CN112335588A - Aquaculture robot for user unmanned underwater operation - Google Patents
Aquaculture robot for user unmanned underwater operation Download PDFInfo
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- CN112335588A CN112335588A CN202011097738.6A CN202011097738A CN112335588A CN 112335588 A CN112335588 A CN 112335588A CN 202011097738 A CN202011097738 A CN 202011097738A CN 112335588 A CN112335588 A CN 112335588A
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- bait
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- 238000009360 aquaculture Methods 0.000 title claims abstract description 26
- 244000144974 aquaculture Species 0.000 title claims abstract description 26
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 29
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 239000000463 material Substances 0.000 claims description 39
- 238000007599 discharging Methods 0.000 claims description 27
- 238000007789 sealing Methods 0.000 claims description 13
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 claims description 4
- 229910052760 oxygen Inorganic materials 0.000 claims description 4
- 239000001301 oxygen Substances 0.000 claims description 4
- 210000001503 joint Anatomy 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 241000606750 Actinobacillus Species 0.000 claims 1
- 238000012372 quality testing Methods 0.000 claims 1
- 230000000694 effects Effects 0.000 description 3
- 239000002699 waste material Substances 0.000 description 3
- 241000238557 Decapoda Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 241000252073 Anguilliformes Species 0.000 description 1
- 241000252185 Cobitidae Species 0.000 description 1
- 241000252210 Cyprinidae Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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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
- A01K61/80—Feeding devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Environmental Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Marine Sciences & Fisheries (AREA)
- Zoology (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Farming Of Fish And Shellfish (AREA)
Abstract
The invention discloses an aquaculture robot for underwater unmanned operation of a user, which comprises an unmanned floating pontoon and an underwater robot, wherein the underwater robot is positioned below the unmanned floating pontoon, two sides of the upper end of the unmanned floating pontoon are respectively provided with a support frame, the upper end of each support frame is provided with a first bearing block, two sides of the upper end of the unmanned floating pontoon and the side edges of a fixing frame are respectively provided with a storage battery, the lower end of a bait storage tank is provided with a bait pipeline, one end of the underwater robot and the side edges of the bait storage tank are provided with a propeller, the side edge of the underwater robot close to the propeller is provided with a feeder, the lower end of one side of the underwater robot far away from the propeller is provided with a robot arm, the side edge of the underwater robot and the side edge of the robot arm are provided with a water quality detection group, and the middle part of. Has the advantages that: is convenient for the bait to be put in, makes the whole more simple and effective, and the practicality is strong.
Description
Technical Field
The invention relates to the technical field of aquaculture robots, in particular to an aquaculture robot for underwater unmanned operation of users.
Background
In recent years, with the improvement of living standard of people, the consumption of high-protein water products is increased year by year, the output of aquatic products is rapidly increased due to strong demand, the export of Chinese aquatic products is increased along with the increase of demand of overseas markets, the demand of the aquaculture industry of China on artificial compound feed is gradually increased, but the research and development and popularization of automatic feeding equipment are lagged, the feeding of the feed is basically carried out by farmers according to personal experience, when the feed is fed to aquaculture organisms, the feed is usually fed on a large scale on the water surface, part of the feed is not utilized to cause waste, the automatic bait feeding equipment used by part of the aquaculture industry can only set the feeding amount for a set time and set a fixed point, and the function is single, only granular commercial feed can be fed, and the full feeding cannot be realized, and meat and wet materials cannot be fed. The fixed feeding equipment can only be used for the culture of aquatic products with strong mobility, such as weever and four major Chinese carps. However, the fixed feeding equipment is not suitable for aquaculture with a small range of activity, such as shrimps, crabs, finless eels, loaches and the like.
An effective solution to the problems in the related art has not been proposed yet.
Disclosure of Invention
Aiming at the problems in the related art, the invention provides an aquaculture robot for unmanned underwater operation of users, which aims to overcome the technical problems in the prior related art.
