WO2023226890A1 - 一种自动珊瑚种植装置及珊瑚种植方法 - Google Patents

一种自动珊瑚种植装置及珊瑚种植方法 Download PDF

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Publication number
WO2023226890A1
WO2023226890A1 PCT/CN2023/095260 CN2023095260W WO2023226890A1 WO 2023226890 A1 WO2023226890 A1 WO 2023226890A1 CN 2023095260 W CN2023095260 W CN 2023095260W WO 2023226890 A1 WO2023226890 A1 WO 2023226890A1
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Prior art keywords
coral
planting
vehicle body
automatic
seedlings
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PCT/CN2023/095260
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English (en)
French (fr)
Inventor
刘清杰
王舟
彭世能
卿四广
邓思柱
吴鸿涛
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四川航天职业技术学院(四川航天高级技工学校)
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Publication of WO2023226890A1 publication Critical patent/WO2023226890A1/zh

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    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K61/00—Culture of aquatic animals
    • 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

Definitions

  • the invention relates to the field of automatic coral planting, specifically an automatic coral planting device and a coral planting method.
  • Coral reefs provide a variety of important services to humans.
  • the number of corals in coastal reefs including Hainan, Guangdong, Guangxi and other places has decreased by 80%.
  • the number of corals around coral islands and reefs in the South China Sea has also dropped by more than 2/3 after 2000.
  • the framework of the coral reef ecosystem provides the richest marine biodiversity, providing a home for 30% of marine life in less than 0.2% of the ocean area.
  • the object of the present invention is to provide an automatic coral planting device and a coral planting method to solve the problems raised in the above background technology.
  • An automatic coral planting device includes a vehicle body, a control compartment for installing remote transmission and control components in the vehicle body, a driving component on the vehicle body, and a coral seedling on the vehicle body.
  • the inventory drive chain at the storage bin is equipped with a coral transfer hand in the transmission direction of the inventory drive chain.
  • the coral transfer hand transfers the coral seedlings to the planting buckle of the car body.
  • the planting buckle is equipped with a planting component that moves up and down.
  • One side of the planting buckle is also provided with a drilling component for drilling holes for planting corals, and the vehicle body is also provided with a rotation transmission structure for turning and transporting coral seedlings.
  • the driving assembly includes a set of crawlers on both sides of the vehicle body and several underwater propellers installed on the vehicle body.
  • the drilling component is a drill rod connected to the output end of the drilling motor and arranged vertically.
  • the rotation transmission structure includes a crank member, a slider member, an elastic buckle member, a driving rack and a driving gear.
  • the crank member is rotatably installed in the vehicle body, and one end of the crank member is connected to the slider.
  • the slider piece is slidably installed in the matching guide rail groove in the car body.
  • the other end of the crank piece is connected to the output end of the servo servo.
  • the servo servo is electrically installed in the car body.
  • One side of the slider is connected to an elastic buckle, and the elastic buckle follows the slider to perform reciprocating linear motion along the direction of its guide rail groove.
  • the elastic buckle is provided with a slidingly mounted driving rack on its movement track.
  • the car body is provided with a guide sleeve that matches the driving rack.
  • One end of the driving rack facing the elastic fastener is provided with a connector that fits the elastic fastener.
  • the car body is also equipped with a guide sleeve that matches the driving tooth. Intermeshing drive gears.
  • the slider member is also connected to an auxiliary slider.
  • the vehicle body is also provided with a camera assembly.
  • limiting devices are also provided on both sides of the slider member.
  • the limiting device includes an adjustment block, which is arranged at both ends of the movement track of the slider member, and the adjustment block is provided with an adjustment screw for fine-tuning the stroke of the slider member.
  • the adjusting screw is rotatably installed in the adjusting block.
  • the limiting device further includes a magnetic stopper, and the magnetic stopper includes an initial stopper and an end stopper.
  • Another purpose of this application is to propose a coral planting method using the above-mentioned automatic coral planting device, which includes the following steps:
  • the camera component on the vehicle body is connected to the planting environment near the vehicle body in real time, and the vehicle body is driven to the appropriate planting position;
  • the coral planting organization has innovatively designed the seabed transplantation of coral seedlings, replacing labor with automation, reducing labor costs, reducing the work intensity of ecological restorers, and improving planting efficiency.
  • the mechanism is made of aluminum alloy, which can prevent seawater corrosion, while reducing the weight of the entire fuselage. It also improves the convenience of manufacturing and processing of the entire machine and saves manufacturing costs.
  • the coral nails are fixed at 15cm on the seabed to ensure that the coral nails are not affected by typhoon waves.
