CN107646305B - Laver collection robot - Google Patents
Laver collection robot Download PDFInfo
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- CN107646305B CN107646305B CN201711152786.9A CN201711152786A CN107646305B CN 107646305 B CN107646305 B CN 107646305B CN 201711152786 A CN201711152786 A CN 201711152786A CN 107646305 B CN107646305 B CN 107646305B
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- 241000206607 Porphyra umbilicalis Species 0.000 title claims abstract description 173
- 230000003287 optical effect Effects 0.000 claims description 21
- 241000252254 Catostomidae Species 0.000 claims description 12
- 238000003491 array Methods 0.000 claims description 3
- 238000003306 harvesting Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000008602 contraction Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D44/00—Harvesting of underwater plants, e.g. harvesting of seaweed
- A01D44/02—Harvesting of underwater plants, e.g. harvesting of seaweed of laver
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- Life Sciences & Earth Sciences (AREA)
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Abstract
The utility model provides a laver collection robot, includes base, laver storage section, laver promotion part, laver fishing part, its characterized in that: the laver storage part slides in a first rectangular groove of the base, the six sliding blocks are respectively installed in six dovetail grooves in a sliding mode, and the two racks are respectively meshed with the two gears; four sixth pneumatic cylinders through laver fishing part shrink and drive four sucking discs and get off from the base, on next step, the position of second turbine is controlled through two third steering wheel and two seventh pneumatic cylinders, it reaches laver growth area to drive the second turbine through fourth step motor, on next step, it moves forward to drive the slide through two ninth pneumatic cylinder extensions, drive two band pulleys through two fifth step motor simultaneously and drive the saw area with the laver saw off, and put the laver into laver fishing box, realize the automation and reap the laver, the efficiency of laver reaping is improved.
Description
Technical Field
The invention relates to the technical field of marine product picking, in particular to a laver acquisition robot.
Background
When the laver is collected, collection personnel usually need to submerge under the sea bottom to collect the laver, and the machine capable of automatically collecting the laver is urgently needed because the buoyancy exists in the sea bottom, so that the force is not needed during collection.
Disclosure of Invention
Aiming at the problems, the invention provides a laver acquisition robot, four suckers are driven to fall off from a base through contraction of four sixth hydraulic cylinders of a laver fishing part, the position of a second turbine is controlled through two third steering engines and two seventh hydraulic cylinders, the second turbine is driven through a fourth stepping motor to drive the laver fishing part to reach a laver growth area, a sliding plate is driven to move forwards through extension of two ninth hydraulic cylinders, two belt wheels are driven through two fifth stepping motors to drive a saw belt to saw off laver, and the laver is placed in a laver fishing box, so that automatic laver harvesting is realized, and the laver harvesting efficiency is improved.
The technical scheme adopted by the invention is as follows: the utility model provides a laver collection robot, includes base, laver storage section, laver promotion part, laver fishing part, its characterized in that: the laver storage part slides in the first rectangular groove of the base, six sliding blocks of the laver storage part are respectively installed in six dovetail grooves in a sliding mode, and two racks of the laver storage part are respectively meshed with two gears; the upper surface of a first telescopic sleeve of the laver pushing part is fixedly arranged below the bottom plate, and the laver pushing part is positioned at the position behind the second rectangular groove; four suckers of the laver fishing part are sucked in four circular grooves below the base;
the base comprises a bottom plate, a first rectangular groove, a second rectangular groove, six dovetail grooves, two first stepping motors, two gears, two supporting plates, two first hydraulic cylinders, a first hydraulic cylinder top plate, two second stepping motors, four optical axes, two lead screws, a lead screw sliding plate, two optical axis fixing plates, a laver top block, four circular grooves, four third stepping motor bases, four third stepping motors and four first propellers, wherein the bottom plate is a rectangular plate, the center of the top plate is provided with the second rectangular groove, and the left side and the right side of the second rectangular groove are respectively provided with one supporting plate; a first rectangular groove is arranged on the bottom plate and is positioned in front of a second rectangular groove; two dovetail grooves are arranged on the front side of the first rectangular groove, and two dovetail grooves are respectively arranged on the left side and the right side of the first rectangular groove; the bottoms of the two first hydraulic cylinder bodies are respectively fixedly arranged on the supporting plates on the bottom plate, the positions of the two first hydraulic cylinder bodies are respectively arranged at the left side and the right side of the two supporting plates, and piston rods of the two first hydraulic cylinder bodies are fixedly connected with the front of the top plate of the first hydraulic cylinder; the four optical axes are respectively and fixedly arranged at four corners behind the top plate of the first hydraulic cylinder, and the two optical axis fixing plates are respectively and fixedly arranged on the four optical axes; the two second stepping motors are horizontally arranged, the side surfaces of the two second stepping motors are respectively and fixedly arranged in grooves on the left side and the right side behind the top plate of the first hydraulic cylinder, and motor shafts of the two second stepping motors are respectively and fixedly connected with one ends of the two lead screws through couplers; the other ends of the two lead screws are respectively and rotatably arranged in the circular holes of the two optical axis fixing plates; round holes at four corners of the screw rod sliding plate are respectively arranged on four optical axes in a sliding manner, two screw rod nuts are arranged in the screw rod bracket, and the two screw rod nuts are respectively matched with the two screw rods; a third stepping motor base is respectively arranged at four corners below the bottom plate, the four third stepping motors are vertically and downwards placed, the side surfaces of the four third stepping motors are fixedly arranged in the third stepping motor bases, and motor shafts of the four third stepping motors are respectively and fixedly connected with the four first propellers; four circular grooves are arranged below the bottom plate and are divided into two groups, and the positions of the four circular grooves are respectively arranged at the left side and the right side of the second rectangular groove;
