CN110978919A

CN110978919A - Crawler-type marine organism fishing robot

Info

Publication number: CN110978919A
Application number: CN201911307428.XA
Authority: CN
Inventors: 张继威; 于复生; 朱宝星; 严高超; 梁为; 魏井波; 隽志龙; 范银辉
Original assignee: Individual
Current assignee: Weihai Duoyu Marine Technology Co ltd
Priority date: 2019-12-18
Filing date: 2019-12-18
Publication date: 2020-04-10
Anticipated expiration: 2039-12-18
Also published as: CN110978919B

Abstract

The invention relates to a crawler type marine organism fishing robot, which belongs to the technical field of underwater fishing and consists of a crawler type obstacle crossing wheel, a frame chassis, a hydraulic motor, a buoyancy material, a sinking and floating device, an air chamber snap ring, a CCD camera device, a collecting basket assembly, a fixed seat, a longitudinal push rod, a pulling assembly, a supporting frame, an electronic sealed cabin, a sealed cabin snap ring, a towing cable, an air tank bracket, an air tank snap ring, a propeller, a vehicle body frame, a transverse push rod snap ring and a transverse push rod.

Description

Crawler-type marine organism fishing robot

Technical Field

The invention relates to a marine organism fishing device, in particular to a crawler-type marine organism fishing robot, and belongs to the technical field of underwater fishing.

Background

China has a vast sea area, and oceans have abundant marine biological resources, and with the improvement of national economic strength, the living standard of people is increasingly improved, and marine products become one of important components on daily dining tables of people, such as sea cucumbers, sea urchins and abalones.

At present, the fishing work of marine products is mainly completed by manpower, the fishing industry of the marine products still continues to adopt the traditional fishing mode, a fisher carries an oxygen cylinder to go to the seabed for fishing, the fishing is spicy and has certain dangerousness, particularly, before winter, the weather is cold, the fisher is difficult to launch for fishing, and under the condition, people willing to do the fishing work are less and less. Some domestic scientific research institutions and colleges and universities make some product designs to fishing robot under water, adopt the suction formula to catch the work more, can make peripheral sea water muddy during the absorption usually to influence the work of catching, and still need carry on the mother ship through the pipeline after the absorption is accomplished, this kind of mode of catching greatly reduced catches efficiency.

Disclosure of Invention

Aiming at the current situations that the robot is low in working efficiency and difficult to catch due to the fact that seawater is turbid easily during sucking, the invention provides the crawler-type marine organism catching robot.

The invention is realized by the following technical scheme: a crawler type marine organism fishing robot is composed of crawler obstacle crossing wheels, a frame chassis, hydraulic motors, buoyancy materials, a sinking and floating device, an air chamber clamping ring, a CCD camera device, a collecting basket assembly, a fixing seat, a longitudinal push rod, a pulling assembly, a supporting frame, an electronic sealed cabin, a sealed cabin clamping ring, towing ropes, an air tank bracket, an air tank clamping ring, a propeller, a vehicle body frame, transverse push rod clamping rings and transverse push rods, wherein the periphery of the frame chassis is respectively provided with the crawler obstacle crossing wheels, the crawler obstacle crossing wheels are fixedly connected with the frame chassis through the supporting frame, the four hydraulic motors are respectively connected with the corresponding crawler obstacle crossing wheels, the four hydraulic motors are all fixed on the vehicle body frame which is fixed on the frame chassis, the electronic sealed cabin is fixed on the lower part of the vehicle body frame through the sealed cabin clamping ring, the other end of the electronic sealed cabin, which is externally connected with the towing ropes, and the, four vertical push rods are all fixed on collecting the basket subassembly, four vertical push rods and four fixing base fixed connection, four fixing bases are fixed in the automobile body frame top, two sets of assemblies of pulling out are respectively with the horizontal push rod fixed connection of homonymy thereof, horizontal push rod passes through the horizontal push rod snap ring to be fixed on the automobile body frame, buoyancy material fixes the top at the automobile body frame, the buoyancy material front end is provided with CCD camera device, be provided with two screws on the buoyancy material, it fixes on buoyancy material through the air chamber snap ring to sink and float the device, fix on the automobile body frame through gas pitcher bracket and gas pitcher snap ring.