  • the coral seedlings are fixed in the coral nails through rolling straps so that the coral seedlings are fixed on the seabed and close to the seabed to prevent the typhoon from affecting the coral seedlings. The impact is reduced to a minimum.
  • Figure 1 is a top view of the automatic coral planting device.
  • Figure 2 is a side view of the automatic coral planting device.
  • Figure 3 is a schematic structural diagram of the rotation transmission structure in the automatic coral planting device.
  • Figure 4 is a schematic diagram of the working status of the automatic coral planting device.
  • Figure 5 is a schematic structural diagram of the adjusting stop in the automatic coral planting device.
  • Figure 6 is a schematic structural diagram of the initial block in the automatic coral planting device.
  • Figure 7 is a schematic structural diagram of the end stop in the automatic coral planting device.
  • Figure 8 is a schematic cross-sectional view of A-A in Figure 7.
  • an automatic coral planting device includes a vehicle body.
  • the vehicle body has a control compartment 6 for installing remote transmission and control components.
  • the vehicle body is provided with
  • a drive assembly which includes a set of crawlers 1 on both sides of the vehicle body and a number of underwater propellers 7 installed on the vehicle body.
  • the crawler tracks 1 and underwater propellers 7 provide the vehicle body with the necessary equipment for underwater work.
  • the vehicle body is provided with an inventory drive chain 3 located at the coral seedling storage bin.
  • a coral intermediate transfer hand 4 is provided in the transmission direction of the inventory drive chain 3.
  • the coral intermediate transfer hand 4 transfers the coral seedlings to the vehicle body.
  • the planting buckle 5 is provided with a planting component that moves up and down.
  • One side of the planting buckle 5 is also provided with a drilling component for drilling holes for planting corals.
  • the drilling component is connected to the drill.
  • the output end of the hole motor 8 is a drill rod arranged vertically, and the vehicle body is also provided with a rotation transmission structure for steering and transporting coral seedlings.
  • the rotation transmission structure includes a crank member 9, a slider member 11, an elastic buckle 12, a drive rack 13 and a drive gear 14.
  • the crank member 9 is rotatably installed in the vehicle body, and one end of the crank member 9 is connected to the slider member. 11.
  • the slider member 11 is slidably installed in the matching guide rail groove in the vehicle body.
  • the other end of the crank member 9 is connected to the output end of the servo servo 15.
  • the servo servo 15 is electrically installed on the vehicle. In the body, the servo servo 15 drives the crank slider mechanism composed of the crank part 9 and the slider part 11 to move after being powered on.
  • One side of the slider part 11 is connected to an elastic buckle 12.
  • the elastic buckle 12 The sliding block member 11 performs reciprocating linear motion along the direction of its guide rail groove.
  • the elastic buckle member 12 is provided with a slidingly installed driving rack 13 on its movement path.
  • the vehicle body is provided with a driving rack 13 that matches the driving rack 13.
  • Guide sleeve, one end of the driving rack 13 facing the elastic buckle 12 is provided with a connector that fits the elastic buckle 12, and a driving gear 14 meshing with the driving rack 13 is also installed in the vehicle body;
  • the servo servo 15 is used as the power source, and the crank slider structure is used to convert the rotational motion of the servo servo into linear motion. Combined with the elastic buckle 12, the driving rack 13 and the driving gear 14, the rotational motion is then converted into linear motion. While moving, the linear motion is converted into the rotation of the relay mechanism.
  • the buckle-type structure of the elastic buckle 12 and the drive rack 13 is used to realize the combination and separation with the movement of the slider 11, and then the gear rack is used to convert the linear motion of the drive rack 13 into the rotation of the drive gear 14. , completed the transfer of coral nails for growing corals.
  • the planting spring buckle 5 and the drilling motor 8 are all placed in the slider 11, which greatly reduces the complexity of the overall structure. The use of mechanical linkage greatly improves the stability of the mechanism and is more conducive to automation. implementation.
  • the planting part is concentrated on the slider member 11, and the position of the nails and holes can be accurately and repeatedly positioned by cooperating with the limiting devices on both sides of the slider member 11.
  • the horizontal movement of the entire planting component is completed with one power source, which greatly reduces the difficulty of operation. Only one signal is needed to complete the entire movement and transfer movement of coral seedlings. This also has a greater impact on the layout of automated control. Development is also conducive to centralized control.
  • the slider member 11 is also connected to an auxiliary slider 10 to maintain the stability of its movement; the vehicle body is also provided with a camera assembly 2 to facilitate remote acquisition of information about the vehicle body in the water.
