: the robot comprises a main bin 1, six limbs 2, a buoy 3, a first leg 4, a first steering engine 5, a flexible paddle 6, a second leg 7, a third steering engine 8, a fourth steering engine 9, a servo motor 10, a forelimb 2.1, a hind limb 2.2, a middle limb 2.3 and a pliers 2.4.

Detailed Description

As shown in FIG. 1, a water quality testing machine, consisting of a bionic water strider and an integrally formed water quality testing sensor.

As shown in FIG. 2, the biomimetic water strider is mainly composed of a main cartridge 1 in the shape of a water strider and six limbs 2.

As shown in figure 2, the main bin 1 is shaped like a football, is reinforced by adopting a glass fiber composite material based on photosensitive resin, and is coated with a waterproof coating on the surface. The main bin 1 is slender, the length of the main bin 1 is about 70cm, the interior of the main bin is hollowed, the wall thickness of the main bin is about 5mm, and enough space is provided for placing a battery, a positioning module, a control module, a self-stabilization module (a gyroscope and an accelerometer) and an Internet of things module. The front end of the main bin 1 is slightly convex, and the rear end is flat. The bottom in the main bin 1 is supported by grids, so that the strength of the bin wall is enhanced.

As shown in figure 2, two sides of the main bin 1 are respectively provided with three symmetrical gaps, the gaps and the main bin 1 are respectively provided with gaps with inclination angles of 30-40 degrees, and the width of each gap can be just used for placing a waterproof steering engine connected through a support rod. Because the support rod is connected, the waterproof steering engine cannot be obstructed by the main bin 1 during working. The waterproof steering engine avoids complicated waterproof measures, and the endurance of the bionic water strider is enhanced. The head of the main bin 1 is also provided with two openings which are positioned at the eyes of the water strider and used for installing a camera.

As shown in fig. 3, the six limbs 2 include a front limb 2.1, a rear limb 2.2 and a middle limb 2.3, and the six limbs 2 are mainly made of a polymer resin material. Of these, the forelimb 2.1 is shorter and the hindlimb 2.2 is relatively longer. The front limbs 2.1 and the rear limbs 2.2 mainly play a role in providing buoyancy and changing the height of the main cabin on the water surface, and start to work on the land.

As shown in fig. 4 and 6, each of the front limb 2.1 and the rear limb 2.2 includes a buoy 3, a first leg 4 (carbon fiber rod), and two first steering engines 5 of 20 kg. The main bin 1 is fixed with a first support 3.1 at the position corresponding to the supporting leg, and an output shaft of one of the first steering gears 5 drives the second support 3.2 to swing back and forth, so that advancing power can be provided for the machine. The second support 3.2 is cross structure, and another first steering wheel 5 is installed to the second support 3.2 other end, and another first steering wheel 5 drives the third support 3.3 of first shank 4 head end and lifts and puts, can provide power for the machine changes mechanical leg height and motion position. The first leg 4 has a pontoon 3 that provides sufficient buoyancy to the water strider to float on water.

As shown in FIG. 2, the front limb 2.1 is provided with a pair of flexible pincers 2.4 which mimic the predation of a water strider and can clamp a portion of the object. The structure adopts the prior art in the Chinese knowledge network: wu Qiong, a method for evaluating shape-adaptive flexible hand grasping characteristics and sensing clamping force, research [ C ]. Harbin university of industry, 2021. The main body part of the pliers 2.4 adopts carbon fiber plates with slender grooves carved on the surfaces of two layers of carbon fiber plates, and the superelastic alloy wires are uniformly arranged between the two layers of carbon fiber plates in parallel at equal intervals. And (3) bonding the two layers of carbon fiber plates and the superelastic alloy wires by using acrylic glue to obtain the composite plate for manufacturing the bionic fin finger. The composite board serving as the finger side knuckle is provided with a small hole for connecting the alloy wire in the composite board serving as the rib plate with the side plate, and the alloy wire in the rib plate serves as a flexible hinge connected with the side plate. And meanwhile, bulges used for being matched and clamped with the tool are reserved on the side plates and the rib plates. The relative positions of the side plates, the bottom plate and the rib plates are determined by the tenon-and-mortise fit and clamping between the tool and the protrusions of the plate. And removing the tool after the glue is cured, cutting off redundant superelastic alloy wires, grinding off redundant carbon fiber plates connected with adjacent knuckle carbon fiber plates on two sides of the long slot gap of the side plate by using a handheld small electric grinder, and dividing the side plate into a plurality of knuckles with the same size, so that the bionic fin hand which can be stressed and bent and is made of a flexible hinge rigid material is obtained.

