CN109566549A - A kind of underwater autonomous quick finishing device - Google Patents
A kind of underwater autonomous quick finishing device Download PDFInfo
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- CN109566549A CN109566549A CN201910078073.5A CN201910078073A CN109566549A CN 109566549 A CN109566549 A CN 109566549A CN 201910078073 A CN201910078073 A CN 201910078073A CN 109566549 A CN109566549 A CN 109566549A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 8
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- 230000000007 visual effect Effects 0.000 claims description 18
- 230000005540 biological transmission Effects 0.000 claims description 11
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 8
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Classifications
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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
- A01K80/00—Harvesting oysters, mussels, sponges or the like
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- Biodiversity & Conservation Biology (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to underwater autonomous finishing device technical fields, provide a kind of specific precious marine product biology progress autonomous classification, positioning and quick device caught that cultivation can be disseminated in nearly neritic zone the bottom, the device is using general assembly bracket as basic structure body, carry vision system module, electronic compartment module, train module and fishing actuator module, the underwater operation function that autonomous classification positioning and quick fishing can be realized under nearly shallow sea area environment, can be improved the intelligent level caught under water and catching rate.Meanwhile the embodiment of the present invention is mountable to carry out underwater robot fishing in underwater operation robot, so as to reduce human cost, reduce labour production accident, meanwhile, promote the accuracy rate and efficiency of fishing.
Description
Technical field
The invention belongs to underwater autonomous finishing device technical field, specially one kind can be disseminated the bottom in nearly neritic zone
The specific precious marine product biology of cultivation carries out the device of autonomous classification, positioning and quick fishing.
Background technique
Exploitation ocean is the key subjects that the mankind face in 21st century, and exploring, investigate and efficiently use ocean is
Challenge is proposed to China's Development of Marine high-tech and the following marine industries, the mankind are faced with population, resource and environment now
Three Difficult Issues.For the mankind for survival and development, ocean development is imperative.
Nearly neritic zone is a kind of important marine resources.There are fishery resources abundant in China in nearly neritic zone, is the people
Life numerous required products are provided.Carrying out marine resources development in nearly neritic zone is the great class for being related to the national people's livelihood
Topic, needs advanced technical support and fast development.With the fast development that China's aquafarm is built, nearly neritic zone is caught under water
Fishing, the especially fishing of precious marine product, such as sea cucumber, sea urchin, conch, scallop, abalone, have a wide range of applications demand.
The fishing of nearly neritic zone precious marine product method mature at present there are mainly two types of mode:
(1) the artificial fishing style of diver's dive is used.This mode major advantage is intelligent level height, the disadvantage is that
Depth critical constraints, human cost and the underwater operation risk height of fishing.
(2) fishing style of professional tool is used.This mode major advantage is that catching rate is high, at low cost, the disadvantage is that
Serious destruction, industry unsustainable development will cause to underwater ecological environment.
Therefore, the underwater finishing device of state key Development of Novel and biology fishing robot replace the mankind in recent years,
High-risk, high-intensitive marine organisms fishing are completed, human cost will be reduced, labour production accident is reduced and play protecting ecology ring
The effect in border.
But the underwater finishing device that develops at present is weak in the prevalence of capacity of will, catching rate is low, poor universality
Problem.
From the point of view of invention disclosed patent, the kind of drive of finishing device mainly has Smoking regime and space open chain machine at present
Tool arm mode.Suction fishing style mainly copies dust catcher principle to draw object, and will by the extraction tube equipped with strainer
The separation such as silt.Which have the characteristics that structure it is simple, it is reliable, be widely used.But there is also be easy to cause fishing biology damage
Wound need to increase additional air pump and cause to catch the disadvantages of depth is limited, the degree of automation is low, power consumption is big.Especially fatal is suction
Mode catches marine growth, simultaneously extracts seabed silt, marine growth, coral etc. together during fishing, causes to marine environment
It destroys.As country is higher and higher to environmental requirement, which will gradually be eliminated.Space open chain mechanical arm mode is mainly adopted
With mechanical arm configuration form of connecting, have many advantages, such as that working range is big, flexibility is good.But this structure type also has rigidity
Difference, the obvious disadvantage such as positioning accuracy is low, bearing capacity is weak.More crucially the movable joint of series connection mechanical arm is more, fortune
Flowing mode is mostly to swing etc., and the sealing of driving motor is difficult, poor reliability, and influences the working depth of robot.Furthermore
The disadvantage that duty ratio of being self-possessed is big and dynamic response is slow, it is difficult to realize underwater quick fishing.