Further, the track hinder wheel more by thrust wheel, leading wheel, the connecting plate, the track frame, the action wheel, the track, the connecting axle, stopper and balance frame are constituteed, two liang of a set ofly install in the bottom of track of eight thrust wheels, the track left and right sides respectively sets up four thrust wheels, connect through the balance frame between two adjacent thrust wheels, the balance frame links to each other with the connecting plate, the connecting plate left and right sides all sets up two sets of stoppers, two liang of a set of setting of four leading wheels are at the middle part of track, every group all is connected with the connecting plate, the action wheel sets up the upper portion at the track, the action wheel links to each other with the track frame, the track frame passes through.

Further, an inflation hole is formed in the buoyancy material.

Furthermore, the sinking and floating device consists of an electromagnetic three-way valve, a flexible pipe, a connector, an air valve, an air chamber, a high-pressure air tank and a water valve, wherein the electromagnetic three-way valve is arranged at the tank opening of the high-pressure air tank, one end of the flexible pipe is connected with the electromagnetic three-way valve, the other end of the flexible pipe is connected with the connector, the connector and the air valve are both fixed on the air chamber, and the water valve is fixed at the.

Further, the collection basket subassembly comprises collection basket qianmen, collection basket side door, slope and solid fixed ring, and the collection basket qianmen is fixed on vehicle body frame, and collection basket middle part is provided with the collection basket side door, and collection basket bottom is provided with a slope, and the marine product of being convenient for pulls out to the bottom sets up to the high inboard low type of outside, pulls out the back when the marine product, can make the marine product arrange in collection basket inboard, and all be provided with solid fixed ring on collection basket side door and the collection basket.

Furthermore, the pulling assembly consists of a claw, a rotating joint, a steering engine and a connecting joint, the connecting joint is connected with the transverse push rod, the steering engine is fixed on the connecting joint and hinged with the rotating joint, and the claw is fixedly connected with the rotating joint.

Furthermore, the hydraulic motor, the longitudinal push rod, the transverse push rod, the CCD camera device and the electromagnetic three-way valve are all underwater parts.

The marine product capturing device has the beneficial effects that the pulling type capturing mode is adopted, the marine product can be rapidly captured by the marine product capturing device, the phenomenon that the peripheral seawater is turbid due to the suction type capturing is avoided, and the marine product can be efficiently captured; when the crawler-type obstacle crossing wheel is arranged under water, the crawler-type obstacle crossing wheel is used as a walking device, so that obstacle crossing walking can be performed, and complicated sinking and floating movement control of a conventional fishing robot is effectively reduced; the propeller aerating chamber is used for double sinking and floating control, and when the device is placed under water, the device can keep good stability when walking on the seabed through gas suction and exhaust; the collecting basket assembly is arranged, a conveying pipeline is not needed to be arranged, the collecting basket side door is arranged on the collecting basket assembly, and marine products can be taken out quickly after fishing is completed.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of another embodiment of the present invention;

FIG. 3 is a top view of the present invention;

FIG. 4 is a perspective view of the present invention;

FIG. 5 is a schematic view of the connection of the gripper assembly to the collection basket assembly;

FIG. 6 is a schematic view of the construction of an obstacle crossing wheel of the crawler wheel;

FIG. 7 is a schematic structural diagram of the sinking and floating device;

FIG. 8 is a schematic structural view of a collection basket assembly;

FIG. 9 is an enlarged fragmentary view of the collection basket assembly;

FIG. 10 is a schematic view of a motion state of the present invention;

fig. 11 is a schematic view of another motion state of the present invention.