the laver storage part comprises a laver storage part shell, six sliding blocks, two racks, a laver baffle, a second hydraulic cylinder top plate, two second hydraulic cylinders and four laver storage grooves, wherein the laver storage part shell is slidably arranged in the first rectangular groove; the front of a shell of the laver storage part is provided with two sliding blocks, the left side and the right side of the shell of the laver storage part are respectively provided with two sliding blocks which are respectively arranged in six dovetail grooves in a sliding way, the left side and the right side of the shell of the laver storage part are respectively provided with a rack, and the two racks are respectively meshed with two gears; four laver storing grooves are arranged in the shell of the laver storing part, the bottoms of the cylinder bodies of the two second hydraulic cylinders are fixedly arranged on the shell of the laver storing part, and the end parts of the piston rods of the two second hydraulic cylinders are fixedly connected with the lower surface of the top plate of the second hydraulic cylinder; the upper surface of the laver baffle is fixedly arranged below the top plate of the second hydraulic cylinder;
the laver pushing part comprises a first telescopic sleeve, a first telescopic rod, a third hydraulic cylinder, a first steering engine, a second telescopic sleeve, a fourth hydraulic cylinder, a second telescopic rod, an L-shaped plate, four fifth hydraulic cylinders and a fifth hydraulic cylinder top plate, the upper surface of the first telescopic sleeve is fixedly arranged below the bottom plate, the upper surface of the first telescopic sleeve is positioned behind the second rectangular groove, the upper surface of the first telescopic rod is slidably arranged in the groove below the first telescopic sleeve, the bottom of a cylinder body of the third hydraulic cylinder is fixedly arranged on a supporting plate on the side surface of the first telescopic sleeve, and the end part of a piston rod of the third hydraulic cylinder is fixedly connected with the supporting plate on the side surface of the first telescopic rod; the first steering engine is vertically and downwards placed, the side face of the first steering engine is fixedly arranged in a groove below the first telescopic rod, and a motor shaft of the first steering engine is fixedly connected with the upper face of the second telescopic sleeve; the right side of the second telescopic rod is slidably arranged in a groove in the left side of the second telescopic sleeve, the bottom of the cylinder body of the fourth hydraulic cylinder is fixedly arranged on a supporting plate below the second telescopic sleeve, and the end part of a piston rod of the fourth hydraulic cylinder is fixedly connected with the supporting plate below the second telescopic rod; the upper surface of the L-shaped plate is fixedly arranged below the second telescopic rod, the bottoms of the four fifth hydraulic cylinder bodies are fixedly arranged at four corners on the inner side of the L-shaped plate, and the end parts of piston rods of the four fifth hydraulic cylinder bodies are fixedly connected with the lower surface of a top plate of the fifth hydraulic cylinder;
the laver fishing part comprises a laver fishing box, four sixth hydraulic cylinders, four suckers, two second steering engine bases, two second steering engines, two fixing plates, four third telescopic sleeve supporting plates, two third steering engines, two third telescopic sleeves, two third telescopic rods, two seventh hydraulic cylinders, two second turbine shells, two second turbine supporting plates, two second turbines, two fourth stepping motors, two eighth hydraulic cylinders, a laver fishing part baffle, an eighth hydraulic cylinder top plate, a sliding plate, a saw belt, two fifth stepping motors, two fifth stepping motor fixing plates, two belt wheels and two ninth hydraulic cylinders, wherein the laver fishing box is a rectangular sleeve, and rectangular grooves in linear arrays are respectively formed in the front side and the rear side of the laver fishing box; the left side and the right side of the laver fishing box are respectively provided with two supporting plates, the bottoms of the cylinder bodies of the four sixth hydraulic cylinders are fixedly arranged on the four supporting plates on the left side and the right side of the laver fishing box, and the end parts of piston rods of the four sixth hydraulic cylinders are fixedly connected with the suckers; a second steering engine base is respectively arranged on the left side and the right side of the second steering engine base, the two second steering engines are horizontally arranged, the side surfaces of the two second steering engines are fixedly arranged in the second steering engine bases, and a motor shaft of each second steering engine is fixedly connected with the inner side of the corresponding fixed plate; two third telescopic sleeve supporting plates are arranged on the outer side of the fixed plate, the third steering engine is horizontally arranged, the side face of the third steering engine is fixedly arranged on the outer side of the fixed plate, and a motor shaft of the third steering engine is fixedly connected with a rotating shaft on the third telescopic sleeve supporting plates through a coupler; the third telescopic sleeve is fixedly arranged on the rotating shaft above the third telescopic sleeve supporting plates and is positioned between the two third telescopic sleeve supporting plates; the third telescopic rod is slidably arranged in a groove at the outer side of the third telescopic sleeve, and the outer side of the third telescopic rod is fixedly connected with the second turbine supporting plate; a second turbine supporting plate is arranged on the inner side of the second turbine shell, the fourth stepping motor is horizontally arranged, the side surface of the fourth stepping motor is fixedly arranged in a groove on the outer side of the third telescopic rod, and a motor shaft of the fourth stepping motor penetrates through a round hole in the middle of the second turbine supporting plate and is fixedly connected with the second turbine; the end parts of the cylinder bodies of the two eighth hydraulic cylinders are fixedly arranged behind the laver fishing box, the end parts of the piston rods of the two eighth hydraulic cylinders are fixedly connected with the front sides of the top plates of the eighth hydraulic cylinders, and the upper surfaces of the laver fishing part baffles are fixedly arranged below the top plates of the eighth hydraulic cylinders; the bottoms of the cylinder bodies of the two ninth hydraulic cylinders are fixedly arranged on a supporting plate behind the laver fishing box, and the end parts of piston rods of the ninth hydraulic cylinders are fixedly connected with the supporting plate on the side surface of the sliding plate; the sliding plate is slidably mounted on two sliding blocks at the rear side of the laver fishing box, two fifth stepping motor fixing plates are arranged behind the sliding plate, the two fifth stepping motors are horizontally placed, the side faces of the two fifth stepping motors are fixedly mounted on the outer sides of the fifth stepping motor fixing plates, motor shafts of the two fifth stepping motors are fixedly connected with belt wheels, and the saw belt is mounted on the two belt wheels.