As shown in fig. 5, the middle limb 2.3 comprises a flexible paddle 6, a second leg 7 (carbon fibre rod), a third steering gear 8 of 60kg and a fourth steering gear 9 of 20 kg. An output shaft of a third steering engine 8 of which the first support 3.1 and the second support are 60kg is fixed at the position corresponding to the supporting leg on the main bin 1 drives the second support 3.2 to swing back and forth, so that power for water surface movement is provided for the main bin 1. The second support 3.2 is cross structure, and fourth steering wheel 9 is installed to the second support 3.2 other end, and fourth steering wheel 9 drives second shank 7 luffing motion, can change the height of flexible paddle 6. A fourth steering engine 9 of 20kg is connected to the second leg 7 and the second leg 7 is connected to the flexible blade 6, the middle limb 2.3 being the longest leg. When the middle limb 2.3 moves on the water surface, the power is mainly provided to drive the equipment to move forwards, backwards or turn. When walking on land, the fourth steering engine 9 of 20kg is needed to lift the flexible paddle 6, so that the flexible paddle 6 is prevented from obstructing the walking on land.

As shown in FIG. 7, the flexible paddle 6 adopts a carbon fiber truss structure, the surface of the flexible paddle adopts flexible TPU, and the carbon fiber wing ribs can be moved, so that high flexibility is given to the flexible paddle. The flexible paddle 6 comprises servo motors 10 fixed in front of and behind a support at the tail end of the second leg portion 7, paddle frameworks 11 are coated outside the two servo motors 10, and one end of each paddle framework 11 is fixedly connected with the second leg portion 7. The output shaft of each servo motor 10 is fixedly connected with a connecting rod, and two ends of the connecting rod are hinged or fixedly connected with the upper ribs and the lower ribs of the blade framework 11.

The servo motor 10 is controlled by a single chip microcomputer in the film-coated blade to move. The blade framework 11 moves to cause the film covering change by controlling the positive and negative rotation of the servo motor to a certain angle, so that the shape of the blade is changed. Because the flexible paddle 6 basically adopts a flexible structure, the paddle can be severely deformed by small movement of the servo motor 10. The shape of the blade can change the flow direction of water flow, so that the effect of changing the self-movement is achieved.

1) When the bionic water strider is static on the water surface, the front leg 2.1 and the rear leg 2.2 provide floating buoyancy for the bionic water strider, so that the bionic water strider can stably float on the water surface.

2) When the bionic water strider moves on the water surface, the front leg 2.1 and the rear leg 2.2 still provide the buoyancy required for floating for the water surface, and the third steering engine 8 and the fourth steering engine 9 of the middle leg 2.3 cooperate to move so as to drive the flexible paddle 6 to paddle the water surface, so that the bionic water strider is provided with forward power.

3) When the bionic water strider needs to turn on the water surface, the two steering engines on the middle leg 2.3 positioned on the inner side of the turn stop running to generate resistance to block the machine, and the two steering engines on the middle leg 2.3 on the other side continuously run (because the two steering engines can drive the middle leg 2.3 to lift and swing, the action similar to that of a human swinging paddle can be realized on the water surface), so that power is generated, and the bionic water strider can turn under the action of torque.

4) When the bionic water strider works, the height of the main bin 1 can be adjusted by controlling the first steering engine 5 of the front leg 2.1 and the rear leg 2.2 to rotate, so that the effect of immersing the integrated water quality detection sensor attached below the main bin 1 into water is achieved; when the bionic water strider encounters dead fish or other small pollutants on the water strider, the bionic water strider can be clamped by the flexible pliers 2.4 of the front limbs 2.1. The principle is seen in the prior art: wu Qiong, a method for evaluating shape-adaptive flexible hand grasping characteristics and sensing clamping force, research [ C ]. Harbin university of industry, 2021. The miniature 20 stepping motors are used for driving, and worm gears and worms are selected for transmission so as to realize the opening and closing of the claws, and further realize the grabbing of the claws. The worm and the motor shaft are fixed through the locking screws, the two worm wheels are respectively and oppositely fixed with the two fingers of the gripper, the two worm wheels are symmetrically arranged on two sides of the worm, the worm rotates when the motor shaft rotates, the worm rotates to drive the worm wheels to rotate through meshing when the worm rotates, and the two fin fingers and the worm wheels are oppositely fixed through the locking screws, so that the worm wheel rotates to further drive the two bionic fin fingers to rotate around the worm wheel shaft along with the worm wheels, the gripper is opened and closed, and the gripper can grasp an object. The effect of cleaning the lake surface is achieved.

5) In addition, the flexible pincers 2 can also remove impurities (such as aquatic weeds) in front of the water surface when the bionic water strider moves on the water surface, so that the bionic water strider can normally run.

6) When the bionic water strider walked on the land, in order to prevent that flexible paddle 6 from being destroyed and prevent that flexible paddle 6 from producing the hindrance effect to the land walking, well limb 2.3 is raised, and main storehouse 1 can be raised to first steering wheel 5 that is close to main storehouse 1 on forelimb 2.1 and hind limb 2.2 in addition, improves the focus of bionic water strider. The walking is mainly realized by the steering engine which is close to the buoy on the front limb and the rear limb. (1) The left forelimb and the right hind limb are controlled to be lifted and swing forwards, and then the bed is put down after completion. (2) And controlling the right forelimb and the left hind limb to lift and swing forwards to finish the movement. (3) The limbs that cooperate repeatedly execute the above commands to make the bionic water strider finish land walking. The walking process is consistent with the principle of an automatic flaw detection machine for wall-faced ceramic tiles in the patent with the application number of 2022214768416.