In the figure, 1, a track obstacle crossing wheel, 2, a frame chassis, 3, a hydraulic motor, 4, a buoyancy material, 5, a ups and downs device, 6, an air chamber snap ring, 7, a CCD camera device, 8, a collection basket assembly, 9, a fixed seat, 10, a longitudinal push rod, 11, a pulling assembly, 12, a support frame, 13, an electronic sealed cabin, 14, a sealed cabin snap ring, 15, a towing cable, 16, an air tank bracket, 17, an air tank snap ring, 18, a propeller, 19, a vehicle body frame, 20, a transverse push rod snap ring, 21, a transverse push rod, 101, a supporting wheel, 102, a guide wheel, 103, a connecting plate, 104, a track frame, 105, a driving wheel, 106, a track, 107, a connecting shaft, 108, a limiting block, 109, a balance frame, 401, an inflation hole, 501, an electromagnetic valve, 502, a flexible pipe, 503, a connector, 504, an air valve, an air tank, 505, an air chamber, 506, a high-pressure, 802. the collecting basket body 803, the collecting basket side door 804, the slope 805, the fixing ring 1101, the claw handle 1102, the rotating joint 1103 and the steering engine 1104 are connected.

Detailed Description

The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, some parts of the drawings may be enlarged or reduced according to circumstances, and do not represent the size of an actual product; the dimensional change behavior in the drawings is understood by those skilled in the art.

In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, a fixed connection, a detachable connection, or an integral connection; the terms may be directly connected or indirectly connected through an intermediate, and those skilled in the art can understand the specific meaning of the terms in the present invention in specific situations. The present invention will be described in further detail with reference to the accompanying drawings and examples.

A crawler type marine organism fishing robot is composed of crawler obstacle crossing wheels 1, a frame chassis 2, hydraulic motors 3, buoyancy materials 4, an ups and downs device 5, an air chamber snap ring 6, a CCD camera device 7, a collection basket assembly 8, a fixed seat 9, a longitudinal push rod 10, a pulling assembly 11, a support frame 12, an electronic sealed cabin 13, a sealed cabin snap ring 14, a towing cable 15, an air tank bracket 16, an air tank snap ring 17, a propeller 18, a body frame 19, a transverse push rod snap ring 20 and a transverse push rod 21, wherein the periphery of the frame chassis 2 is respectively provided with one crawler obstacle crossing wheel 1, the crawler obstacle crossing wheels 1 are fixedly connected with the frame chassis 2 through the support frame 12, the four hydraulic motors 3 are respectively connected with the corresponding crawler obstacle crossing wheels 1, the four hydraulic motors 3 are all fixed on the body frame 19, the body frame 19 is fixed on the frame chassis 2, the electronic sealed cabin 13 is fixed at the lower part of the body frame 19 through the sealed cabin snap ring 14, external towrope 15 of electron seal chamber 13, the other end of towrope 15 links to each other with mother's ship, four vertical push rods 10 are all fixed on collecting basket subassembly 8, four vertical push rods 10 and four fixing base 9 fixed connection, four fixing base 9 are fixed in automobile body frame 19 top, two sets of assemblies 11 of choosing are respectively with it horizontal push rod 21 fixed connection, horizontal push rod 21 passes through horizontal push rod snap ring 20 to be fixed on automobile body frame 19, buoyancy material 4 fixes the top at automobile body frame 19, buoyancy material 4 front end is provided with CCD camera device 7, be provided with two screws 18 on buoyancy material 4, ups and downs device 5 passes through air chamber snap ring 6 to be fixed on buoyancy material 4, fix on automobile body frame 19 through gas pitcher bracket 16 and air pitcher snap ring 17.

Further, the track obstacle crossing wheel 1 is composed of supporting wheels 101, guide wheels 102, a connecting plate 103, a track frame 104, a driving wheel 105, a track 106, a connecting shaft 107, limit blocks 108 and a balance frame 109, wherein every two of the eight supporting wheels 101 are installed at the bottom of the track 106 in a group, four supporting wheels 101 are respectively arranged on the left side and the right side of the track 106, two adjacent supporting wheels 101 are connected through the balance frame 109, the balance frame 109 is connected with the connecting plate 103, two groups of limit blocks 108 are arranged on the left side and the right side of the connecting plate 103, four guide wheels 102 are arranged in the middle of the track 106 in a group in a two-by-two mode, each group is connected with the connecting plate 103, the driving wheel 105 is arranged on the upper portion of the track 106, the driving wheel 105 is connected with the track.