From the point of view of invention disclosed patent, fishing machinery gripper mainly using clamping and encircles mode at present.Both sides
Formula refers to using two or three fingers rotate and the movement realization folded realizes fishing to the clamping of fisher or the mode of encircling.At present due to
Force snesor, especially patch type sensor technology is immature, prevents the chucking power of fishing machinery gripper from soft according to fisher
Soft degree and surface roughness carry out accurate closed-loop control, grab hand open away from cannot according to the size and shape of fisher from
It is dynamic to adjust, it is be easy to cause the damage of fisher, or cannot successfully catch, causes catching rate low.
In view of the deficiencies of the prior art, the present invention proposes a kind of underwater autonomous quick finishing devices.Wherein, transmission system
Proposed adoption parallel mechanical arm form, it has, and rigidity is big, precision is high, bearing capacity is strong, self weight duty ratio is small, dynamic response is fast,
The advantages that underwater sealing is relatively easy reliable can solve quick Fishing technology barrier in big depth bounds；Fishing machinery gripper
The spherical seizing cage of proposed adoption three-chip type, it has the advantages that folding speed is fast, consistency is good, simple and reliable for structure, can solve
To the technical barrier of the lossless fishing of different scale marine product.On this basis, the present invention uses binocular vision system module and electricity
Sub- cabin module, it has the function of that target identification and positioning and autonomous control are caught, can solve the technology of autonomous fishing operation
Barrier.
Summary of the invention
(1) technical problem
To solve aquatic organism finishing device the deficiencies in the prior art, the embodiment of the present invention proposes one kind can be close
The specific precious marine product biology that neritic zone disseminates cultivation to the bottom carries out the device of autonomous classification, positioning and quick fishing, to meet
Aquafarm carries out the demand that intelligent and Agility is caught under water using underwater robot.
(2) technical solution
According to an aspect of the present invention, the embodiment provides a kind of specific seas that can disseminate the bottom cultivation
Treasure biology carries out the device of autonomous classification, positioning and quick fishing, to improve the intelligent level caught under water and fishing effect
Rate.Meanwhile the embodiment of the present invention is mountable to carry out underwater robot fishing in underwater operation robot, so as to reduce
Human cost reduces labour production accident, meanwhile, promote the accuracy rate and efficiency of fishing.
The technical solution of the embodiment of the present invention is with general assembly bracket 1 for basic structure body, carries vision system module 2, electricity
Sub- cabin module 3, train module 4 and fishing actuator module 5, realize autonomous classification positioning under nearly neritic zone environment
And the underwater operation function of quick fishing.Wherein, vision system module 2 is obtained for the visual information of underwater fished species and environment
It takes；Electronic compartment module 3 provides power supply required for the present apparatus works, and underwater fished species are identified and positioned, and
Realize to train module 4 and catch the control of actuator module 5；Train module 4 is for realizing fishing execution machine
Three Degree Of Freedom translation of the structure module 5 under earth axes；Catch the crawl that actuator module 5 is used for underwater fished species.
By way of by multiple module integrated installations, tend to simplification, modularization in structure, so that finishing device entirety installability
Enhance with detachability.