  • the vehicle body of the entire device and other components are made of aluminum alloy, which can prevent seawater corrosion, while reducing the weight of the entire fuselage. It also improves the convenience of manufacturing and processing of the entire machine and saves manufacturing costs.
  • Limiting devices are also provided on both sides of the slider member 11 to concentrate the planting part on the slider member 11. With the limiter devices on both sides of the slider member 11, accurate and repeated positioning of nails and nails can be achieved. The location of the hole. The horizontal movement of the entire planting component is completed with one power source, which greatly reduces the difficulty of operation. Only one signal is needed to complete the entire movement and transfer movement of coral seedlings. This also has a greater impact on the layout of automated control. Development is also conducive to centralized control.
  • the false position of the servo servo 15 relative to the position of the slider 11 causes a certain error in the position of the planting spring buckle 5 and the drill bit.
  • the servo servo limit is the main influencing factor, plus the false position of the gear rack clearance. , axial movement caused by bearing clearance, and assembly accuracy errors during installation. Many influencing factors make it difficult for planting structures such as the slider 11 and the transfer mechanism to accurately reach the designated position. In the end, the coral nails may not be accurately planted. hole.
  • limit devices are added to the working positions on both sides of the slide rail to compensate for all influencing factors, ensure that the working slider and the planting components relying on the slider reach the designated position, and reduce the error range It will not affect work.
  • the working position of the slider 11 has a left working point A, a middle position point B, and a right working point C.
  • the entire moving steps are as follows:
  • the elastic buckle 12 connected to the slider 11 pushes the driving rack 13, causing the driving rack 13 to move horizontally and drive the driving gear 14 to rotate, thereby driving the relay mechanism to rotate 180° counterclockwise.
  • the relay mechanism is Rotate the initial position to the end position, limit the position of the transfer mechanism through the left end movable stop, and snap the elastic buckle 12 into the drive rack 13;
  • the elastic buckle 12 connected to the slider 11 pulls the drive rack 13, causing the drive rack 13 to move horizontally and drive the drive gear 14 to rotate, thereby driving the relay mechanism to rotate 180 degrees clockwise.
  • the transfer mechanism rotates from the end position to the initial position, and is limited by the initial movable stop on the left side to the position of the transfer mechanism, and the elastic buckle 12 is disengaged from the drive rack 13;
  • the slider member 11 continues to move to the right limiter, and compensates for the empty position of the servo servo 15 through the right limiter;
  • Step 4 C ⁇ B, return to the neutral position, and continue to repeat.
  • the limiting device includes adjustment blocks 16, which are arranged at both ends of the movement track of the slider member 11.
  • the adjustment blocks 16 are provided with adjustment screws 17 for fine-tuning the stroke of the slider member 11, so The adjusting screw 17 is rotatably installed in the adjusting stop 16 .
  • the adjusting stop 16 on the right side of the slide member 11 adopts a telescopic structure.
  • the telescopic amount of the sliding stop can be adjusted according to the adjusting screw 17, making it more controllable when adjusting the working point position.
  • the adjusting screw 17 is extended and retracted to the left, that is, the slider 11 is limited to the leftmost side of the virtual position range.
  • the limiting device also includes a magnetic stopper, and the magnetic stopper includes an initial stopper 18 and an end stopper 19 .
  • the initial position stopper on the left side of the slider member 11 is positioned according to the rear chain transport of coral seedlings.
  • the initial position block blocks the tendency of the relay mechanism to continue to rotate clockwise, that is, the clockwise trend of the drive gear 14, which ultimately causes the rightward movement of the drive rack 13 to be terminated, limiting the initial position of the transfer mechanism and at the same time limiting the drive rack. 13 is in the rightmost position, so that the driving rack 13 can no longer be pulled to the right by the slider member 11.
  • the magnetic head can be quickly replaced to achieve the required magnetic force under different pressures;
  • the slider member 11 continues to move to the right toward point B, and the position of the drive rack 13 is limited by the initial stop on the left side.
  • the buckle in the slider member 11 is tripped from the drive rack 13 due to tension, causing the drive rack 13 to The connection with the slider member 11 is disconnected.
  • the driving rack 13 is suddenly disconnected from the slide member 11, and the squeezing force of the buckle acts on the driving rack 13.
  • the driving rack 13 is rebounded, forcing the driving rack 13 to move a certain distance to the right, causing the driving rack 13 to move to the right.
  • the transfer mechanism rebounds counterclockwise at a certain angle. In addition, after the transfer mechanism is separated from the slider member 11, its degree of freedom is not restricted.
  • the left end position stopper of the slider member 11 is positioned according to the front coral picking position and the drilling position, and adopts a guided slot structure to fix the transfer mechanism in the slot.