The integrated sensor is box-shaped, a support is fixed at the outer bottom of the middle of the corresponding bionic main bin, and the integrated sensor is fixed at the position of the support. Through adjusting the support position change of bionical water strider machine four limbs, can change the height of machine main part storehouse 7 to can play and submerge the sensor fixed point in aqueous.

The integrated water quality detection sensor integrates a plurality of sensors such as dissolved oxygen, ammonia nitrogen content, dissolved salt, PH value, water transparency, temperature and the like through a PCB.

The integrated sensor water quality detection sensor can adopt AMT-W400 multi-parameter water quality sensors, can freely combine and install 2-7 water quality sensors, and the monitoring factor includes: temperature, pH, ORP, conductivity, salinity, dissolved oxygen, turbidity, chlorophyll a, blue-green algae, rhodamine, oil in water, ammonia nitrogen, and the like.

During detection, the integrated water quality detection sensor is immersed into the water body through the height of the bionic water strider regulation main bin 1, so that detection is realized; when the bionic water strider is not detected, the main bin is kept away from the water surface by adjusting the height of the main bin, so that the breeding chance of algae is reduced, the resistance generated by the motion of the main bin in the water is reduced, and the normal operation of the bionic water strider is ensured.

Data of water quality detection are transmitted to the Internet of things module, the Internet of things module is communicated with an Ali cloud IOT platform of a user through an MQTT protocol, the data are transmitted to an Ali cloud for processing, and a WeChat applet on a mobile phone receives the data through the MQTT protocol to perform remote data monitoring.

In the water quality detection process, the task of the detection system monitors the quality of the living environment of the fish in real time, and the bionic water strider section mainly provides the motion and transfer functions for the detection system.

The working process and principle of the device are explained by taking a culture base with a plurality of high-density culture boxes as an example.

The bionic water strider carrying the integrated water quality detection sensor is put into one of the culture tanks, and the bionic water strider carries the integrated water quality detection sensor to detect indexes such as dissolved oxygen, turbidity, pH value, turbidity, dissolved salt, ammonia nitrogen content, temperature and the like in the fish culture environment. Of course, the user can also go to a designated place by operating the bionic water strider to measure the water quality at any position. When the water quality of one of the cultivation boxes is detected, the bionic water strider can cross the obstacles between the cultivation boxes through the amphibious capability of the bionic water strider to reach the other cultivation box to be detected. After all the cultivation boxes are detected, the data can be sequentially uploaded according to a set detection sequence, and a user can adjust the fish cultivation environment of the cultivation boxes according to the data. The bionic water strider cruises around the cultivation box every day.

Claims (5)

1. A bionic water strider water quality testing machine, its characterized in that: comprises a bionic water strider and an integrated water quality detection sensor;

the bionic water strider comprises a main bin (1) and six limbs (2), wherein the main bin (1) is hollow and is provided with an electric control module;

the six limbs (2) comprise front limbs (2.1), rear limbs (2.2) and middle limbs (2.3), wherein the front limbs (2.1) and the rear limbs (2.2) respectively comprise two groups of first steering engines (5), the two groups of first steering engines (5) are installed on the main bin (1) through support assemblies, and output shafts of the two groups of first steering engines (5) are perpendicular to each other on corresponding projection surfaces; the two groups of first steering engines (5) drive the first leg parts (4) to swing or lift, and the first leg parts (4) are provided with buoys (3);

the middle limb (2.3) comprises a third steering engine (8) and a fourth steering engine (9), the third steering engine (8) and the fourth steering engine (9) are mounted on the main bin (1) through a support assembly, and output shafts of the third steering engine (8) and the fourth steering engine (9) are perpendicular to each other on corresponding projection surfaces; and the third steering engine (8) and the fourth steering engine (9) drive the second leg part (7) to swing or lift, and the end of the second leg part (7) is provided with a flexible paddle (6).

2. The water quality testing machine of a bionic water strider as claimed in claim 1, wherein: the main bin (1) is positioned at the eye part and is provided with a camera.

3. The water quality testing machine of a bionic water strider as claimed in claim 1, wherein: the forelimb (2.1) is provided with a forceps (2.4) with a flexible structure.

4. The water quality testing machine of a bionic water strider as claimed in claim 1, wherein: the first leg portion (4) and the second leg portion (7) are carbon fiber rods.

5. The water quality testing machine of a bionic water strider as claimed in claim 1, wherein: the main bin (1) is made of photosensitive resin, and the six limbs (2) are made of polymer resin materials.

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