The further technical solution of the embodiment of the present invention is that 1 finishing device main structure of general assembly bracket is carried and load-bearing function
Can, including bracket upper mounting plate 1-1, bracket lower installation board 1-2, rack beam support arm 1-3, overall installation interface 1-4, bracket
Curb girder support arm 1-5, bracket standing screw 1-6.The structure supporting part based on general assembly bracket 1, spatially by rack beam branch
Brace 1-3 connect to form structural framing with bracket curb girder support arm 1-5, is fixed by the bracket screw rod 1-6 and installs bracket above and below
Plate 1-1,1-2 are fixed by the bracket screw rod 1-6 and connect and be mounted on bracket curb girder support arm 1-5, so that space layout to the greatest extent may be used
It can be simple.Bracket curb girder support arm 1-5 shape designs nearly " winged " font, to reduce cantilever beam tilting moment, improves structural strength
Characteristic, and the occupancy to space is reduced simultaneously, it avoids occurring with the space motion path of slave arm 4-4 and master arm 4-3 dry
It relates to.The linkage section based on general assembly bracket 1 is connected and fixed in the bracket curb girder rear end support arm 1-5 and overall installation interface 1-4,
According to real work demand, overall installation interface 1-4 has external standard mechanical interface and electrical apparatus interface, with underwater robot phase
It fixes and connect, substantially increase the present invention to the adaptability and adjustability of different operating environment.
The further technical solution of the embodiment of the present invention is that vision system module 2 completes acquisition of vision information of the invention
Function, including LED light source, binocular camera shooting instrument, LED light source provide underwater lighting, and binocular camera shooting instrument obtains the vision of underwater environment
Information.Wherein, LED light source is made of LED light 2-4 and LED light support 2-5, is equipped on general assembly bracket 1, and LED light 2-4 is fixed
It is connected on LED light support 2-5, LED light support 2-5 is fixed on general assembly bracket upper mounting plate 1-1 leading portion；Binocular camera shooting instrument includes
Binocular camera shooting instrument underwater electrical connector 2-1, binocular camera shooting instrument main body 2-2, binocular camera shooting window 2-3, binocular camera shooting instrument 2-1,2-2,2-3
It is mounted on general assembly bracket upper mounting plate 1-1, and visual information is connected to electronics by binocular camera shooting instrument underwater electrical connector 2-1
The visual information underwater electrical connector 3-3 in cabin.
The further technical solution of the embodiment of the present invention is that electronic compartment module 3 completes aquatic organism identification, positioning and fishing
The control function of movement, including cylinder cabin 3-1, end cap 3-2, visual information underwater electrical connector 3-3, power supply underwater electrical connector 3-
4, embedded Control component 3-5, power supply converting member 3-6, GPU (i.e. graphics processing unit) component 3-7, control signal watertight connect
Plug-in unit 3-8.Wherein, cylinder cabin 3-1 and end cap 3-2 provides watertight installation space for the electronic component of device；Visual information water
Contiguity plug-in unit 3-3 is for connecting vision system module 2；Power supply underwater electrical connector 3-4 is for connecting power supply in robot；It is embedding
Enter formula control unit 3-5 for controlling three steering engine 4-6 in train module 4 and three in fishing actuator module 5
Cleft hand drives steering engine 5-1；Power supply converting member 3-6 is used to the power conversion inputted in robot be electricity required for the present apparatus
Source；GPU component 3-7 is used for the identification and positioning of underwater fished species；Control signal underwater electrical connector 3-8 is for connecting power train
The underwater electrical connector 5-6 on underwater electrical connector 4-11 and fishing actuator module 5 in module 4 of uniting.Electronic compartment module 3 passes through
End cap 3-2 is connected and fixed with general assembly bracket lower installation board 1, and the price fixing 4-1 by cylinder cabin 3-1 and train module 4 is real
Now it is tightly connected.Visual information underwater electrical connector 3-3 and power supply underwater electrical connector 3-4 is connected and installed in end cap by thread seal
On 3-2, control information underwater electrical connector 3-8 is connected and installed on the price fixing 4-1 of train module 4 by thread seal.Electricity
It is main inside that GPU component 3-7, embedded Control component 3-5, power supply converting member 3-6 are equipped with inside sub- 3 cabin of cabin module
3 interior laminate layer of electronic compartment is conducive to the Homogeneouslly-radiating of electronic component using stud and nut fixed baffle by layout, and synchronous
Reduce internal signal interference.