Therefore, the invention adopts the following specific technical scheme:
an aquaculture robot for underwater unmanned operation of users comprises an unmanned floating pontoon and an underwater robot, wherein the underwater robot is positioned below the unmanned floating pontoon, two sides of the upper end of the unmanned floating pontoon are respectively provided with a support frame, a first bearing block is arranged at the upper end of each support frame, a storage box is arranged in the middle of the upper part of the unmanned floating pontoon, the storage boxes are connected with the unmanned floating pontoon through a fixing frame, two sides of the middle part of the lower end of each storage box are respectively provided with a second bearing block, a support plate is arranged between the first bearing block and the second bearing block, the upper ends of the support plates are respectively provided with a solar cell panel, the middle part of the upper end of each storage box is provided with a charging opening, two sides of the upper end of the unmanned floating pontoon are respectively provided with a storage battery at the side edge of the fixing frame, and a control box is arranged between the storage battery at one end of the upper end of the unmanned floating pontoon and the support frame, the lower end of the storage tank is provided with a discharging pipe, a material control device is arranged between the upper end of the unmanned floating pontoon and the discharging pipe, a material guiding pipe connected with the material control device is arranged in the middle of the interior of the unmanned floating pontoon, a discharging pipe is arranged at one end of the material guiding pipe, a waterproof sealing valve I is arranged in the discharging pipe, a waterproof motor is arranged at one end of the unmanned floating pontoon, which is far away from the control box, an opening is arranged in the middle of one side of the unmanned floating pontoon, which is close to the waterproof motor, a limiting sleeve is arranged at the middle of the opening, a wire penetrating through the limiting sleeve is arranged between the upper end of the positioning block and the wire guiding wheel, a bait storage tank is arranged in the middle of the interior of the underwater robot, the bait storage tank is characterized in that a bait pipeline is arranged at the lower end of the bait storage tank, a propeller is arranged at one end of the underwater robot and positioned at the side edge of the bait storage tank, a feeder is arranged at the side edge of the underwater robot close to the propeller, a robot arm is arranged at the lower end of one side of the underwater robot far away from the propeller, a water quality detection group is arranged at the side edge of the underwater robot close to the robot arm, a conical sleeve is arranged at one side of the upper end of the underwater robot close to the positioning block, a material receiving pipe connected with the conical sleeve is arranged at one side of the upper end of the bait storage tank, a waterproof sealing valve II is arranged at the inner bottom end of the material receiving pipe, a water outlet pipe is arranged at one side of the middle part of the material receiving pipe, a one-way valve is arranged at the side edge of, the suction pump is kept away from the one end of outlet pipe is provided with the drain pipe, the lower extreme middle part of toper cover be provided with discharging pipe matched with butt joint retaining member.
Furthermore, the two ends of the unmanned floating pontoon are provided with anti-collision rings which are made of rubber.
Further, the upper end of charge door is provided with the apron, the apron pass through the loose axle with the charge door cooperatees and connects, the inside of apron all is provided with dampproofing pad.
Further, the lower extreme of storage case is toper hopper structure, the outside of storage case all is provided with the dampproof course.
Further, accuse material device is including being located the driving motor of the inside one side of mount, driving motor's lower extreme is provided with the drive shaft, the lower extreme of drive shaft is provided with the semi-gear, the upper end of unmanned pontoon with be provided with solid fixed ring between the unloading pipe, gu fixed ring's outside cover is equipped with the loose ring, the one end of loose ring be provided with semi-gear matched with interlock semi-ring gear, the inside of loose ring is provided with a plurality of recesses, all be provided with a plurality of slide bars on the recess, gu be provided with a plurality of connecting axles on the fixed ring, all be provided with a plurality of interlude on the connecting axle gu fixed ring's movable leaf, movable leaf keeps away from the one end of connecting axle and with be provided with the trace between the.
Further, the semi-gear with the outside cover of activity ring is equipped with dampproofing case, dampproofing case with unmanned pontoon fixed connection.
Further, the bottom of discharging pipe all is provided with the sealing washer.
Further, the robot arm is a six-degree-of-freedom robot arm.
Furthermore, the water quality detection group comprises a temperature sensor, a pH value sensor, a conductivity sensor, a dissolved oxygen sensor and a turbidity sensor, and the water quality detection group is connected with the control box through the cable.
The invention has the beneficial effects that: effective bait carries out the volume through using the storage case to deposit, satisfy long-time quantity demand, store the fodder, do not need the manual work to move, use solar cell panel to provide power, through the bait pipeline of being connected with the bait holding vessel, can accomplish the accurate of bait at the feeding ware and put in, need not to put in the fodder on the surface of water on a large scale again, it is extravagant to avoid partial bait, through discharging pipe and receipts material pipe effective connection, make the bait in the storage case can enter into the bait holding vessel through leading material pipe and discharging pipe, be convenient for to the input of bait, make whole simple more effective, and the practicality is strong.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of an aquaculture robot for unmanned underwater operation of users according to an embodiment of the present invention;
FIG. 2 is a schematic view of the unmanned pontoon body of an aquaculture robot for unmanned underwater operation of users according to an embodiment of the invention;
fig. 3 is a schematic diagram of a material control device of an aquaculture robot for user unmanned underwater operation according to an embodiment of the invention.