The invention has the beneficial effects that: four sixth pneumatic cylinders through laver fishing part shrink and drive four sucking discs and get off from the base, on next step, the position of second turbine is controlled through two third steering wheel and two seventh pneumatic cylinders, it reaches laver growth area to drive the second turbine through fourth step motor, on next step, it moves forward to drive the slide through two ninth pneumatic cylinder extensions, drive two band pulleys through two fifth step motor simultaneously and drive the saw area with the laver saw off, and put the laver into laver fishing box, realize the automation and reap the laver, the efficiency of laver reaping is improved.
Drawings
Fig. 1, 2 and 3 are schematic overall structural diagrams of the present invention.
Fig. 4, 5 and 6 are schematic structural views of the base of the present invention.
Fig. 7 and 8 are schematic views showing the structure of a laver storage part according to the present invention.
Fig. 9 and 10 are schematic views showing the structure of a laver pushing part according to the present invention.
Fig. 11, 12 and 13 are schematic structural views of a laver fishing part according to the present invention.
Reference numerals: 1-base, 2-laver storage part, 3-laver pushing part, 4-laver fishing part, 101-base plate, 102-first rectangular groove, 103-second rectangular groove, 104-dovetail groove, 105-first stepping motor, 106-gear, 107-supporting plate, 108-first hydraulic cylinder, 109-first hydraulic cylinder top plate, 110-second stepping motor, 111-optical axis, 112-lead screw, 113-lead screw sliding plate, 114-optical axis fixing plate, 115-laver top block, 116-circular groove, 117-third stepping motor base, 118-third stepping motor, 119-first propeller, 201-laver storage part shell, 202-sliding block, 203-rack, 204-laver baffle, etc, 205-a second hydraulic cylinder top plate, 206-a second hydraulic cylinder, 207-a laver storage tank, 301-a first telescopic sleeve, 302-a first telescopic rod, 303-a third hydraulic cylinder, 304-a first steering engine, 305-a second telescopic sleeve, 306-a fourth hydraulic cylinder, 307-a second telescopic rod, 308-an L-shaped plate, 309-a fifth hydraulic cylinder, 310-a fifth hydraulic cylinder top plate, 401-a laver fishing box, 402-a sixth hydraulic cylinder, 403-a sucker, 404-a second rudder base, 405-a second steering engine, 406-a fixed plate, 407-a third telescopic sleeve supporting plate, 408-a third steering engine, 409-a third telescopic sleeve, 410-a third telescopic rod, 411-a seventh hydraulic cylinder, 412-a second turbine shell, 413-a second turbine supporting plate, 414-a second turbine, 415-a fourth stepping motor, 416-an eighth hydraulic cylinder, 417-a laver fishing part baffle, 418-an eighth hydraulic cylinder top plate, 419-a sliding plate, 420-a saw belt, 421-a fifth stepping motor, 422-a fifth stepping motor fixing plate, 423-a belt wheel and 424-a ninth hydraulic cylinder.
Detailed Description
The technical scheme of the invention is further specifically described by the following embodiments and the accompanying drawings.