The further technical solution of the embodiment of the present invention is that train module 4 completes the three of fishing actuator module 5
Freedom degree translation function is mainly made of price fixing 4-1, sealing steering engine 4-2, master arm 4-3, slave arm 4-4, Moving plate 4-5.Transmission
System module 4 uses Delta parallel manipulator arm configuration, and three sealing steering engine 4-2 are arranged on price fixing at equilateral triangle, 3 masters
Swing arm 4-3 is isometric, and 3 slave arm 4-4 are isometric, and two slave arm 4-4 on each branch are hinged through the hinge to master arm 4-3
With Moving plate 4-5, the quick movement of the Three Degree Of Freedom of Moving plate 4-5 is realized, while guaranteeing the accuracy and stationarity of movement.Passing through will
Master arm 4-3 interlude fluting, slave arm 4-4 use lightweight bar material, under the premise of meeting mechanism structure intensity, further
Mitigate the quality of master arm, reduces to steering engine 4-6 torque and power demand, adapt to the higher operating condition of underwater fluid resistance, improve
The mobility of underwater operation process.The sealing steering engine 4-2 of train module 4 by steering engine 4-6, steering engine sealed compartment shell 4-12,
Pedestal 4-10, sealing shroud 4-7 and output shaft 4-9 composition.It slots on pedestal 4-10, places O-ring 4-8 and steering engine sealed compartment shell
Body 4-12 cooperation, then fixed by radial screw, form static seal.Sealing shroud 4-7 external cylindrical surface and pedestal 4-10 pass through O-ring
4-8 forms static seal, and sealing shroud 4-7 inner cylinder face forms dynamic sealing using two O-ring seals 4-8 and output shaft 4-9.Output
Axis 4-9 is connected by screw and steering engine 4-6.Above-mentioned design of Sealing Structure, installation and replacement part easy to disassemble.
The further technical solution of the embodiment of the present invention is that fishing actuator module 5 completes grabbing for underwater fished species
Catch function, mainly by three-jaw hand-drive steering engine 5-1, three-jaw hand outer housing 5-2, transmission gear 5-3, output shaft 5-4, worm screw 5-5,
Worm gear 5-6, Rocker connector 5-7, cage modle three-jaw hand 5-8, three-jaw hand underwater electrical connector 5-9 composition.Catch actuator module 5
It is connect with the Moving plate 4-5 of train module 4 and carries out installation fixation, the control in underwater electrical connector 5-9 and electronic compartment module 3 is believed
Number underwater electrical connector 3-8 connection.Transmission gear 5-3 layered arrangement, compact-sized, stable drive are saved in gear box casing 5-2
Portion space.Cage type three-jaw hand 5-8 whole design is cage structure, reduces the fluid resistance of sub-aqua sport process, while more being adapted to
In the fishing of software biology.
The further technical solution of the embodiment of the present invention is that steering engine 5-1 is defeated by torque by transmission gear 5-3 double reduction
Enter onto output shaft 5-4, worm screw 5-5 is installed in the end output shaft 5-4, drives three turbine 5-6 linkage, and each turbine 5-6 band shakes
Arm connector 5-7 rotation realizes that the uniaxial output of three-jaw hand steering engine 5-1 for a point speed output, controls cage type three-jaw hand 5-8's respectively
Folding and co-ordination increase underwater operation region enveloping surface.
(3) beneficial effect
Based on the technical characteristic recorded above, the beneficial effects are mainly reflected as follows the following aspects:
(1) binocular camera shooting instrument and LED light source module are combined, the visual information of fishing biology and ambient enviroment can be obtained,
And the GPU installed in electronic compartment is combined, the visual information of acquisition can be handled, to can realize to the autonomous of fishing biology
It identifies and positions, to improve the independence of fishing.
(2) train module is applied in the device, has motor imagination fast, positioning accuracy is high, bearing capacity is strong
The advantages of, so that the operating efficiency caught under water can be improved.
(3) biological finishing device is designed to the form of cage type three-jaw hand, the enveloping surface in underwater fishing region can be increased,
Further increase the stability of fishing movement and the adaptability of fished species.
