CN113216113A - Smart mechanical arm for fishing dead fish on water surface - Google Patents
Smart mechanical arm for fishing dead fish on water surface Download PDFInfo
- Publication number
- CN113216113A CN113216113A CN202110539602.4A CN202110539602A CN113216113A CN 113216113 A CN113216113 A CN 113216113A CN 202110539602 A CN202110539602 A CN 202110539602A CN 113216113 A CN113216113 A CN 113216113A
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- mechanical arm
- dead fish
- arm body
- water
- rotating shaft
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Environmental & Geological Engineering (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Mechanical Means For Catching Fish (AREA)
Abstract
The invention discloses a smart mechanical arm for catching dead fish on water surface, which is arranged on a fishing boat; the upper part of the mechanical arm base is rotatably connected with a mechanical arm body; the water pump is fixed on the outer side wall of the mechanical arm body through bolts; the method comprises the following steps: the accommodating groove is formed in the lower side surface of the mechanical arm body, a rotating shaft is rotatably connected to the mechanical arm body through a bearing, and the front end portion and the rear end portion of the rotating shaft penetrate through the side wall of the mechanical arm body; and the first conveying channel is arranged at the front end of the rotating shaft, and the rear end of the rotating shaft is connected with the second conveying channel. This dexterous type arm is catched to dead fish on surface of water, the structure is little, can arrange in under the less environment in space, and the motion freedom of arm moreover can satisfy the required degree of freedom of using on water completely, and the net is catched to the terminal actuating mechanism of the arm of this mechanism, and it can catch the floater of other different shapes except that the dead fish, and the raspberry is sent and is discerned the object, can accurate discernment.
Description
Technical Field
The invention relates to the technical field of aquaculture, in particular to a smart mechanical arm for fishing dead fish on water surface.
Background
In the aquaculture process, fish death is caused by factors such as fish organisms, fish diseases, nutrition, improper medication, pollution accidents and the like, and in the substrate of lakes and reservoirs seriously eutrophicated or once cage-cultured fish, besides high-content total phosphorus, total nitrogen, organic matters and sulfur-containing compounds in various forms, a large amount of gases such as H2S, CO2, CH4, CO and the like are also coated and dissolved, when the environmental temperature and weather conditions are suddenly changed (such as sudden temperature reduction of dry high-temperature weather, sudden downfall of storm and the like), the overlying water body is caused to generate vertical motion, and further the water body is violently stirred, so that a large-area fish death event in most lakes, a lake pond turning event and the like are caused, the environment pollution is caused, and the vicious circle is seriously caused.
A common overwater fishing boat is formed by driving a boat by workers, patrolling on the surface of a lake or beside a net cage in deep and open sea, and gradually appears in the market with mechanical arms in order to adapt to the rapid development of science and technology, serve the society better with science and technology and benefit people.
The publication number is CN206384119U named as an overwater fishing boat with a mechanical arm, which comprises a boat body, the side wall of the ship body is provided with a storage groove, one side wall of the baffle plate close to the storage groove is fixedly connected with a first fixed pulley block, a rotary disc is rotatably connected on the vertically arranged inner wall of the article placing groove, a slide block is fixedly connected on one side wall of the rotary disc close to the second driving motor, a sliding groove is arranged on one side wall of the object placing groove close to the sliding block, a horizontally arranged movable rod is rotatably connected to the rotary disc, an adjusting plate is fixedly connected on one side wall of the movable rod, a through hole which is vertically arranged is arranged on the outer wall of the top of the adjusting plate, the top of through-hole is equipped with the second assembly pulley, sliding connection has anchor clamps in the through-hole, the top fixedly connected with haulage rope of anchor clamps, the haulage rope is located the inside one end fixedly connected with draw gear of hull. The utility model discloses the working strength of fishing boat workman's operation on water has been reduced.