  • the slider 11 is now at point A, and the transfer mechanism is in the end position.
  • the transfer mechanism transports the coral to the planting spring buckle.
  • the transfer device and the slider 11 are added to the drive rack through the left terminal limiter. 13—The linkage of the transfer device fixes the transfer device in the limit groove of the limit device.
  • the end limit device can compensate for the virtual position of the servo servo, and its function is consistent with the right limit device;
  • this embodiment proposes a coral planting method using an automatic coral planting device, which includes the following steps:

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Marine Sciences & Fisheries (AREA)
  • Zoology (AREA)
  • Animal Husbandry (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Guiding Agricultural Machines (AREA)
  • Transplanting Machines (AREA)

Abstract

一种自动珊瑚种植装置及珊瑚种植方法，自动珊瑚种植装置装置包括车体，车体中设有用于安装远程传输及控制组件的控制仓（6），车体上设有驱动组件，车体上设有位于珊瑚苗储存仓处的库存驱动链条（3），库存驱动链条（3）的传输方向上设有珊瑚中转手（4），珊瑚中转手（4）将珊瑚苗传递至车体的栽种卡扣（5）处，栽种卡扣（5）处设有上下活动的栽种组件，栽种卡扣（5）的一侧还设有用于为栽种珊瑚打孔的钻孔组件，车体中还设有用于转向且传输珊瑚幼苗的转动传输结构。本自动珊瑚种植机构减少了人力成本、减轻了工作强度、提高了栽种效率。

Description

一种自动珊瑚种植装置及珊瑚种植方法 技术领域
本发明涉及珊瑚自动种植领域，具体是一种自动珊瑚种植装置及珊瑚种植方法。
 背景技术
珊瑚礁为人类提供了多种重要的服务功能。然而由于海水升温、海洋酸化、海平面上升、过度捕捞、环境污染和栖息地破坏等问题，珊瑚礁正在承受着巨大压力,全球珊瑚礁超过二分之一的珊瑚礁已经严重退化。在近三十年内，包括海南、广东、广西等地的近岸珊瑚礁的珊瑚数量减少了80%，南海的珊瑚岛礁周边的珊瑚数量也在2000年后锐减了2/3以上，全球有5亿人直接依赖于珊瑚礁生态系统生活，珊瑚礁生态系统的框架提供最丰富的海洋生物多样性，以不足海洋0.2%的面积提供30%的海洋生物家园。
在珊瑚礁自然恢复力不足情况下，通过增加其幼体数量、有效培育成体以及提高其底播移植存活率等方法人为增加造礁石珊瑚数量，在实施时成本较高﹑易受沉积物和珊瑚敌害生物影响﹑需要船只和机械协助﹑最大的限制是要求有平坦海底用于投放礁体；基于此需要一款自动化珊瑚种植机构来改善目前的现状。
 发明内容
本发明的目的在于提供一种自动珊瑚种植装置及珊瑚种植方法，以解决上述背景技术中提出的问题。
为实现上述目的，本发明提供如下技术方案：
一种自动珊瑚种植装置，包括车体，所述车体中用于用于安装远程传输及控制组件的控制仓，所述车体上设有驱动组件，所述车体上设有位于珊瑚苗储存仓处的库存驱动链条，库存驱动链条的传输方向上设有珊瑚中转手，珊瑚中转手将珊瑚苗传递至车体的栽种卡扣处，栽种卡扣处设有上下活动的栽种组件，所述栽种卡扣的一侧还设有用于为栽种珊瑚打孔的钻孔组件，所述车体中还设有用于转向且传输珊瑚幼苗的转动传输结构。