Detailed description of the invention
Fig. 1 is a kind of underwater autonomous quick finishing device structural schematic diagram according to the embodiment of the present invention；
Fig. 2 is a kind of general assembly bracket side view according to the embodiment of the present invention；
Fig. 3 is a kind of general assembly bracket front view according to the embodiment of the present invention；
Fig. 4 is a kind of vision system modular structure schematic diagram according to the embodiment of the present invention；
Fig. 5 is a kind of LED light source structure schematic diagram according to the embodiment of the present invention；
Fig. 6 is the sectional view according to a kind of electronic compartment module of the embodiment of the present invention；
Fig. 7 is the side view according to a kind of train module of the embodiment of the present invention；
Fig. 8 is the top view according to a kind of train module of the embodiment of the present invention；
Fig. 9 is the side view according to a kind of sealing steering engine of the embodiment of the present invention；
Figure 10 is a kind of sealing steering engine partial sectional view according to the embodiment of the present invention；
Figure 11 is the structural schematic diagram according to a kind of fishing actuator module of the embodiment of the present invention；
Figure 12 is the schematic diagram of internal structure according to a kind of gear-box of fishery of the embodiment of the present invention.
Description of symbols: 1. general assembly bracket 1-1. bracket upper mounting plate 1-2. bracket lower installation board 1-3. rack beam branch
2. vision system module 2-1 of brace 1-4. overall installation interface 1-5. bracket cant beam support arm 1-6. carriage mounting plate standing screw
Binocular camera shooting instrument underwater electrical connector 2-2. binocular camera shooting instrument main body 2-3. binocular camera shooting window 2-4.LED lamp 2-5.LED lamp support 3.
Electronic compartment module 3-1 cylinder cabin 3-2 end cap 3-3. visual information underwater electrical connector 3-4. power supply underwater electrical connector 3-5. insertion
Formula control unit 3-6. power supply converting member 3-7.GPU component 3-8. controls 4. train module 4-1. of signal underwater electrical connector
Price fixing 4-2. seals steering engine 4-3. master arm 4-4. slave arm 4-5. Moving plate 4-6. steering engine 4-7. sealing shroud 4-8.O shape sealing ring 4-
9. output shaft 4-10. pedestal 4-11. underwater electrical connector 4-12. steering engine sealed compartment shell 5. catches actuator module 5-1. three-jaw
Hand steering engine 5-2. gear box casing 5-3. transmission gear 5-4. output shaft 5-5. worm screw 5-6. worm gear .5-7 rocker-arm link 5-8 cage modle
Catch hand .5-9 three-jaw hand underwater electrical connector
Specific embodiment
The present invention is a kind of underwater autonomous quick finishing device, is explained in detail the embodiment of the present invention with reference to the accompanying drawing
It states, the specific embodiment of the invention is described further.
Referring to Fig.1, the underwater autonomous quick finishing device of the embodiment of the present invention is taken with general assembly bracket 1 for basic structure body
Carry vision system module 2, electronic compartment module 3, train module 4 and fishing actuator module 5.
Referring to Fig. 2 and Fig. 3, structure supporting part based on the general assembly bracket 1 of the embodiment of the present invention, spatially by rack beam
Support arm 1-3 connect to form structural framing with bracket curb girder support arm 1-5, is fixed by the bracket screw rod 1-6 and pacifies bracket above and below
Loading board 1-1,1-2 is fixed by the bracket screw rod 1-6 and connects and be mounted on bracket curb girder support arm 1-5, bracket curb girder support arm
Nearly " winged " font of 1-5 shape.The linkage section based on general assembly bracket 1 connects in the bracket curb girder rear end support arm 1-5 with overall installation
Mouth 1-4 is connected and fixed, and overall installation interface 1-4 has external standard mechanical interface and electrical apparatus interface, mutually solid with underwater robot
Determine and connect.
Referring to Fig. 4 and Fig. 5, the vision system module 2 of the embodiment of the present invention includes LED light source, binocular camera shooting instrument.Wherein,
LED light source is made of LED light 2-4 and LED light support 2-5, is equipped on general assembly bracket 1, and LED light 2-4 is fixedly connected on LED light
On support 2-5, LED light support 2-5 is fixed on general assembly bracket upper mounting plate 1-1 leading portion；Binocular camera shooting instrument includes binocular camera shooting instrument
Underwater electrical connector 2-1, binocular camera shooting instrument main body 2-2, binocular camera shooting window 2-3, binocular camera shooting instrument 2-1,2-2,2-3 are mounted on general assembly
On bracket upper mounting plate 1-1, and visual information is believed by the vision that binocular camera shooting instrument underwater electrical connector 2-1 is connected to electronic compartment
Cease underwater electrical connector 3-3.