Embodiments are shown in fig. 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, and 13, and a laver collecting robot includes a base 1, a laver storage part 2, a laver pushing part 3, and a laver fishing part 4, and is characterized in that: the laver storage part 2 slides in the first rectangular groove 102 of the base 1, six sliding blocks 202 of the laver storage part 2 are respectively and slidably arranged in six dovetail grooves 104, and two racks 203 of the laver storage part 2 are respectively meshed with two gears 106; the upper surface of the first telescopic sleeve 301 of the laver push part 3 is fixedly arranged below the bottom plate 101, and the position of the first telescopic sleeve is at the back position of the second rectangular groove 103; four sucking discs 403 of the laver fishing part 4 are sucked in four circular grooves 116 below the base 1;
the base 1 comprises a bottom plate 101, a first rectangular groove 102, a second rectangular groove 103, six dovetail grooves 104, two first stepping motors 105, two gears 106, two supporting plates 107, two first hydraulic cylinders 108, a first hydraulic cylinder top plate 109, two second stepping motors 110, four optical axes 111, two lead screws 112, a lead screw sliding plate 113, two optical axis fixing plates 114, a laver top block 115, four circular grooves 116, four third stepping motor seats 117, four third stepping motors 118 and four first propellers 119, wherein the bottom plate 101 is a rectangular plate, the second rectangular groove 103 is arranged in the center of the bottom plate, and the supporting plates 107 are respectively arranged on the left side and the right side of the second rectangular groove 103; a first rectangular groove 102 is arranged on the bottom plate 101 and is positioned in front of a second rectangular groove 103; two dovetail grooves 104 are arranged on the front side of the first rectangular groove 102, and two dovetail grooves 104 are respectively arranged on the left side and the right side of the first rectangular groove 102; the bottoms of the cylinder bodies of the two first hydraulic cylinders 108 are respectively and fixedly arranged on the supporting plates on the bottom plate 101, the positions of the bottoms are respectively arranged at the left side and the right side of the two supporting plates 107, and the piston rods of the two first hydraulic cylinders are fixedly connected with the front of the top plate 109 of the first hydraulic cylinder; the four optical axes 111 are respectively and fixedly installed at four corners behind the first hydraulic cylinder top plate 109, and the two optical axis fixing plates 114 are respectively and fixedly installed on the four optical axes 111; the two second stepping motors 110 are horizontally arranged, the side surfaces of the two second stepping motors are respectively and fixedly arranged in grooves on the left side and the right side behind the top plate 109 of the first hydraulic cylinder, and motor shafts of the two second stepping motors are respectively and fixedly connected with one ends of two lead screws 112 through couplers; the other ends of the two lead screws 112 are respectively rotatably mounted in the circular holes of the two optical axis fixing plates 114; round holes at four corners of the screw sliding plate 113 are respectively slidably mounted on the four optical axes 111, and two screw nuts are mounted inside the screw bracket and respectively matched with the two screws 112; a third stepping motor seat 117 is respectively arranged at four corners below the bottom plate 101, the four third stepping motors 118 are vertically and downwardly placed, the side surfaces of the four third stepping motors are fixedly arranged in the third stepping motor seat 117, and motor shafts of the four third stepping motors are respectively and fixedly connected with four first propellers 119; four circular grooves 116 are arranged below the bottom plate 101 and are divided into two groups, and the positions of the two groups are respectively arranged at the left side and the right side of the second rectangular groove 103;
the laver storage part 2 comprises a laver storage part casing 201, six sliders 202, two racks 203, a laver blocking plate 204, a second hydraulic cylinder top plate 205, two second hydraulic cylinders 206 and four laver storage grooves 207, wherein the laver storage part casing 201 is slidably mounted in the first rectangular groove 102; two sliding blocks 202 are arranged in front of the laver storage part casing 201, two sliding blocks 202 are arranged on the left side and the right side of the laver storage part casing 201 respectively and are arranged in six dovetail grooves 104 in a sliding mode, a rack 203 is arranged on the left side and the right side of the laver storage part casing 201 respectively, and the two racks 203 are meshed with two gears 106 respectively; four laver storing grooves 207 are provided in the laver storing part case 201, the bottoms of the two second hydraulic cylinders 206 are fixedly installed on the laver storing part case 201, and the end of the piston rod is fixedly connected with the lower side of the second hydraulic cylinder top plate 205; the upper surface of the laver baffle plate 204 is fixedly arranged below the top plate 205 of the second hydraulic cylinder;
the laver pushing part 3 comprises a first telescopic sleeve 301, a first telescopic rod 302, a third hydraulic cylinder 303, a first steering engine 304, a second telescopic sleeve 305, a fourth hydraulic cylinder 306, a second telescopic rod 307, an L-shaped plate 308, four fifth hydraulic cylinders 309 and a fifth hydraulic cylinder top plate 310, wherein the upper surface of the first telescopic sleeve 301 is fixedly arranged below the bottom plate 101 and is positioned at the position behind the second rectangular groove 103, the upper surface of the first telescopic rod 302 is slidably arranged in a groove below the first telescopic sleeve 301, the bottom of a cylinder body of the third hydraulic cylinder 303 is fixedly arranged on a supporting plate on the side surface of the first telescopic sleeve 301, and the end part of a piston rod of the third hydraulic cylinder is fixedly connected with the supporting plate on the side surface of the first telescopic rod 302; the first steering engine 304 is vertically and downwardly arranged, the side surface of the first steering engine is fixedly arranged in a groove below the first telescopic rod 302, and a motor shaft of the first steering engine is fixedly connected with the upper surface of the second telescopic sleeve 305; the right side of the second telescopic rod 307 is slidably mounted in a groove on the left side of the second telescopic sleeve 305, the bottom of the cylinder body of the fourth hydraulic cylinder 306 is fixedly mounted on a support plate below the second telescopic sleeve 305, and the end part of a piston rod of the fourth hydraulic cylinder is fixedly connected with the support plate below the second telescopic rod 307; the upper surface of the L-shaped plate 308 is fixedly arranged below the second telescopic rod 307, the bottoms of cylinder bodies of four fifth hydraulic cylinders 309 are fixedly arranged at four corners on the inner side of the L-shaped plate 308, and the end parts of piston rods of the four fifth hydraulic cylinders 309 are fixedly connected with the lower surface of a top plate 310 of the fifth hydraulic cylinder;