The above prior art solutions have the following drawbacks: because there is not intelligent detection equipment, still need the workman to carry out naked eye discernment, caused the low of efficiency, fishing device is simple moreover, and is inconvenient during the collection, can not be quick salvage fish, can not be quick carry the ship of salvageing the dead fish of collecting on, need reciprocal control mechanical arm work on a large scale and carry the fishing ship with the dead fish, reduce salvage work efficiency.
Therefore, we propose a smart mechanical arm for fishing dead fish on water surface so as to solve the above-mentioned problems.
Disclosure of Invention
The invention aims to provide a smart mechanical arm for fishing dead fishes on water surface, which solves the problems that no intelligent detection equipment exists in the market at present, workers are required to perform visual identification, the efficiency is low, a fishing device is simple, the collection is inconvenient, and the collected dead fishes cannot be quickly conveyed to a fishing ship.
In order to achieve the purpose, the invention provides the following technical scheme: an ingenious mechanical arm for fishing dead fish on water surface is arranged on a fishing boat;
the upper part of the mechanical arm base is rotatably connected with a mechanical arm body;
the water pump is fixed on the outer side wall of the mechanical arm body through bolts;
the method comprises the following steps:
the accommodating groove is formed in the lower side surface of the mechanical arm body, a rotating shaft is rotatably connected to the mechanical arm body through a bearing, and the front end portion and the rear end portion of the rotating shaft penetrate through the side wall of the mechanical arm body;
the first conveying channel is arranged at the front end of the rotating shaft, the rear end of the rotating shaft is connected with a second conveying channel, and one ends, far away from the rotating shaft, of the first conveying channel and the second conveying channel which are in the same distribution structure are connected with a main channel;
the fixing plate is welded on the inner side wall of the mechanical arm body, a servo motor is fixed on the right side of the fixing plate through a bolt, the output end of the servo motor is connected with a rotating rod, and the rotating rod penetrates through the fixing plate and is rotatably connected with the fixing plate through a bearing;
the driving bevel gear is connected to one end, far away from the servo motor, of the rotating rod in a key mode, the outer side of the driving bevel gear is connected with a driven bevel gear in a meshed mode, and the driven bevel gear is connected to the outer side of the rotating shaft in a key mode;
the supporting rod is rotatably connected to the tail end of the mechanical arm body, and a camera is mounted at the upper end of the supporting rod;
the connecting rod is arranged on the outer side of the supporting rod, one end, far away from the supporting rod, of the connecting rod is connected with a dead fish collecting device, and the bottom of the dead fish collecting device is connected with a water absorbing cover;
the water delivery hose is connected between the water pump and the water suction cover;
the connecting rope is connected to the outer side of the mechanical arm body, and one end, far away from the mechanical arm body, of the connecting rope is connected with a fixing clamp.
Preferably, the fixing clip further comprises a clip body, a damping rotating shaft and a torsion spring:
the clamp comprises 2 clamp bodies, wherein 2 clamp bodies are distributed in a staggered manner, and the 2 clamp bodies are rotationally connected by a damping rotating shaft;
and the torsion spring is connected between one end parts of the 2 clamp bodies.
Preferably, the accommodating grooves are symmetrically arranged about the center line of the mechanical arm body, the main section of each accommodating groove is of an n-shaped structure, the lower end face of the mechanical arm body is of an open-end-shaped structure, the first conveying channel, the second conveying channel and the main channel are conveniently sleeved outside the mechanical arm body through the design, and the first conveying channel, the second conveying channel and the main channel are folded.
Preferably, the first conveying channel and the second conveying channel are coaxially connected, the first conveying channel, the second conveying channel and the side section of the main channel, which is internally communicated with each other, form a concave structure, the first conveying channel, the second conveying channel and the main channel are both of smooth structures, and sufficient dead fish entering spaces can be reserved by the aid of the main channel in the design, and the dead fish can be conveyed through the first conveying channel and the second conveying channel.