Referring to Fig. 6, the electronic compartment module 3 of the embodiment of the present invention is connect by end cap 3-2 with general assembly bracket lower installation board 1 solid
It is fixed, it is realized and is tightly connected by the price fixing 4-1 of cylinder cabin 3-1 and train module 4.Visual information underwater electrical connector 3-4
It is connected and installed on end cap 3-2 with power supply underwater electrical connector 3-4 by thread seal, visual information underwater electrical connector 3-3 is used for
Connect vision system module 2；Power supply underwater electrical connector 3-4 is for connecting power supply in robot；Control information weather proof receptacle
3-8 is connected and installed on the price fixing 4-1 of train module 4 by thread seal, and control signal underwater electrical connector 3-8 is for connecting
Meet the underwater electrical connector 5-6 on the underwater electrical connector 4-11 and fishing actuator module 5 on train module 4.Electronic compartment
It is main inside cloth that GPU component 3-7, embedded Control component 3-5, power supply converting member 3-6 are equipped with inside 3 cabin of module
Office, is conducive to the Homogeneouslly-radiating of electronic component for 3 interior laminate layer of electronic compartment using stud and nut fixed baffle, and synchronize and subtract
Few internal signal interference.
Reference Fig. 7 and Fig. 8, the use Delta parallel manipulator arm configuration of train module 4 of the embodiment of the present invention, three
Sealing steering engine 4-2 be arranged on price fixing 4-1 at equilateral triangle, 3 master arm 4-3 are isometric, and 3 groups of slave arm 4-4 are isometric, every group from
Swing arm 4-4 is made of two heterogeneous light weight beams, the upper end of every light weight beam by ball pair be connected to master arm 4-3 with it is driven
The connects hinge both ends of arm 4-4, the lower end of light weight beam are connected to the connects hinge two of slave arm 4-4 Yu Moving plate 4-5 by ball pair
The quick movement of the Three Degree Of Freedom of Moving plate 4-5 is realized at end.
As shown in Figure 9 and Figure 10, the steering engine 4-6 of train module 4 is installed in steering engine sealed compartment shell 4-12, the bottom of at
It slots on seat 4-10, places O-ring 4-8 and steering engine sealed compartment shell 4-12 and cooperate, then fixed by radial screw, formed quiet close
Envelope.By O-ring 4-8 formation static seal, sealing shroud 4-7 inner cylinder face uses two by sealing shroud 4-7 external cylindrical surface and pedestal 4-10
A O-ring seals 4-8 and output shaft 4-9 forms dynamic sealing.Output shaft 4-9 is connected by screw and steering engine 4-6.Applied to underwater
Parallel mechanical arm be different from the increase for being mainly characterized by watertight demand and the resistance of motion of mechanical arm in air.Solving watertight
Demand side meets protection steering engine and movement output as previously mentioned, using independent steering engine sealed compartment shell 4-12 structure
Quiet, dynamic sealing requirement, also farthest reduces the complexity of sealing mechanism, while independent sealed module design, reduces
The relevance installed between component, easy access and maintenance.Reply underwater high-speed movable machinery arm stress mainly from
This feature of the resistance of surrounding aqueous medium, this mechanical arm are non-equal by using master arm 4-3 interlude fluting, slave arm 4-4
The means such as matter bar.The weights parameter such as to mitigate the quality of gearing arm, and adjust the weight of mechanical arm, centre of buoyancy, reduce to steering engine
4-6 torque and power demand.
Referring to Fig.1 shown in 1 and Figure 12, the catching function of underwater fished species is completed by catching actuator module 5, it is main
Will by three-jaw hand-drive steering engine 5-1, three-jaw hand outer housing 5-2, transmission gear 5-3, output shaft 5-4, worm screw 5-5, worm gear 5-6,
Rocker connector 5-7, cage modle three-jaw hand 5-8, three-jaw hand underwater electrical connector 5-9 composition.Catch actuator module 5 and power train
The Moving plate 4-5 connection of system module 4 carries out installation fixation, and underwater electrical connector 5-9 connects with the control signal watertight in electronic compartment module 3
Plug-in unit 3-8 connection.Transmission gear 5-3 layered arrangement, compact-sized, stable drive save the inner space gear box casing 5-2.