In the figure:
1. an unmanned floating vessel; 2. an underwater robot; 3. a support frame; 4. a first bearing block; 5. a material storage box; 6. a fixed mount; 7. a second bearing block; 8. a support plate; 9. a solar panel; 10. a feed inlet; 11. a storage battery; 12. a control box; 13. a discharging pipe; 14. a material control device; 15. a material guiding pipe; 16. a discharge pipe; 17. a waterproof sealing valve I; 18. a waterproof motor; 19. an opening; 20. a limiting sleeve; 21. a take-up and pay-off wheel; 22. positioning blocks; 23. a cable; 24. a bait storage tank; 25. a bait conduit; 26. a propeller; 27. a material feeder; 28. a robot arm; 29. a water quality detection group; 30. a conical sleeve; 31. a material receiving pipe; 32. a waterproof sealing valve II; 33. a water outlet pipe; 34. a one-way valve; 35. a water pump; 36. a drain pipe; 37. butting locking pieces; 38. an anti-collision ring; 39. a cover plate; 40. a drive motor; 41. a drive shaft; 42. a half gear; 43. a fixing ring; 44. a movable ring; 45. linking the half gear ring; 46. a groove; 47. a slide bar; 48. a connecting shaft; 49. moving the blades; 50. a linkage rod; 51. and (5) sealing rings.
Detailed Description
For further explanation of the various embodiments, the drawings which form a part of the disclosure and which are incorporated in and constitute a part of this specification, illustrate embodiments and, together with the description, serve to explain the principles of operation of the embodiments, and to enable others of ordinary skill in the art to understand the various embodiments and advantages of the invention, and, by reference to these figures, reference is made to the accompanying drawings, which are not to scale and wherein like reference numerals generally refer to like elements.
According to an embodiment of the invention, an aquaculture robot for unmanned underwater operation of a user is provided.
The first embodiment is as follows:
as shown in fig. 1-3, the aquaculture robot for underwater unmanned operation of a user according to the embodiment of the invention comprises an unmanned floating vessel 1 and an underwater robot 2, wherein the underwater robot 2 is located below the unmanned floating vessel 1, support frames 3 are respectively arranged on two sides of the upper end of the unmanned floating vessel 1, a first receiving block 4 is respectively arranged on the upper ends of the support frames 3, a storage tank 5 is arranged in the middle of the upper part of the unmanned floating vessel 1, the storage tank 5 is connected with the unmanned floating vessel 1 through a fixing frame 6, second receiving blocks 7 are respectively arranged on two sides of the middle part of the lower end of the storage tank 5, a support plate 8 is arranged between the first receiving block 4 and the second receiving block 7, a solar cell panel 9 is respectively arranged on the upper end of the support plate 8, a charging port 10 is arranged in the middle of the upper end of the storage tank 5, storage batteries 11 are respectively arranged on two sides of the upper end of the unmanned floating vessel 1 and located on the side of the fixing frame 6, a control box 12 is arranged at the upper end of the unmanned floating pontoon 1 and between a storage battery 11 at one end and the support frame 3, a discharging pipe 13 is arranged at the lower end of the storage box 5, a material control device 14 is arranged between the upper end of the unmanned floating pontoon 1 and the discharging pipe 13, a material guiding pipe 15 connected with the material control device 14 is arranged at the middle part inside the unmanned floating pontoon 1, a discharging pipe 16 is arranged at one end of the material guiding pipe 15, a waterproof sealing valve I17 is arranged inside the discharging pipe 16, a waterproof motor 18 is arranged at one end of the unmanned floating pontoon 1 far away from the control box 12, an opening 19 is arranged at the middle part of one side of the unmanned floating pontoon 1 close to the waterproof motor 18, a limiting sleeve 20 is arranged at the middle part of the lower end of