Further, an inflation hole 401 is formed in the buoyancy material 4.

Further, the sinking and floating device 5 is composed of an electromagnetic three-way valve 501, a flexible pipe 502, a connector 503, an air valve 504, an air chamber 505, a high-pressure air tank 506 and a water valve 507, the electromagnetic three-way valve 501 is arranged at the tank opening of the high-pressure air tank 506, one end of the flexible pipe 502 is connected with the electromagnetic three-way valve 501, the other end of the flexible pipe is connected with the connector 503, the connector 503 and the air valve 504 are both fixed on the air chamber 505, and the water valve 507 is fixed at the lower part.

Further, the collecting basket assembly 8 is composed of a collecting basket front door 801, a collecting basket body 802, a collecting basket side door 803, a slope 804 and a fixing ring 805, the collecting basket front door 801 is fixed on the vehicle body frame 19, the collecting basket side door 803 is arranged in the middle of the collecting basket body 802, the bottom of the collecting basket body 802 is arranged to be high at the outer side and low at the inner side, marine products can be placed in the inner side of the collecting basket body 802 after the marine products are pulled in, and the fixing rings 805 are arranged on the collecting basket side door 803 and the collecting basket body 802.

Further, the pulling assembly 11 is composed of a claw 1101, a rotating joint 1102, a steering engine 1103 and a connecting joint 1104, the connecting joint 1104 is connected with the transverse push rod 21, the steering engine 1103 is fixed on the connecting joint 1104 and hinged to the rotating joint 1102, and the claw 1101 is fixedly connected with the rotating joint 1102.

Further, the hydraulic motor 3, the longitudinal push rod 10, the transverse push rod 21, the CCD camera device 7 and the electromagnetic three-way valve 501 are all underwater components.

When the device is used, the electromagnetic three-way valve 501 is opened to communicate the left channel and the right channel, the high-pressure gas tank 505 is filled with gas through the gas filling hole 401 by using the gas filling device, after the device is filled with the gas, the device is placed in water, the robot is controlled to sink through the propeller 18 and the sinking and floating device 5, the gas valve 504 is opened to properly release the gas in the gas chamber 505, the robot sinks by matching with the propeller 18, when the device sinks to the water bottom, the gas valve 504 can be opened to properly release the gas in the gas chamber 505, so that the buoyancy of the robot is reduced, the stability of the robot is improved, after the operation is finished, the gas valve 504 is closed, the electronic seal cabin 13 controls the robot to move by controlling the hydraulic motor 3, if a large obstacle is encountered, the crawler obstacle crossing wheel 1 cannot successfully cross the obstacle, the propeller 18 can be controlled to rise to cross the obstacle, and when marine products are identified by the CCD camera 7, so that the collecting basket body 802 is lowered to the water bottom, the front door 801 of the collecting basket and the collecting basket body 802 are staggered in space, the transverse push rod 21 extends out, the steering gear 1103 rotates to drive the claws 1101 to open, the rear steering gear 1103 rotates to close the claws 1101 to gather marine products, the transverse push rod 21 retracts to drive the claws 1101 to bring the marine products into the collecting basket body 802 along the slope 804, the steering gear 1103 rotates again to drive the claws 1101 to pull the marine products into the inner side of the collecting basket body 802, the steering gear 1103 rotates to reset the claws 1101 after the pulling is completed, after the capturing is completed, the longitudinal push rod 10 retracts to lift the collecting basket body 802, after the collecting basket body 802 is lifted to the original position, the front door 801 of the collecting basket body 802 is just closed at the moment, the next capturing place is searched continuously, the operation is continued after the capturing place is reached, after the capturing work is completed, the electromagnetic three-way valve 501 is opened to communicate the left channel with the upper channel, and the air chamber 505 is, the buoyancy of the robot is increased, the robot is lifted to the water surface by matching with the propeller 18, and the marine products are taken out by opening the side door 803 of the collecting basket.

It will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in the embodiments described above without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims.