the laver fishing part 4 comprises a laver fishing box 401, four sixth hydraulic cylinders 402, four suckers 403, two second rudder base 404, two second steering engines 405, two fixing plates 406, four third telescopic sleeve supporting plates 407, two third steering engines 408, two third telescopic sleeves 409, two third telescopic rods 410, two seventh hydraulic cylinders 411, two second turbine shells 412, two second turbine supporting plates 413, two second turbines 414, two fourth stepping motors 415, two eighth hydraulic cylinders 416, a laver fishing part baffle 417, an eighth hydraulic cylinder top plate 418, a sliding plate 419, a saw band 420, two fifth stepping motors 421, two fifth stepping motor fixing plates 422, two belt wheels 423 and two ninth hydraulic cylinders 424, the laver fishing box 401 is a rectangular sleeve, and rectangular grooves in linear arrays are respectively arranged on the front side and the rear side of the rectangular sleeve; the left side and the right side of the laver fishing box 401 are respectively provided with two supporting plates, the bottoms of the cylinder bodies of the four sixth hydraulic cylinders 402 are fixedly arranged on the four supporting plates on the left side and the right side of the laver fishing box 401, and the end parts of piston rods of the four sixth hydraulic cylinders are fixedly connected with the suckers 403; the left side and the right side of the second rudder engine base 404 are respectively provided with a second rudder engine base 404, the two second rudder engines 405 are horizontally arranged, the side surfaces of the two second rudder engine bases are fixedly arranged in the second rudder engine base 404, and the motor shafts of the two second rudder engine bases are fixedly connected with the inner sides of the fixing plates 406; two third telescopic sleeve supporting plates 407 are arranged on the outer side of the fixed plate 406, the third steering engine 408 is horizontally arranged, the side surface of the third steering engine is fixedly arranged on the outer side of the fixed plate 406, and a motor shaft of the third steering engine is fixedly connected with a rotating shaft on the third telescopic sleeve supporting plates 407 through a coupler; the third telescopic sleeve 409 is fixedly arranged on the rotating shaft above the third telescopic sleeve supporting plate 407 and is positioned between the two third telescopic sleeve supporting plates 407; the third telescopic rod 410 is slidably mounted in a groove at the outer side of the third telescopic sleeve 409, and the outer side of the third telescopic rod is fixedly connected with the second turbine supporting plate 413; a second turbine supporting plate 413 is arranged on the inner side of the second turbine shell 412, the fourth stepping motor 415 is horizontally arranged, the side surface of the fourth stepping motor 415 is fixedly arranged in a groove on the outer side of the third telescopic rod 410, and a motor shaft of the fourth stepping motor passes through a circular hole in the middle of the second turbine supporting plate 413 and is fixedly connected with the second turbine 414; the cylinder body ends of the two eighth hydraulic cylinders 416 are fixedly arranged at the back of the laver fishing box 401, the piston rod ends of the two eighth hydraulic cylinders are fixedly connected with the front side of the eighth hydraulic cylinder top plate 418, and the upper surface of the laver fishing part baffle 417 is fixedly arranged below the eighth hydraulic cylinder top plate 418; the bottoms of the cylinder bodies of the two ninth hydraulic cylinders 424 are fixedly arranged on a supporting plate behind the laver fishing box 401, and the end parts of piston rods of the ninth hydraulic cylinders are fixedly connected with a supporting plate on the side surface of the sliding plate 419; the sliding plate 419 is slidably mounted on two sliding blocks at the rear side of the laver fishing box 401, two fifth stepping motor fixing plates 422 are arranged behind the sliding plate 419, the two fifth stepping motors 421 are horizontally arranged, the side surfaces of the two fifth stepping motors are fixedly mounted on the outer sides of the fifth stepping motor fixing plates 422, motor shafts of the two fifth stepping motors are fixedly connected with belt wheels 423, and the saw belt 420 is mounted on the two belt wheels 423.
The working principle of the invention is as follows: when the invention is used, four third stepping motors 118 drive four first propellers 119 to drive the machine to reach the sea area above the laver, four sixth hydraulic cylinders 402 of a laver fishing part 4 contract to drive four suckers 403 to descend from a base 1, two third steering engines 408 and two seventh hydraulic cylinders 411 control the position of a second turbine 414, a fourth stepping motor 415 drives the second turbine 414 to drive the laver fishing part 4 to reach the laver growth area, two ninth hydraulic cylinders 424 extend to drive a sliding plate 419 to move forwards, two fifth stepping motors 421 drive two belt wheels 423 to drive a saw belt 420 to saw off the laver, the laver is put into a laver fishing box 401, two fourth stepping motors 415 drive two second turbines 414 to drive the laver fishing part 4 to reach the lower side of the base 1, and four belt wheels 423 drive four suckers 403 to suck the lower side of four circular grooves 116, next, the third hydraulic cylinder 303, the first steering gear 304 and the fourth hydraulic cylinder 306 of the laver pushing part 3 cooperatively work to place the fifth hydraulic cylinder top plate 310 outside the laver fishing box 401, the two eighth hydraulic cylinders 416 extend to drive the laver fishing part baffle 417 to move outwards, meanwhile, the four fifth hydraulic cylinders 309 extend to drive the fifth hydraulic cylinder top plate 310 to push the laver in the laver fishing box 401 to the upper surface of the bottom plate 101 through the second rectangular groove 103, and next, the two second stepping motors 110 drive the two lead screws 112 to drive the lead screw sliding plates 113 to drive the laver top blocks 115 to finely push the laver to the laver storing groove 207.