the unmanned floating pontoon 1 and at the opening 19, and a take-up and pay-off wheel 21 is arranged at the output shaft at the front end, the middle part of the upper end of the shell of the underwater robot 2 is provided with a positioning block 22, a cable 23 which is inserted into the limiting sleeve 20 is arranged between the upper end of the positioning block 22 and the take-up and pay-off wheel 21, the middle part of the inside of the underwater robot 2 is provided with a bait storage tank 24, the lower end of the bait storage tank 24 is provided with a bait pipeline 25, one end of the underwater robot 2 and the side edge of the bait storage tank 24 are provided with a propeller 26, the side edge of the underwater robot 2 which is close to the propeller 26 is provided with a bait feeder 27, the lower end of one side of the underwater robot 2 which is far away from the propeller 26 is provided with a robot arm 28, the side edge of the underwater robot 2 which is located on the robot arm 28 is provided with a water quality detection group 29, the upper end of the underwater robot 2 and the side which is close to the positioning block 22 are provided with a conical sleeve 30, one side, receive the inside bottom of material pipe 31 and be provided with two 32 waterproof closed valves, the middle part one side of receiving material pipe 31 is provided with outlet pipe 33, outlet pipe 33 is close to the side of receiving material pipe 31 is provided with check valve 34, the upper end of propeller 26 be provided with the suction pump 35 that outlet pipe 33 is connected, the suction pump 35 is kept away from the one end of outlet pipe 33 is provided with drain pipe 36, the lower extreme middle part of taper sleeve 30 be provided with discharging pipe 16 matched with butt joint retaining member 37.
Example two:
as shown in fig. 1 to 3, two ends of the unmanned floating pontoon 1 are provided with anti-collision rings 38, and the anti-collision rings 38 are made of rubber. The upper end of charge door 10 is provided with apron 39, apron 39 pass through the loose axle with charge door 10 matches and connects, the inside of apron 39 all is provided with dampproofing pad. The lower extreme of storage case 5 is toper hopper structure, the outside of storage case 5 all is provided with the dampproof course.
As shown in fig. 1-3, the material control device 14 includes a driving motor 40 located at one side inside the fixing frame 6, the lower end of the driving motor 40 is provided with a driving shaft 41, the lower end of the driving shaft 41 is provided with a half gear 42, a fixed ring 43 is arranged between the upper end of the unmanned floating pontoon 1 and the blanking pipe 13, a movable ring 44 is sleeved outside the fixed ring 43, one end of the movable ring 44 is provided with a linkage half gear ring 45 matched with the half gear 42, a plurality of grooves 46 are arranged inside the movable ring 44, a plurality of sliding rods 47 are arranged on the grooves 46, the fixing ring 43 is provided with a plurality of connecting shafts 48, the connecting shafts 48 are provided with a plurality of movable blades 49 inserted into the fixing ring 43, and a linkage rod 50 is arranged between one end of the movable blade 49, which is far away from the connecting shaft 48, and the sliding rod 47. The half gear 42 with the outside cover of activity ring 44 is equipped with dampproofing case, dampproofing case with unmanned pontoon 1 fixed connection.
As shown in FIGS. 1 to 3, the bottom end of the tapping pipe 16 is provided with a sealing ring 51. The robot arm 28 is a six degree of freedom robot arm. The water quality detection group 29 is composed of a temperature sensor, a pH value sensor, a conductivity sensor, a dissolved oxygen sensor and a turbidity sensor, and the water quality detection group 29 is connected with the control box 12 through the cable.
For the convenience of understanding the technical solutions of the present invention, the following detailed description will be made on the working principle or the operation mode of the present invention in the practical process.