Cage type three-jaw hand 5-8 whole design is cage structure, reduces the fluid resistance of sub-aqua sport process, while it is raw to be more suitable for software
The fishing of object.Torque is input on output shaft 5-4 by steering engine 5-1 by transmission gear 5-3 double reduction, the end output shaft 5-4
Worm screw 5-5 is installed, three turbine 5-6 linkage is driven, each turbine 5-6 drives Rocker connector 5-7 rotation, realizes three-jaw hand steering engine
The uniaxial output of 5-1 is a point speed output, controls the folding and co-ordination of cage type three-jaw hand 5-8 respectively, increases underwater operation area
Domain enveloping surface.
The integral standard that underwater autonomous quick finishing device according to an embodiment of the present invention can be used as underwater robot is matched
Part is assembled by 1 overall installation interface 1-4 of general assembly bracket with underwater robot, so as to realize underwater
The autonomous quick fishing of people.
The above described is only a preferred embodiment of the present invention, be not intended to limit the present invention in any form, though
So the present invention has been disclosed as a preferred embodiment, and however, it is not intended to limit the invention, any technology people for being familiar with this profession
Member, without departing from the scope of the present invention, when the technology contents using the disclosure above make a little change or modification
For the equivalent embodiment of equivalent variations, but anything that does not depart from the technical scheme of the invention content, according to the technical essence of the invention
Above embodiments are made with any simple modification, equivalent change and modification, all of which are still within the scope of the technical scheme of the invention.
Claims (10)
1. a kind of underwater autonomous quick finishing device, which is characterized in that the underwater autonomous quick finishing device is with general assembly branch
Frame is basic structure body, carries vision system module, electronic compartment module, train module and fishing actuator module,
Wherein, vision system module is used for the acquisition of vision information of underwater fished species and environment；Electronic compartment module provides described underwater
Power supply required for autonomous agility finishing device works, and underwater fished species are identified and positioned, and are realized to biography
Dynamic system module and the control for catching actuator module；Train module is for realizing fishing actuator module on ground
Three Degree Of Freedom translation under coordinate system；Catch the crawl that actuator module is used for underwater fished species.
2. underwater autonomous quick finishing device as described in claim 1, which is characterized in that general assembly bracket is completed underwater autonomous quick
Prompt finishing device main structure is carried and weight-bearing function, including the support of bracket upper mounting plate, bracket lower installation board, rack beam
Arm, overall installation interface, bracket curb girder support arm and bracket standing screw；Wherein, by rack beam support arm and bracket side
Beam support arm connects to form structural framing, and bracket upper mounting plate, bracket lower installation board are fixed by the bracket screw rod and connects and pacifies
Mounted in bracket curb girder support arm, bracket curb girder support arm shape designs nearly " winged " font；In bracket curb girder support arm rear end and always
Body installation interface is connected and fixed, and overall installation interface has external standard mechanical interface and standard electrical apparatus interface, with underwater
People mutually fixes and connect.
3. underwater autonomous quick finishing device as described in claim 1, which is characterized in that vision system module includes LED light
Source, binocular camera shooting instrument, LED light source provide underwater lighting, and binocular camera shooting instrument obtains the visual information of underwater environment.
4. underwater autonomous quick finishing device as claimed in claim 3, which is characterized in that LED light source is by LED light and LED light
Support composition, is equipped on general assembly bracket, wherein LED light is fixedly connected on LED light support, and LED light support is fixed on bracket
Upper mounting plate leading portion；Binocular camera shooting instrument includes binocular camera shooting instrument underwater electrical connector, binocular camera shooting instrument main body, binocular camera shooting window,
In, on the rack-mount mounting plate of binocular camera shooting instrument, and visual information is connected to by binocular camera shooting instrument underwater electrical connector
The visual information underwater electrical connector of electronic compartment module.