Preferably, the elevation section of the inner wall of the main channel is distributed in an inclined shape, the main channel is clamped with the accommodating grooves, dead fish entering the main channel can be smoothly discharged into the first conveying channel and the second conveying channel through the design, and accumulation in the main channel is avoided.
Preferably, the camera with the fish collection device of dying is vertical form and installs on the bracing piece, and the fish collection device of dying is mesh column structure, and the usable camera of this design shoots the tracking to the fish of dying, and the fish collection device of being convenient for control of dying salvages the fish of dying.
Preferably, the water delivery hose passes through 3 in proper order the fixation clamp is laid the outside of arm body, and the water delivery hose with the inside intercommunication of cover absorbs water, and this design can realize the absorption to rivers in the dead fish collection device, and the dead fish is collected in the dead fish collection device.
Preferably, the other end of the 2 clamps that are distributed in a staggered manner and are far away from the torsion spring surrounds a circular structure, and the opposite surfaces of the 2 clamps are made of rubber, so that the clamps can be used for clamping and fixing the water delivery hose in the design, and the water delivery hose can be laid in order.
Compared with the prior art, the invention has the beneficial effects that: the water surface dead fish catching smart mechanical arm,
(1) the dead fish catching mechanical arm is small in structure and can be placed in an environment with a small space, the mechanical arm can move freely and can completely meet the degree of freedom required by use on water, the tail end executing mechanism of the mechanical arm of the mechanism is a catching net, other floaters in different shapes except dead fish can be caught, and objects can be identified by the raspberry group accurately;
(2) the water conveying pipeline consisting of the water pump, the hose and the water suction cover can adsorb water flow in the dead fish collecting device, so that an adsorption vortex is formed inside the dead fish collecting device, dead fish around the dead fish collecting device can be quickly collected into the dead fish collecting device, and the dead fish can be quickly salvaged;
(3) the conveying mechanism who drives first transfer passage, second transfer passage and main entrance and constitute expandes, and the dead fish that will die in the fish collection device that can be quick is dumped into conveying mechanism, utilizes conveying mechanism quick to carrying the fish of dying, avoids reciprocating to operate the arm on a large scale, improves the convenience that the device used.
Drawings
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic bottom view of the first transfer passage of the present invention;
FIG. 3 is a schematic view of a main sectional structure of the robot arm body according to the present invention;
FIG. 4 is a schematic side sectional view of the main channel of the present invention;
FIG. 5 is a schematic view of a first transfer passage in cross-section according to the present invention;
fig. 6 is a schematic view of the overall structure of the fixing clip of the present invention.
In the figure: 1. a mechanical arm base; 2. a mechanical arm body; 3. a receiving groove; 4. a rotating shaft; 5. a first conveyance path; 6. a second conveyance path; 7. a main channel; 8. driven bevel gears; 9. driving bevel gears; 10. a rotating rod; 11. a fixing plate; 12. a servo motor; 13. a water pump; 14. a water delivery hose; 15. a water absorbing cover; 16. a support bar; 17. a camera; 18. a connecting rod; 19. a dead fish collection device; 20. connecting ropes; 21. a fixing clip; 2101. a clip body; 2102. a damping rotating shaft; 2103. a torsion spring.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, the present invention provides a technical solution: an ingenious mechanical arm for fishing dead fish on water surface is arranged on a fishing boat;
the upper part of the mechanical arm base 1 is rotatably connected with a mechanical arm body 2;
the water pump 13 is fixed on the outer side wall of the mechanical arm body 2 through bolts;
the method comprises the following steps:
the accommodating groove 3 is formed in the lower side surface of the mechanical arm body 2, the mechanical arm body 2 is rotatably connected with a rotating shaft 4 through a bearing, and the front end part and the rear end part of the rotating shaft 4 penetrate through the side wall of the mechanical arm body 2;