In the description of the present invention, it is to be noted that the terms "upper", "lower", "front", "rear"),
The references to "left", "right", etc. are based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which the products of the invention are conventionally placed in use, and are only for convenience of describing and simplifying the invention, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Claims (1)
1. The utility model provides a laver collection robot, includes base (1), laver storage section (2), laver promotion part (3), laver fishing part (4), its characterized in that: the laver storage part (2) slides in a first rectangular groove (102) of the base (1), six sliding blocks (202) of the laver storage part (2) are respectively installed in six dovetail grooves (104) in a sliding mode, and two racks (203) of the laver storage part (2) are respectively meshed with two gears (106); the upper surface of a first telescopic sleeve (301) of the laver pushing part (3) is fixedly arranged below the bottom plate (101), and the position of the first telescopic sleeve is arranged at the position behind the second rectangular groove (103); four suckers (403) of the laver fishing part (4) are sucked in four circular grooves (116) below the base (1); the base (1) comprises a bottom plate (101), a first rectangular groove (102), a second rectangular groove (103), six dovetail grooves (104), two first stepping motors (105), two gears (106), two support plates (107), two first hydraulic cylinders (108), a first hydraulic cylinder top plate (109), two second stepping motors (110), four optical axes (111), two lead screws (112), a lead screw sliding plate (113), two optical axis fixing plates (114), a laver top block (115), four circular grooves (116), four third stepping motor bases (117), four third stepping motors (118) and four first propellers (119), wherein the bottom plate (101) is a rectangular plate, a second rectangular groove (103) is arranged at the center of the upper surface of the support plate, and support plates (107) are respectively arranged at the left side and the right side of the second rectangular groove (103); a first rectangular groove (102) is arranged on the bottom plate (101) and is positioned in front of a second rectangular groove (103); two dovetail grooves (104) are arranged on the front side of the first rectangular groove (102), and two dovetail grooves (104) are respectively arranged on the left side and the right side of the first rectangular groove (102); the bottoms of the cylinder bodies of the two first hydraulic cylinders (108) are respectively and fixedly arranged on the supporting plates on the bottom plate (101), the positions of the bottoms are respectively arranged at the left side and the right side of the two supporting plates (107), and the piston rods of the two first hydraulic cylinders are fixedly connected with the front of the top plate (109) of the first hydraulic cylinder; the four optical axes (111) are respectively and fixedly arranged at four corners behind the first hydraulic cylinder top plate (109), and the two optical axis fixing plates (114) are respectively and fixedly arranged on the four optical axes (111); the two second stepping motors (110) are horizontally arranged, the side surfaces of the two second stepping motors are respectively and fixedly arranged in grooves on the left side and the right side behind the top plate (109) of the first hydraulic cylinder, and motor shafts of the two second stepping motors are respectively and fixedly connected with one ends of the two lead screws (112) through couplers; the other ends of the two lead screws (112) are respectively and rotatably arranged in circular holes of the two optical axis fixing plates (114); round holes at four corners of the screw rod sliding plate (113) are respectively and slidably arranged on four optical axes (111), two screw rod nuts are arranged in the screw rod bracket, and the two screw rod nuts are respectively matched with the two screw rods (112); a third stepping motor seat (117) is respectively arranged at four corners below the bottom plate (101), the four third stepping motors (118) are vertically and downwards placed, the side surfaces of the four third stepping motors are fixedly arranged in the third stepping motor seat (117), and motor shafts of the four third stepping motors are respectively and fixedly connected with four first propellers (119); four circular grooves (116) are arranged below the bottom plate (101) and are divided into two groups, and the positions of the two groups are respectively arranged at the left side and the right side of the second rectangular groove (103); the laver storage part (2) comprises a laver storage part shell (201), six sliding blocks (202), two racks (203), a laver baffle plate (204), a second hydraulic cylinder top plate (205), two second hydraulic cylinders (206) and four laver storage grooves (207), wherein the laver storage part shell (201) is slidably arranged in the first rectangular groove (102); two sliding blocks (202) are arranged in front of a shell (201) of the laver storage part, two sliding blocks (202) are respectively arranged on the left side and the right side of the shell (201) of the laver storage part and are respectively installed in six dovetail grooves (104) in a sliding mode, racks (203) are respectively arranged on the left side and the right side of the shell (201) of the laver storage part, and the two racks (203) are respectively meshed with two gears (106); four laver storing grooves (207) are arranged in the shell (201) of the laver storing part, the bottoms of the cylinder bodies of the two second hydraulic cylinders (206) are fixedly arranged on the shell (201) of the laver storing part, and the end parts of the piston rods of the two second hydraulic cylinders are fixedly connected with the lower surface of the top plate (205) of the second hydraulic cylinder; the