5. underwater autonomous quick finishing device as claimed in claim 2, which is characterized in that electronic compartment module includes cylindrical compartment
Body, end cap, visual information underwater electrical connector, power supply underwater electrical connector, embedded Control component, power supply converting member, GPU component
And control signal underwater electrical connector；Wherein, cylinder cabin and end cap are that the electronic component of underwater autonomous quick finishing device mentions
For watertight installation space；Visual information underwater electrical connector is for connecting vision system module；Power supply underwater electrical connector is for connecting
Power supply on underwater robot；Embedded Control component is used to control three steering engines in train module and catches and holds
Three-jaw hand-drive steering engine in row mechanism module；Power supply converting member is used to the power conversion inputted on underwater robot be water
Power supply required for lower autonomous quick finishing device；GPU component is used for the identification and positioning of underwater fished species；Control signal water
Contiguity plug-in unit is used to connect the underwater electrical connector on the underwater electrical connector and fishing actuator module on train module；Its
In, electronic compartment module is connected and fixed by end cap and bracket lower installation board, passes through the price fixing of cylinder cabin and train module
It realizes and is tightly connected；Visual information underwater electrical connector and power supply underwater electrical connector are connected and installed on end cap by thread seal,
Control signal underwater electrical connector is connected and installed on the price fixing of train module by thread seal.
6. underwater autonomous quick finishing device as claimed in claim 5, which is characterized in that the intracorporal GPU of electronic compartment module bay
Component, embedded Control component and the layering installation of power supply converting member.
7. finishing device as described in claim 1 underwater autonomous quick, which is characterized in that train module include price fixing,
Seal steering engine, master arm, slave arm and Moving plate；Train module uses De lta parallel manipulator arm configuration, three sealings
For steering engine at being evenly arranged on price fixing, two on each branch piece slave arm is hinged through the hinge to master arm and Moving plate；Pass through
Master arm interlude is slotted, slave arm uses lightweight bar material.
8. underwater autonomous quick finishing device as claimed in claim 7, which is characterized in that the sealing steering engine of train module
It is made of steering engine, steering engine sealed compartment shell, pedestal, sealing shroud and output shaft；Wherein, pedestal be equipped with fluting, place O-ring with
The cooperation of steering engine sealed compartment shell, then fixed by radial screw, form static seal；Sealing shroud external cylindrical surface and pedestal pass through O shape
Circle forms static seal, and sealing shroud inner cylinder face forms dynamic sealing using two O-ring seals and output shaft；Output shaft passes through screw
It is connected with steering engine.
9. underwater autonomous quick finishing device as described in claim 1, which is characterized in that fishing actuator module is by three-jaw
Hand-drive steering engine, three-jaw hand outer housing, transmission gear, output shaft, worm screw, worm gear, Rocker connector, cage modle three-jaw hand, three-jaw
Hand underwater electrical connector composition.The connection of the Moving plate of fishing actuator module and train module carries out installation fixation, and watertight connects
Plug-in unit is connect with the control signal underwater electrical connector in electronic compartment module.
10. underwater autonomous quick finishing device as claimed in claim 9, which is characterized in that three-jaw hand-drive steering engine, three-jaw hand
Gear, Rocker connector watertight are mounted on inside three-jaw hand outer housing；Steering engine passes through transmission gear double reduction for power
Square is input on output shaft, and output shaft end installs worm screw, drives the linkage of three turbines, and each turbine drives Rocker connector to turn
It is dynamic, realize that the uniaxial output of three-jaw hand steering engine for a point speed output, controls the folding and co-ordination of cage type three-jaw hand respectively, increases
Underwater operation region enveloping surface.
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| CN201910078073.5A CN109566549B (en) | 2019-01-28 | 2019-01-28 | Autonomous and agile underwater fishing device |
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| CN201910078073.5A CN109566549B (en) | 2019-01-28 | 2019-01-28 | Autonomous and agile underwater fishing device |
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| CN109566549B CN109566549B (en) | 2020-07-10 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109964888A (en) * | 2019-04-09 | 2019-07-05 | 中国科学院烟台海岸带研究所 | Precious marine product fishing and visual parameters based on underwater robot platform monitor system |
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