作为本发明进一步的方案：所述驱动组件包括车体两侧的一组履带和安装在车体上的若干水中推进器。
作为本发明再进一步的方案：所述钻孔组件为连接在钻孔电机输出端且竖直设置的钻杆。
作为本发明再进一步的方案：所述转动传输结构包括曲柄件、滑块件、弹性卡扣件、驱动齿条和驱动齿轮，所述曲柄件转动安装在车体内，曲柄件的一端连接滑块件，滑块件滑动的安装在车体中与其相匹配的导轨槽中，所述曲柄件的另一端连接伺服舵机的输出端，所述伺服舵机电性的安装在车体中，所述滑块件的一侧连接弹性卡扣件，弹性卡扣件跟随滑块件沿着其导轨槽方向进行往复直线运动，所述弹性卡扣件的运动轨迹上设有滑动安装的驱动齿条，车体中设有与驱动齿条相匹配的导向套筒，驱动齿条朝向弹性卡扣件的一端设有与弹性卡扣件相契合的连接头，所述车体中还安装有与驱动齿条相啮合的驱动齿轮。
作为本发明再进一步的方案：所述滑块件还连接辅助滑块。
作为本发明再进一步的方案：所述车体上还设有摄像组件。
作为本发明再进一步的方案：所述滑块件的两侧还设有限位装置。
作为本发明再进一步的方案：所述限位装置包括调节挡块，所述调节挡块设置在滑块件运动轨迹的两端，调节挡块设有用于对滑块件行程进行微调的调节螺钉，所述调节螺钉转动贯穿安装在调节挡块中。
作为本发明再进一步的方案：所述限位装置还包括磁挡块机，所述磁性挡块包括初段挡块和末端挡块。
本申请的另一个目的在于，提出一种应用上述自动珊瑚种植装置的珊瑚种植方法，包括以下步骤：
将珊瑚幼苗通过轧带固定珊瑚钉中，珊瑚钉及珊瑚幼苗存放置于车体的存置腔中；
将车体置于待种植的水体中，控制履带和水中推进器实现车体的驱动位移；
通过车体上的摄像组件实时连接车体附近种植环境，将车体驱动至合适的种植位置；
启动车体中的伺服舵机，进行连续的珊瑚苗打孔、输送和栽种，将珊瑚钉固定在海底15cm处，保证珊瑚钉不受台风海浪影响；
采用十字形方式，在短端固定珊瑚幼苗时，使用十字型防止珊瑚钉彻底固定后，珊瑚幼苗跟着短端旋转，完成珊瑚苗的自动种植。
与现有技术相比，本发明的有益效果是：
1、珊瑚种植机构对珊瑚幼苗海底移栽进行了创新性设计，通过自动化代替人工，减少了人力成本、减轻了生态修复者的工作强度、提高了栽种效率。
2、机构采用铝合金制作加工，可以防止海水腐蚀，同时减轻整个机身减轻重量，也为整个机器的制作加工提高便利，为制造节约了成本。
3、通过实验将珊瑚钉固定在海底15cm处，保证珊瑚钉不受台风海浪影响，将珊瑚幼苗通过轧带固定珊瑚钉中，使珊瑚幼苗固定在海底的同时，靠近海底，将台风对珊瑚幼苗的影响降低到最低。
4、采用十字形方式，在短端固定珊瑚幼苗时，使用十字形防止珊瑚钉彻底固定后，珊瑚幼苗跟着短端旋转。
 附图说明
图1为自动珊瑚种植装置的俯视图。
图2为自动珊瑚种植装置的侧视图。
图3为自动珊瑚种植装置中转动传输结构的结构示意图。
图4为自动珊瑚种植装置的工作状态示意图。
图5为自动珊瑚种植装置中调节挡块的结构示意图。
图6为自动珊瑚种植装置中初段挡块的结构示意图。
图7为自动珊瑚种植装置中末端挡块的结构示意图。
图8为图7中A-A截面示意图。
其中：1、履带；2、摄像组件；3、库存驱动链条；4、珊瑚中转手；5、栽种卡扣；6、控制仓；7、水中推进器；8、钻孔电机；9、曲柄件；10、辅助滑块；11、滑块件；12、弹性卡扣件；13、驱动齿条；14、驱动齿轮；15、伺服舵机；16、调节挡块；17、调节螺钉；18、初段挡块；19、末端挡块。
 具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
实施例1：
请参阅图1～5，本发明实施例中，一种自动珊瑚种植装置，包括车体，所述车体中用于用于安装远程传输及控制组件的控制仓6，所述车体上设有驱动组件，所述驱动组件包括车体两侧的一组履带1和安装在车体上的若干水中推进器7，通过履带1和水中推进器7为该车体装置提供水下工作所必须的推进力，所述车体上设有位于珊瑚苗储存仓处的库存驱动链条3，库存驱动链条3的传输方向上设有珊瑚中转手4，珊瑚中转手4将珊瑚苗传递至车体的栽种卡扣处，栽种卡扣5处设有上下活动的栽种组件，所述栽种卡扣5的一侧还设有用于为栽种珊瑚打孔的钻孔组件，所述钻孔组件为连接在钻孔电机8输出端且竖直设置的钻杆，所述车体中还设有用于转向且传输珊瑚幼苗的转动传输结构。