the first conveying channel 5 is arranged at the front end of the rotating shaft 4, the rear end of the rotating shaft 4 is connected with a second conveying channel 6, and one ends, far away from the rotating shaft 4, of the first conveying channel 5 and the second conveying channel 6 which are the same in distribution structure are connected with a main channel 7;
the fixing plate 11 is welded on the inner side wall of the mechanical arm body 2, a servo motor 12 is fixed on the right side of the fixing plate 11 through a bolt, the output end of the servo motor 12 is connected with a rotating rod 10, and the rotating rod 10 penetrates through the fixing plate 11 and is rotatably connected with the fixing plate 11 through a bearing;
the driving bevel gear 9 is connected to one end, far away from the servo motor 12, of the rotating rod 10 in a key mode, the driven bevel gear 8 is connected to the outer side of the driving bevel gear 9 in a meshed mode, and the driven bevel gear 8 is connected to the outer side of the rotating shaft 4 in a key mode;
the support rod 16 is rotatably connected to the tail end of the mechanical arm body 2, and a camera 17 is mounted at the upper end of the support rod 16;
the connecting rod 18 is arranged on the outer side of the supporting rod 16 and is connected with one end, far away from the supporting rod 16, of the connecting rod 18, a dead fish collecting device 19 is connected, and the bottom of the dead fish collecting device 19 is connected with the water absorption cover 15;
a water delivery hose 14 connected between the water pump 13 and the water absorption cover 15;
connect rope 20, connect in the outside of arm body 2 to the one end that rope 20 kept away from arm body 2 is connected with fixation clamp 21.
The fixing clip 21 further comprises a clip body 2101, a damping rotating shaft 2102 and a torsion spring 2103: the number of the clamp bodies 2101 is 2, and the 2 clamp bodies 2101 are rotatably connected by a damping rotating shaft 2102; a torsion spring 2103 is connected between the end portions of the 2 clamp bodies 2101. The camera 17 and the dead fish collecting device 19 are vertically arranged on the supporting rod 16, and the dead fish collecting device 19 is of a mesh structure. The water delivery hose 14 sequentially penetrates through the 3 fixing clamps 21 and is laid outside the mechanical arm body 2, and the water delivery hose 14 and the water absorption cover 15 are communicated with each other. The other ends of the 2 staggered clamps 2101 far away from the torsion spring 2103 enclose a circular ring structure, and the opposite surfaces of the 2 clamps 2101 are made of rubber.
Controlling the mechanical arm body 2 to work, monitoring and shooting dead fish in the deep water net cage by using the camera 17, identifying the dead fish by using an image sensor in a matching way, enhancing the image after identifying the dead fish, transmitting the data to a detection frame built by a raspberry group, controlling the ship body to move to be close to the dead fish after determining the data as a target, controlling the position of the dead fish collecting device 19 by using the mechanical arm body 2, placing the dead fish collecting device 19 into the deep water net cage for dead fish catching, simultaneously switching on a power supply of the water pump 13, connecting the water pump 13 with the water suction cover 15 by using the water conveying hose 14, installing the water suction cover 15 at the bottom of the dead fish collecting device 19 which is distributed in a mesh shape, adsorbing water flow in the dead fish collecting device 19 by using the water conveying hose 14 and the water suction cover 15 by using the water conveying hose 13, forming an adsorption vortex in the dead fish collecting device 19, and collecting the dead fish around the dead fish collecting device 19 quickly into the dead fish collecting device 19, the position of the dead fish collecting device 19 is moved by matching with the mechanical arm body 2, the dead fish can be quickly fished up, water flow absorbed by the water pump 13 flows back to the deep water net box from the water delivery hose 14 of the water outlet, the water delivery hose 14 is distributed outside the mechanical arm body 2 and can be pressed to close to the end parts of 2 clamp bodies 2101 of the torsion spring 2103, the 2 clamp bodies 2101 are controlled to rotate through the damping rotating shaft 2102, the torsion spring 2103 also synchronously accumulates force, the fixing clamp 21 is opened, the water delivery hose 14 is clamped and fixed, and the water delivery hose 14 is prevented from being scattered.