In practical application, the solar cell panels 9 at the two ends of the unmanned floating pontoon 1 can supply power to the storage battery 11, so that the problem of effective continuous voyage operation of the unmanned floating pontoon 1 and the underwater robot 2 under the unmanned operation condition is effectively solved, effective bait storage is carried out through the storage box 5, the long-time consumption requirement is met, the requirement of people in the unmanned operation condition is solved, the bait discharge can be controlled through the material control device 14 on the storage box 5, the driving shaft 41 is moved through the driving motor 40, the half gear 42 drives the linkage half gear ring 45 on the movable ring 44 to move, the linkage rod 50 is driven to drive the movable blade 49 to effectively close while the movable ring 44 moves, the bait input amount is effectively controlled under the effective control of the half gear 42, and the anti-collision ring 38 on the unmanned floating pontoon 1 can effectively protect the corners of the unmanned floating pontoon 1, when feeding is needed, accurate feeding of bait can be completed on the feeding device 27 through the bait pipeline 25 connected with the bait storage tank 24, the bait does not need to be fed on the water surface in a large range, partial bait waste is avoided, the propeller 26 on the side edge of the feeding device 27 can effectively add the bait to be diffused, pushing one place is avoided, and the bait is not uniform, when the bait storage tank 24 in the unmanned aquaculture underwater robot 2 senses no bait through the bait storage tank 24, the waterproof motor 18 can be driven to drive the take-up and pay-off wheel 21 to recover the cable 23, so that the whole underwater robot 2 is close to the unmanned floating pontoon 1, the positioning block 22 under the cable 23 is alternately connected with the limiting sleeve 20 under the action of the cable 23, meanwhile, the conical sleeve 30 at one end of the underwater robot 2 is connected with the discharge pipe 16 under the unmanned floating pontoon 1, the discharging pipe 16 is directly inserted into the receiving pipe 31 and fixedly connected with the receiving pipe under the connection of the butt locking part 37, the water in the receiving pipe 31 is discharged through the discharging pipe 33 under the matching of the sealing ring 51 at the bottom end of the discharging pipe 16, meanwhile, the water suction pump 35 is started to effectively suck the water in the discharging pipe 33 and the receiving pipe 31 and discharge the water in the discharging pipe 36, so that the discharging pipe 16 is effectively connected with the receiving pipe 31, the two waterproof sealing valves I17 and the waterproof sealing valves II 32 are simultaneously opened, the bait in the storage tank 5 can enter the bait storage tank 24 through the feeding pipe 15 and the discharging pipe 16, the underwater operation and pickup are effectively carried out through the robot arm 28 arranged at the front end of the underwater robot 2, and various data can be effectively provided for the water quality through the temperature sensor, the pH value sensor, the conductivity sensor, the dissolved oxygen sensor and the turbidity sensor on the water quality detection group 29, the comprehensive detection of the water quality is realized, and meanwhile, the remote data can be transmitted to the control box 12 and transmitted to the working personnel, so that the water quality condition can be known when the water quality monitoring system is far away from the culture area.
In summary, according to the above technical scheme of the present invention, the storage tank 5 is used for storing the effective bait, so as to meet the long-time consumption requirement, store the bait, and do not need to be moved manually, the solar cell panel 9 is used for providing power, the bait feeding device 27 can accurately feed the bait through the bait pipeline 25 connected to the bait storage tank 24, the bait does not need to be fed on the water surface in a large range, so that the waste of part of the bait is avoided, the discharge pipe 16 is effectively connected to the material receiving pipe 31, so that the bait in the storage tank 5 can enter the bait storage tank 24 through the material guiding pipe 15 and the discharge pipe 16, the bait feeding is facilitated, the whole process is simpler and more effective, and the practicability is strong.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. An aquaculture robot for underwater unmanned operation of a user is characterized by comprising an unmanned pontoon (1) and an underwater robot (2), wherein the underwater robot (2) is positioned below the unmanned pontoon (1), two sides of the upper end of the unmanned pontoon (1) are respectively provided with a support frame (3), a first bearing block (4) is arranged at the upper end of each support frame (3), a storage box (5) is arranged in the middle of the upper part of the unmanned pontoon (1), the storage box (5) is connected with the unmanned pontoon (1) through a fixing frame (6), two sides of the middle of the lower end of the storage box (5) are respectively provided with a second bearing block (7), a support plate (8) is arranged between the first bearing block (4) and the second bearing block (7), the upper end of the support plate (8) is respectively provided with a solar cell panel (9), a charging opening (10) is formed in the middle of the upper end of the storage tank (5), storage batteries (11) are arranged on two sides of the upper end of the unmanned floating vessel (1) and on the side edges of the fixing frame (6), a control box (12) is arranged between the storage battery (11) at one end and the support frame (3) at the upper end of the unmanned floating vessel (1), a discharging pipe (13) is arranged at the lower end of the storage tank (5), a material control device (14) is arranged between the upper end of the unmanned floating vessel (1) and the discharging pipe (13), a material guiding pipe (15) connected with the material control device (14) is arranged in the middle of the interior of the unmanned floating vessel (1), a material discharging pipe (16) is arranged at one end of the material guiding pipe (15), a waterproof sealing valve I (17) is arranged inside the material discharging pipe (16), and a waterproof motor (18) is arranged at one end, far away from the control box (12), of the unmanned floating vessel (1, unmanned pontoon (1) is close to one side middle part of waterproof motor (18) is provided with opening (19), the lower extreme of unmanned pontoon (1) just is located the middle part of opening (19) is provided with stop collar (20), the front end output shaft department of waterproof motor (18) is provided with receipts actinobacillus wheel (21).