所述转动传输结构包括曲柄件9、滑块件11、弹性卡扣件12、驱动齿条13和驱动齿轮14，所述曲柄件9转动安装在车体内，曲柄件9的一端连接滑块件11，滑块件11滑动的安装在车体中与其相匹配的导轨槽中，所述曲柄件9的另一端连接伺服舵机15的输出端，所述伺服舵机15电性的安装在车体中，伺服舵机15在接电启动后带动曲柄件9和滑块件11构成的曲柄滑块机构运动，所述滑块件11的一侧连接弹性卡扣件12，弹性卡扣件12跟随滑块件11沿着其导轨槽方向进行往复直线运动，所述弹性卡扣件12的运动轨迹上设有滑动安装的驱动齿条13，车体中设有与驱动齿条13相匹配的导向套筒，驱动齿条13朝向弹性卡扣件12的一端设有与弹性卡扣件12相契合的连接头，所述车体中还安装有与驱动齿条13相啮合的驱动齿轮14；
采用伺服舵机15为动力源，以曲柄滑块的结构将伺服舵机的旋转运动转化为直线运动，结合弹性卡扣件12、驱动齿条13和驱动齿轮14，再把旋转运动转为直线移动的同时，又将直线运动转换为中转机构的旋转。利用弹性卡扣件12、驱动齿条13的卡扣式结构实现与滑块件11运动的结合和分离，再利用齿轮齿条的方式将驱动齿条13的直线运动转为驱动齿轮14的旋转，完成了用于种植珊瑚的珊瑚钉的中转。将栽种弹簧卡扣5以及钻孔电机8全部放置在滑块件11中，大幅度降低了整体结构的复杂程度，采用机械联动的方式对机构的稳定性有着大幅度的提高，也更利于自动化实施。
将种植部分集中在滑块件11上，配合滑块件11两侧的限位装置可以实现精确重复定位钉子与孔位的位置。以一个动力源的方式完成了整个种植部件水平移动，大大减低了操作的难度，并且只需要一个信号就可以完成整个的移动与珊瑚幼苗中转运动，这也对自动化控制的布局也有较大程度的开展，也利于集中控制。
此外，所述滑块件11还连接辅助滑块10，用以保持其运动的稳定；所述车体上还设有摄像组件2，便于远程获取车体在水中的信息，整个装置的车体及其他构件采用铝合金制作加工，可以防止海水腐蚀，同时减轻整个机身减轻重量，也为整个机器的制作加工提高便利，为制造节约了成本。
实施例2：
请参阅图1～5，所述滑块件11的两侧还设有限位装置，将种植部分集中在滑块件11上，配合滑块件11两侧的限位装置实现精确重复定位钉子与孔位的位置。以一个动力源的方式完成了整个种植部件水平移动，大大减低了操作的难度，并且只需要一个信号就可以完成整个的移动与珊瑚幼苗中转运动，这也对自动化控制的布局也有较大程度的开展，也利于集中控制。
在移动过程中，伺服舵机15虚位对滑块件11的位置导致栽种弹簧卡扣5与钻头的位置存在一定误差，以伺服舵机限位为主要影响因素，外加齿轮齿条间隙虚位、轴承的游隙导致的轴向移动及安装时产生的装配精度误差等诸多影响因素，导致了滑块件11及中转机构等种植结构难以精确达到指定位置，最终可能使得珊瑚钉无法准确栽种到孔中。为了补偿伺服舵机虚位和误差，在滑轨两侧的工作位置分别添加了限位装置，补偿所有影响因素，保证工作滑块及依托于滑块的种植部件到达指定位置，缩小其误差范围至不影响工作。
如图4所示，滑块件11工作位置一共有左侧工作点A，中间位置点B，及右侧工作点C，整移动步骤如下：
第一步B→A，滑块件11连接的弹性卡扣件12推动驱动齿条13，使驱动齿条13水平移动带动驱动齿轮14旋转，从而带动中转机构逆时针旋转180°，中转机构由初始位置旋转至末端位置，通过左侧末端活动挡块将中转机构位置限制，并且将弹性卡扣件12卡入驱动齿条13；
第二步A→B，滑块件11连接的弹性卡扣件12拉动驱动齿条13，使驱动齿条13水平移动带动驱动齿轮14旋转，从而带动中转机构顺时针旋转180度。中转机构由末端位置旋转至初始位置，并通过左侧初始活动挡块到中转机构位置限制，并且将弹性卡扣件12脱开驱动齿条13；
第三步B→C，滑块件11继续移动至右侧限位装置，并通过右侧限位装置弥补伺服舵机15虚位；
第四步C→B，回到中位，继续重复执行。
所述限位装置包括调节挡块16，所述调节挡块16设置在滑块件11运动轨迹的两端，调节挡块16设有用于对滑块件11行程进行微调的调节螺钉17，所述调节螺钉17转动贯穿安装在调节挡块16中。