Claims

1. The utility model provides a robot is catched to crawler-type marine organism, is by the track wheel of hindering more, frame chassis, hydraulic motor, buoyancy material, ups and downs device, air chamber snap ring, CCD camera device, collect basket subassembly, fixing base, vertical push rod, pull out subassembly, support frame, electron seal chamber, seal chamber snap ring, tow-cable, gas pitcher bracket, gas pitcher snap ring, screw, automobile body frame, horizontal push rod snap ring and horizontal push rod constitute, its characterized in that: the periphery of the frame chassis is respectively provided with a crawler obstacle crossing wheel, the crawler obstacle crossing wheels are fixedly connected with the frame chassis through a support frame, four hydraulic motors are respectively connected with the respective corresponding crawler obstacle crossing wheels, the four hydraulic motors are all fixed on a vehicle body frame, the vehicle body frame is fixed on the frame chassis, an electronic sealed cabin is fixed at the lower part of the vehicle body frame through a sealed cabin clamping ring, the electronic sealed cabin is externally connected with a towing cable, the other end of the towing cable is connected with a mother ship, four longitudinal push rods are all fixed on a collecting basket component, the four longitudinal push rods are fixedly connected with four fixing seats, the four fixing seats are fixed above the vehicle body frame, two groups of pulling components are respectively fixedly connected with the same-side transverse push rods, the transverse push rods are fixed on the vehicle body frame through the transverse push rod clamping ring, a buoyancy material is fixed above, the floating material is provided with two propellers, the sinking and floating device is fixed on the floating material through an air chamber snap ring and is fixed on the vehicle body frame through an air tank bracket and an air tank snap ring.

2. The tracked marine life fishing robot of claim 1, wherein: the crawler obstacle crossing wheel is composed of supporting wheels, guide wheels, a connecting plate, a crawler frame, an active wheel, a crawler, a connecting shaft, limiting blocks and a balance frame, wherein two groups of eight supporting wheels are arranged at the bottom of the crawler in a two-two mode, the left side and the right side of the crawler are respectively provided with four supporting wheels, two adjacent supporting wheels are connected through the balance frame, the balance frame is connected with the connecting plate, the left side and the right side of the connecting plate are respectively provided with two groups of limiting blocks, two groups of four guide wheels are arranged at the middle part of the crawler in a two-two mode, each group is connected with the connecting plate, the active wheel is arranged on the upper part of the crawler.

3. The tracked marine life fishing robot of claim 1, wherein: and the buoyancy material is provided with an inflation hole.

4. The tracked marine life fishing robot of claim 1, wherein: the sinking and floating device is composed of an electromagnetic three-way valve, a flexible pipe, a connector, an air valve, an air chamber, a high-pressure air tank and a water valve, wherein the electromagnetic three-way valve is arranged at the tank opening position of the high-pressure air tank, one end of the flexible pipe is connected with the electromagnetic three-way valve, the other end of the flexible pipe is connected with the connector, the connector and the air valve are both fixed on the air chamber, and the water valve.

5. The tracked marine life fishing robot of claim 1, wherein: the collection basket subassembly comprises collection basket qianmen, collection basket side door, slope and solid fixed ring, and collection basket qianmen is fixed on vehicle body frame, and collection basket middle part is provided with collection basket side door, and collection basket bottom is provided with a slope, and the marine product of being convenient for pulls out to the bottom sets up to the high inboard low type of outside, pulls out the back when the marine product, can make the marine product arrange in collection basket inboard, and all be provided with solid fixed ring on collection basket side door and the collection basket.

6. The tracked marine life fishing robot of claim 1, wherein: the pulling assembly consists of a claw, a rotating joint, a steering engine and a connecting joint, the connecting joint is connected with the transverse push rod, the steering engine is fixed on the connecting joint and is hinged with the rotating joint, and the claw is fixedly connected with the rotating joint.

7. The tracked marine life fishing robot of claim 1, wherein: the hydraulic motor, the longitudinal push rod, the transverse push rod, the CCD camera device and the electromagnetic three-way valve are all underwater parts.