The storage grooves 3 are symmetrically arranged about the center line of the robot arm body 2, the main section of the storage groove 3 is an "n" shaped structure, and the lower end surface of the robot arm body 2 is an open structure. The first conveying channel 5 and the second conveying channel 6 are coaxially connected, the first conveying channel 5 and the second conveying channel 6 and the side section of the main channel 7, the inside of which is communicated with each other, form a concave structure, and the inside of the first conveying channel 5, the inside of the second conveying channel 6 and the inside of the main channel 7 are both smooth structures. The main channel 7 has an inclined inner wall profile, and the main channel 7 is engaged with the receiving groove 3.
The working principle is as follows: when the smart mechanical arm for fishing dead fish on the water surface is used, firstly, a mechanical arm base 1 is installed on a fishing ship, a mechanical arm body 2 is controlled to work, a camera 17 is installed at the tail end of a dead fish collecting device 19, dead fish in a deep water net cage is monitored and shot by the camera 17, a target is determined, the dead fish collecting device 19 is placed in the deep water net cage for fishing the dead fish, a water pump 13 is connected with a power supply, an adsorption vortex is formed in the dead fish collecting device 19, the dead fish are quickly fished up, a fixing clamp 21 is opened, a water hose 14 is clamped and fixed, then the work of the water pump 13 is stopped, the servo motor 12 is connected with the power supply, a conveying mechanism formed by a first conveying channel 5, a second conveying channel 6 and a main channel 7 is unfolded, the dead fish in the dead fish collecting device 19 is dumped from the conveying mechanism and conveyed to the fishing ship by the conveying mechanism, the next fishing is then continued according to the above steps, which are not described in detail in this specification, and which are well known to those skilled in the art.
Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that various changes in the embodiments and/or modifications of the invention can be made, and equivalents and modifications of some features of the invention can be made without departing from the spirit and scope of the invention.
Claims (8)
1. An ingenious mechanical arm for fishing dead fish on water surface is arranged on a fishing boat;
the upper part of the mechanical arm base is rotatably connected with a mechanical arm body;
the water pump is fixed on the outer side wall of the mechanical arm body through bolts;
the method is characterized in that: the method comprises the following steps:
the accommodating groove is formed in the lower side surface of the mechanical arm body, a rotating shaft is rotatably connected to the mechanical arm body through a bearing, and the front end portion and the rear end portion of the rotating shaft penetrate through the side wall of the mechanical arm body;
the first conveying channel is arranged at the front end of the rotating shaft, the rear end of the rotating shaft is connected with a second conveying channel, and one ends, far away from the rotating shaft, of the first conveying channel and the second conveying channel which are in the same distribution structure are connected with a main channel;
the fixing plate is welded on the inner side wall of the mechanical arm body, a servo motor is fixed on the right side of the fixing plate through a bolt, the output end of the servo motor is connected with a rotating rod, and the rotating rod penetrates through the fixing plate and is rotatably connected with the fixing plate through a bearing;
the driving bevel gear is connected to one end, far away from the servo motor, of the rotating rod in a key mode, the outer side of the driving bevel gear is connected with a driven bevel gear in a meshed mode, and the driven bevel gear is connected to the outer side of the rotating shaft in a key mode;
the supporting rod is rotatably connected to the tail end of the mechanical arm body, and a camera is mounted at the upper end of the supporting rod;
the connecting rod is arranged on the outer side of the supporting rod, one end, far away from the supporting rod, of the connecting rod is connected with a dead fish collecting device, and the bottom of the dead fish collecting device is connected with a water absorbing cover;
the water delivery hose is connected between the water pump and the water suction cover;
the connecting rope is connected to the outer side of the mechanical arm body, and one end, far away from the mechanical arm body, of the connecting rope is connected with a fixing clamp.