滑块件11右侧调节挡块16，采用伸缩式结构，可根据调节螺钉17对滑动挡块的伸缩量进行调整，使在工作点位置调整时更加可控制化。C点到位后，因为伺服舵机15虚位等影响，导致滑块件11的位置存在左右晃动，将调节螺母伸缩至左侧，即将滑块件11限制在虚位范围的最左侧。调节挡块16位置固定，即可将滑块件11固定在滑块件11虚位的最左侧，完成对都伺服舵机15虚位与诸多误差因素导致的滑块件11位移量的补偿；
实施例3：
所述限位装置还包括磁挡块机，所述磁性挡块包括初段挡块18和末端挡块19。
如图6所示，滑块件11左侧初始位置挡块，根据后方链条运输珊瑚幼苗而定位置。初始位置挡块，挡住了中转机构继续顺时针旋转的趋势，即驱动齿轮14顺时针趋势，最终导致驱动齿条13向右移动被终止，限制了中转机构初始位置的同时，限制了驱动齿条13最右侧位置，使驱动齿条13不能再被滑块件11拉向右侧。采用磁性设计快熟更换磁头以达到不同压力下所需的磁力大小；
滑块件11往右继续向B点运动，而驱动齿条13位置被左侧初始挡块限制，滑块件11中的卡扣受拉力而与驱动齿条13脱扣，使驱动齿条13与滑块件11连接断开。而驱动齿条13与滑块件11突然断开，卡扣的挤压力作用在驱动齿条13中，驱动齿条13受到回弹，迫使驱动齿条13产生一定距离的向右移动，促使中转机构发生一定角度的逆时针反弹，外加中转机构脱离滑块件11后，自身自由度不受限制，在海水中容易受到水浪影响，中转机构很容易不固定在初端限位机构位置。因此初始位置的挡块中增加了磁吸结构，在挡住中转机构继续向右侧旋转的同时，还在向左旋转增加拉紧力，使中转机构在左旋转的趋势中，需要更大的力矩，而反弹力及海浪影响等因素产生的力矩，不至于使中转机构挣脱磁力影响，同时为后方链条珊瑚运输时，链条卡扣转换至中转卡口后，链条卡扣脱扣时的瞬间冲击力有着抵消的作用；
始端挡块的作用：
（1）限制中转机构旋转前端位置使到达正确位置运输珊瑚幼苗到指定位置。
（2）限制驱动齿条13最右侧位置使中转机构与滑块件11连接断开。
（3）磁铁限制中转机构到达初始位置后，受滑块件11卡扣与链条卡扣脱扣使的瞬时反弹力会导致左侧位移及在不受自由度约束下海水等环境因素的导致偏转。
如图7、图8所示，滑块件11左侧末端位置挡块，根据前方珊瑚取料位置及钻孔位置配合而定位置，采用导向式开槽结构，将中转机构固定在槽中。滑块件11此时位于A点位置，中转机构处于末端位置，中转机构将珊瑚运输至栽种弹簧卡扣处，通过左侧终端限位装置将中转装置，加上滑块件11—驱动齿条13—中转装置的联动将中转装置固定在限位装置的限位槽中。同时末端限位装置可以补偿伺服舵机虚位的作用，作用与右侧限位装置一致；
末端挡块的作用：
（1）限制中转机构旋转的最左端位置使中转机构准确的将珊瑚幼苗运输到取料点，简化了机械限位的复杂程度，也较大幅度提升可操控性与自动化程度，使得整个机构更为简洁。
（2）限制了滑块件11的晃动量，补偿滑块件11虚位，将滑块件11向虚位的最右侧补偿使得珊瑚钉与钻孔位置配合精确。
（3）采用槽式结构，支撑挡块的同时也支撑了中转机构在最左侧的悬臂，使得机构的整个强度。
实施例4：
本实施例在实施例1-实施例3的基础上，提出一种应用自动珊瑚种植装置的珊瑚种植方法，其包括以下步骤：
、将珊瑚幼苗通过轧带固定珊瑚钉中，珊瑚钉及珊瑚幼苗存放置于车体的存置腔中；
、将车体置于待种植的水体中，控制履带1和水中推进器7实现车体的驱动位移；
、通过车体上的摄像组件2实时连接车体附近种植环境，将车体驱动至合适的种植位置；
、启动车体中的伺服舵机15，进行连续的珊瑚苗打孔、输送和栽种，将珊瑚钉固定在海底15cm处，保证珊瑚钉不受台风海浪影响；
、采用十字形方式，在短端固定珊瑚幼苗时，使用十字型防止珊瑚钉彻底固定后，珊瑚幼苗跟着短端旋转，完成珊瑚苗的自动种植。
在本发明的描述中，需要理解的是，术语“中心”、“纵向”、“横向”、“顶”、“底”、“内”、“外”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。此外，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，在本发明的描述中，除非另有说明，“多个”的含义是两个或两个以上。限定有“第一”、“第二”等的特征可以明示或者隐含地包括一个或者更多个该特征。