upper surface of the laver baffle plate (204) is fixedly arranged below the top plate (205) of the second hydraulic cylinder; the laver pushing part (3) comprises a first telescopic sleeve (301), a first telescopic rod (302), a third hydraulic cylinder (303), a first steering engine (304), a second telescopic sleeve (305), a fourth hydraulic cylinder (306), a second telescopic rod (307), an L-shaped plate (308), four fifth hydraulic cylinders (309) and a fifth hydraulic cylinder top plate (310), wherein the upper surface of the first telescopic sleeve (301) is fixedly arranged below the bottom plate (101) and is positioned at the position behind the second rectangular groove (103), the upper surface of the first telescopic rod (302) is slidably arranged in the groove below the first telescopic sleeve (301), the bottom of a cylinder body of the third hydraulic cylinder (303) is fixedly arranged on a supporting plate on the side surface of the first telescopic sleeve (301), and the end part of a piston rod of the third hydraulic cylinder is fixedly connected with the supporting plate on the side surface of the first telescopic rod (302); the first steering engine (304) is vertically and downwards placed, the side face of the first steering engine is fixedly installed in a groove below the first telescopic rod (302), and a motor shaft of the first steering engine is fixedly connected with the upper face of the second telescopic sleeve (305); the right side of the second telescopic rod (307) is slidably arranged in a groove on the left side of the second telescopic sleeve (305), the bottom of a cylinder body of the fourth hydraulic cylinder (306) is fixedly arranged on a supporting plate below the second telescopic sleeve (305), and the end part of a piston rod of the fourth hydraulic cylinder is fixedly connected with the supporting plate below the second telescopic rod (307); the upper surface of the L-shaped plate (308) is fixedly arranged below the second telescopic rod (307), the bottoms of cylinder bodies of four fifth hydraulic cylinders (309) are fixedly arranged at four corners on the inner side of the L-shaped plate (308), and the end parts of piston rods of the four fifth hydraulic cylinders are fixedly connected with the lower surface of a top plate (310) of the fifth hydraulic cylinder; the laver fishing part (4) comprises a laver fishing box (401), four sixth hydraulic cylinders (402), four suckers (403), two second rudder bases (404), two second steering engines (405), two fixing plates (406), four third telescopic sleeve supporting plates (407), two third steering engines (408), two third telescopic sleeves (409), two third telescopic rods (410), two seventh hydraulic cylinders (411), two second turbine shells (412), two second turbine supporting plates (413), two second turbines (414), two fourth stepping motors (415), two eighth hydraulic cylinders (416), a laver fishing part baffle plate (417), an eighth hydraulic cylinder top plate (418), a sliding plate (419), a saw belt (420), two fifth stepping motors (421), two fifth stepping motor fixing plates (422), two belt wheels (423), The laver fishing box (401) is a rectangular sleeve, and rectangular grooves in linear arrays are respectively formed in the front side and the rear side of the laver fishing box; two supporting plates are respectively arranged on the left side and the right side of the laver fishing box (401), the bottoms of cylinder bodies of the four sixth hydraulic cylinders (402) are fixedly arranged on the four supporting plates on the left side and the right side of the laver fishing box (401), and the end parts of piston rods of the four sixth hydraulic cylinders are fixedly connected with the suckers (403); the left side and the right side of the second rudder engine base (404) are respectively provided with the second rudder engine base (404), the two second rudder engines (405) are horizontally arranged, the side surfaces of the two second rudder engine bases are fixedly arranged in the second rudder engine base (404), and a motor shaft of each second rudder engine base is fixedly connected with the inner side of the fixing plate (406); two third telescopic sleeve supporting plates (407) are arranged on the outer side of the fixing plate (406), the third steering engine (408) is horizontally arranged, the side face of the third steering engine is fixedly arranged on the outer side of the fixing plate (406), and a motor shaft of the third steering engine is fixedly connected with a rotating shaft on the third telescopic sleeve supporting plates (407) through a coupler; the third telescopic sleeve (409) is fixedly arranged on the rotating shaft above the third telescopic sleeve supporting plate (407) and is positioned between the two third telescopic sleeve supporting plates (407); the third telescopic rod (410) is slidably arranged in a groove at the outer side of the third telescopic sleeve (409), and the outer side of the third telescopic rod is fixedly connected with the second turbine supporting plate (413); a second turbine supporting plate (413) is arranged on the inner side of the second turbine shell (412), the fourth stepping motor (415) is horizontally arranged, the side surface of the fourth stepping motor is fixedly arranged in a groove on the outer side of the third telescopic rod (410), and a motor shaft of the fourth stepping motor penetrates through a round hole in the middle of the second turbine supporting plate (413) and is fixedly connected with the second turbine (414); the end parts of cylinder bodies of the two eighth hydraulic cylinders (416) are fixedly arranged behind the laver fishing box (401), the end parts of piston rods of the two eighth hydraulic cylinders are fixedly connected with the front side of a top plate (418) of the eighth hydraulic cylinder, and the upper surface of a baffle plate (417) of a laver fishing part is fixedly arranged below the top plate (418) of the eighth