2. The smart mechanical arm for fishing dead fish on water surface of claim 1, wherein: the fixing clamp further comprises a clamp body, a damping rotating shaft and a torsion spring:
the clamp comprises 2 clamp bodies, wherein 2 clamp bodies are distributed in a staggered manner, and the 2 clamp bodies are rotationally connected by a damping rotating shaft;
and the torsion spring is connected between one end parts of the 2 clamp bodies.
3. The smart mechanical arm for fishing dead fish on water surface of claim 1, wherein: the accommodating grooves are symmetrically arranged about the center line of the mechanical arm body, the main section of each accommodating groove is of an n-shaped structure, and the lower end face of the mechanical arm body is of an open structure.
4. The smart mechanical arm for fishing dead fish on water surface of claim 1, wherein: the first conveying channel and the second conveying channel are coaxially connected, the first conveying channel and the second conveying channel form a concave structure with the side sections of the main channel, the inner parts of the first conveying channel, the second conveying channel and the main channel are smooth structures.
5. The smart mechanical arm for fishing dead fish on water surface of claim 1, wherein: the elevation section of the inner wall of the main channel is distributed in an inclined shape, and the main channel is clamped with the accommodating groove.
6. The smart mechanical arm for fishing dead fish on water surface of claim 1, wherein: the camera with the fish collection device that dies is vertically installed on the bracing piece, and the fish collection device that dies is mesh column structure.
7. The smart mechanical arm for fishing dead fish on water surface of claim 1, wherein: the water delivery hose sequentially penetrates through the 3 fixing clamps and is laid outside the mechanical arm body, and the water delivery hose is communicated with the inside of the water absorption cover.
8. The smart mechanical arm for fishing dead fish on water surface of claim 2, wherein: and the other end parts of the 2 clamping bodies which are distributed in a staggered manner and are far away from the torsion spring surround a circular structure, and the opposite surfaces of the 2 clamping bodies are made of rubber materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110539602.4A CN113216113A (en) | 2021-05-18 | 2021-05-18 | Smart mechanical arm for fishing dead fish on water surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110539602.4A CN113216113A (en) | 2021-05-18 | 2021-05-18 | Smart mechanical arm for fishing dead fish on water surface |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113216113A true CN113216113A (en) | 2021-08-06 |
Family
ID=77092552
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110539602.4A Withdrawn CN113216113A (en) | 2021-05-18 | 2021-05-18 | Smart mechanical arm for fishing dead fish on water surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113216113A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114735163A (en) * | 2022-05-20 | 2022-07-12 | 广东海洋大学 | Robot is salvaged to dead fish under water |
| CN116062102A (en) * | 2023-01-16 | 2023-05-05 | 江苏和合水环境有限公司 | Blue algae capturing device for water surface |
| CN117901146A (en) * | 2024-03-20 | 2024-04-19 | 广东海洋大学 | Salvaging mechanical arm |
-
2021
- 2021-05-18 CN CN202110539602.4A patent/CN113216113A/en not_active Withdrawn
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114735163A (en) * | 2022-05-20 | 2022-07-12 | 广东海洋大学 | Robot is salvaged to dead fish under water |
| CN116062102A (en) * | 2023-01-16 | 2023-05-05 | 江苏和合水环境有限公司 | Blue algae capturing device for water surface |
| CN116062102B (en) * | 2023-01-16 | 2023-09-05 | 江苏和合水环境有限公司 | Blue algae capturing device for water surface |
| CN117901146A (en) * | 2024-03-20 | 2024-04-19 | 广东海洋大学 | Salvaging mechanical arm |
| CN117901146B (en) * | 2024-03-20 | 2024-05-28 | 广东海洋大学 | Salvaging mechanical arm |
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Application publication date: 20210806 |