对于本领域技术人员而言，显然本发明不限于上述示范性实施例的细节，而且在不背离本发明的精神或基本特征的情况下，能够以其他的具体形式实现本发明。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本发明的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本发明内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。 
此外，应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。

Claims (10)

  1. 一种自动珊瑚种植装置，包括车体，其特征在于，所述车体中用于用于安装远程传输及控制组件的控制仓（6），所述车体上设有驱动组件，所述车体上设有位于珊瑚苗储存仓处的库存驱动链条（3），库存驱动链条（3）的传输方向上设有珊瑚中转手（4），珊瑚中转手（4）将珊瑚苗传递至车体的栽种卡扣处，栽种卡扣（5）处设有上下活动的栽种组件，所述栽种卡扣（5）的一侧还设有用于为栽种珊瑚打孔的钻孔组件，所述车体中还设有用于转向且传输珊瑚幼苗的转动传输结构。
  2. 根据权利要求1所述的自动珊瑚种植装置，其特征在于，所述驱动组件包括车体两侧的一组履带（1）和安装在车体上的若干水中推进器（7）。
  3. 根据权利要求1所述的自动珊瑚种植装置，其特征在于，所述钻孔组件为连接在钻孔电机（8）输出端且竖直设置的钻杆。
  4. 根据权利要求1所述的自动珊瑚种植装置，其特征在于，所述转动传输结构包括曲柄件（9）、滑块件（11）、弹性卡扣件（12）、驱动齿条（13）和驱动齿轮（14），所述曲柄件（9）转动安装在车体内，曲柄件（9）的一端连接滑块件（11），滑块件（11）滑动的安装在车体中与其相匹配的导轨槽中，所述曲柄件（9）的另一端连接伺服舵机（15）的输出端，所述伺服舵机（15）电性的安装在车体中，所述滑块件（11）的一侧连接弹性卡扣件（12），弹性卡扣件（12）跟随滑块件（11）沿着其导轨槽方向进行往复直线运动，所述弹性卡扣件（12）的运动轨迹上设有滑动安装的驱动齿条（13），车体中设有与驱动齿条（13）相匹配的导向套筒，驱动齿条（13）朝向弹性卡扣件（12）的一端设有与弹性卡扣件（12）相契合的连接头，所述车体中还安装有与驱动齿条（13）相啮合的驱动齿轮（14）。
  5. 根据权利要求1所述的自动珊瑚种植装置，其特征在于，所述滑块件（11）还连接辅助滑块（10）。
  6. 根据权利要求1所述的自动珊瑚种植装置，其特征在于，所述车体上还设有摄像组件（2）。
  7. 根据权利要求1所述的自动珊瑚种植装置，其特征在于，所述滑块件（11）的两侧还设有限位装置。
  8. 根据权利要求7所述的自动珊瑚种植装置，其特征在于，所述限位装置包括调节挡块（16），所述调节挡块（16）设置在滑块件（11）运动轨迹的两端，调节挡块（16）设有用于对滑块件（11）行程进行微调的调节螺钉（17），所述调节螺钉（17）转动贯穿安装在调节挡块（16）中。
  9. 根据权利要求7所述的自动珊瑚种植装置，其特征在于，所述限位装置还包括磁挡块机，所述磁性挡块包括初段挡块（18）和末端挡块（19）。
  10. 一种包括权利要求1-9任一所述的自动珊瑚种植装置的珊瑚种植方法，其特征在于，包括以下步骤：
          1）、将珊瑚幼苗通过轧带固定珊瑚钉中，珊瑚钉及珊瑚幼苗存放置于车体的存置腔中；
          2）、将车体置于待种植的水体中，控制履带（1）和水中推进器（7）实现车体的驱动位移；
          3）、通过车体上的摄像组件（2）实时连接车体附近种植环境，将车体驱动至合适的种植位置；
          4）、启动车体中的伺服舵机（15），进行连续的珊瑚苗打孔、输送和栽种，将珊瑚钉固定在海底15cm处，保证珊瑚钉不受台风海浪影响；
          5）、采用十字形方式，在短端固定珊瑚幼苗时，使用十字型防止珊瑚钉彻底固定后，珊瑚幼苗跟着短端旋转，完成珊瑚苗的自动种植。
PCT/CN2023/095260 2022-05-21 2023-05-19 一种自动珊瑚种植装置及珊瑚种植方法 WO2023226890A1 (zh)

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