hydraulic cylinder; the bottoms of the cylinder bodies of the two ninth hydraulic cylinders (424) are fixedly arranged on a supporting plate behind the laver fishing box (401), and the end parts of piston rods of the ninth hydraulic cylinders are fixedly connected with the supporting plate on the side surface of the sliding plate (419); the sliding plate (419) is slidably mounted on two sliding blocks at the rear side of the laver fishing box (401), two fifth stepping motor fixing plates (422) are arranged behind the sliding plate (419), the two fifth stepping motors (421) are horizontally arranged, the side surfaces of the fifth stepping motors are fixedly mounted on the outer sides of the fifth stepping motor fixing plates (422), motor shafts of the fifth stepping motors are fixedly connected with belt wheels (423), and the saw belt (420) is mounted on the two belt wheels (423); four first propellers (119) are driven by four third stepping motors (118) to drive a machine to reach a sea area above the laver, four suckers (403) are driven by four sixth hydraulic cylinders (402) to shrink to get down from a base (1), the position of a second turbine (414) is controlled by two third steering engines (408) and two seventh hydraulic cylinders (411), a second turbine (414) is driven by a fourth stepping motor (415) to drive a laver fishing part (4) to reach a laver growth area, a sliding plate (419) is driven by two ninth hydraulic cylinders (424) to move forwards, two belt wheels (423) are driven by two fifth stepping motors (421) to drive a saw belt (420) to saw off the laver, the laver is placed in a laver fishing box (401), and two second turbines (414) are driven by two fourth stepping motors (415) to drive the laver fishing part (4) to reach the lower part of the base (1), four sucking discs (403) are driven to be sucked below four circular grooves (116) through four belt wheels (423), a third hydraulic cylinder (303) of a laver pushing part (3), a first steering engine (304) and a fourth hydraulic cylinder (306) work cooperatively to place a fifth hydraulic cylinder top plate (310) outside a laver fishing box (401), two eighth hydraulic cylinders (416) extend to drive a laver fishing part baffle plate (417) to move outwards, the four fifth hydraulic cylinders (309) extend to drive the fifth hydraulic cylinder top plate (310) to push laver inside the laver fishing box (401) to the upper surface of a bottom plate (101) through a second rectangular groove (103), and two second stepping motors (110) drive two lead screws (112) to drive a lead screw sliding plate (113) to drive a laver top block (115) to push the laver to the inside of a laver storing groove (207).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711152786.9A CN107646305B (en) | 2017-11-20 | 2017-11-20 | Laver collection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711152786.9A CN107646305B (en) | 2017-11-20 | 2017-11-20 | Laver collection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107646305A CN107646305A (en) | 2018-02-02 |
| CN107646305B true CN107646305B (en) | 2020-08-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711152786.9A Active CN107646305B (en) | 2017-11-20 | 2017-11-20 | Laver collection robot |
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| CN (1) | CN107646305B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110352706B (en) * | 2019-08-29 | 2022-08-09 | 南安市英钗工业设计有限公司 | Pineapple harvester |
| CN112655366A (en) * | 2020-12-06 | 2021-04-16 | 罗源县鉴江镇企业服务中心 | Laver collecting device with disinfection function and using method |
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| US4275545A (en) * | 1979-03-14 | 1981-06-30 | Pace Dan R | Kelp blade harvester |
| CN102191766A (en) * | 2011-04-08 | 2011-09-21 | 孙泓 | Blue algae fishing robot |
| CN204713410U (en) * | 2015-06-19 | 2015-10-21 | 宁波海辰液压有限公司 | Compact hydraulic lifting screw rudder |
| CN205196763U (en) * | 2015-12-17 | 2016-05-04 | 于锡汉 | Robot catches under water |
| CN106516078A (en) * | 2016-12-03 | 2017-03-22 | 叶强 | Unmanned aerial vehicle for salvage of sea garbage |
| CN106717506A (en) * | 2016-12-18 | 2017-05-31 | 叶强 | One main laminaria automatic harvester device people |
| CN107101848A (en) * | 2017-06-21 | 2017-08-29 | 璧靛嘲 | A kind of water sample collection instrument |
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2017
- 2017-11-20 CN CN201711152786.9A patent/CN107646305B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4275545A (en) * | 1979-03-14 | 1981-06-30 | Pace Dan R | Kelp blade harvester |
| CN102191766A (en) * | 2011-04-08 | 2011-09-21 | 孙泓 | Blue algae fishing robot |
| CN204713410U (en) * | 2015-06-19 | 2015-10-21 | 宁波海辰液压有限公司 | Compact hydraulic lifting screw rudder |
| CN205196763U (en) * | 2015-12-17 | 2016-05-04 | 于锡汉 | Robot catches under water |
| CN106516078A (en) * | 2016-12-03 | 2017-03-22 | 叶强 | Unmanned aerial vehicle for salvage of sea garbage |
| CN106717506A (en) * | 2016-12-18 | 2017-05-31 | 叶强 | One main laminaria automatic harvester device people |
| CN107101848A (en) * | 2017-06-21 | 2017-08-29 | 璧靛嘲 | A kind of water sample collection instrument |
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| CN107646305A (en) | 2018-02-02 |
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Effective date of registration: 20200715 Address after: Feng Li Zhen Huan Yu Cun, Rudong County, Nantong City, Jiangsu Province 226400 Applicant after: Zhenrong Nantong aquatic products Co.,Ltd. Address before: 054900 No. 101 Yao Lou, Linxi County, Hebei, Xingtai Applicant before: Meng Fanxing |
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Denomination of invention: A Porphyra Collection Robot Effective date of registration: 20221101 Granted publication date: 20200807 Pledgee: Jiangsu Rudong Rural Commercial Bank Co.,Ltd. Shiping Sub branch Pledgor: Zhenrong Nantong aquatic products Co.,Ltd. Registration number: Y2022980020386 |
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