2. The aquaculture robot for the underwater unmanned operation of the user according to claim 1, wherein a positioning block (22) is arranged in the middle of the upper end of a shell of the underwater robot (2), a cable (23) inserted in the limiting sleeve (20) is arranged between the upper end of the positioning block (22) and the take-up and pay-off wheel (21), a bait storage tank (24) is arranged in the middle of the inside of the underwater robot (2), a bait pipeline (25) is arranged at the lower end of the bait storage tank (24), a propeller (26) is arranged at one end of the underwater robot (2) and on the side edge of the bait storage tank (24), a feeder (27) is arranged on the side edge of the underwater robot (2) close to the propeller (26), and a robot arm (28) is arranged at the lower end of the underwater robot (2) far away from the propeller (26), robot (2) just is located the side of robotic arm (28) is provided with water quality testing group (29), the upper end of robot (2) just is close to locating piece (22) one side is provided with taper sleeve (30) under water, upper end one side of bait holding vessel (24) be provided with receipts material pipe (31) that taper sleeve (30) are connected, the inside bottom of receiving material pipe (31) is provided with waterproof closed valve two (32), middle part one side of receiving material pipe (31) is provided with outlet pipe (33), outlet pipe (33) are close to the side of receiving material pipe (31) is provided with check valve (34), the upper end of propeller (26) be provided with suction pump (35) that outlet pipe (33) are connected, suction pump (35) are kept away from the one end of outlet pipe (33) is provided with drain pipe (36), the lower extreme middle part of taper sleeve (30) be provided with discharging pipe (16) matched with butt joint retaining member (16), (29) 37).
3. The aquaculture robot for the underwater unmanned operation of users according to claim 1, wherein two ends of the unmanned floating vessel (1) are provided with anti-collision rings (38), and the anti-collision rings (38) are made of rubber;
the upper end of charge door (10) is provided with apron (39), apron (39) through the loose axle with charge door (10) cooperate and connect, the inside of apron (39) all is provided with dampproofing pad.
4. The aquaculture robot for underwater unmanned operation of users according to claim 1, characterized in that the lower end of the storage tank (5) is of a conical hopper structure, and moisture-proof layers are arranged outside the storage tank (5).
5. The aquaculture robot for the underwater unmanned operation of the users according to claim 1, wherein the material control device (14) comprises a driving motor (40) positioned on one side inside the fixed frame (6), a driving shaft (41) is arranged at the lower end of the driving motor (40), a half gear (42) is arranged at the lower end of the driving shaft (41), a fixed ring (43) is arranged between the upper end of the unmanned floating pontoon (1) and the discharging pipe (13), a movable ring (44) is sleeved outside the fixed ring (43), a linkage half gear ring (45) matched with the half gear (42) is arranged at one end of the movable ring (44), a plurality of grooves (46) are arranged inside the movable ring (44), a plurality of sliding rods (47) are arranged on each groove (46), a plurality of connecting shafts (48) are arranged on the fixed ring (43), the connecting shaft (48) is provided with a plurality of movable blades (49) penetrating through the fixing ring (43), and a linkage rod (50) is arranged between one end of each movable blade (49) far away from the connecting shaft (48) and the sliding rod (47).
6. An aquaculture robot for underwater unmanned aerial work of users according to claim 5, characterized in that the half gear (42) and the movable ring (44) are externally sleeved with a moisture-proof box, which is fixedly connected with said unmanned floating vessel (1).
7. An aquaculture robot for unmanned underwater operation of users according to claim 1, characterized in that the bottom ends of said discharge pipes (16) are provided with sealing rings (51).
8. A user unmanned underwater aquaculture robot according to claim 1, characterized in that said robot arm (28) is a six degree of freedom robot arm.
9. The aquaculture robot for the underwater unmanned operation of users according to claim 1, wherein the water quality detection group (29) is composed of a temperature sensor, a pH value sensor, a conductivity sensor, a dissolved oxygen sensor and a turbidity sensor, and the water quality detection group (29) is connected with the control box (12) through the cable.
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