阅读说明：本技术 一种水下海星***机器人 (Underwater starfish injection robot ) 是由 陈泽堂 李德胜 刘自立 陈志堂 王细文 于 2019-12-03 设计创作，主要内容包括：一种水下海星打针机器人,设置有用于水下移动的主体和能活动并对海星注射毒药的注射组件,注射组件装配于主体。所述注射组件设置有能带动注射装置活动的机械臂和注射装置,注射装置装配于机械臂的一个末端,机械臂的另一个末端装配于主体。本发明水下海星打针机器人能在水底对海星进行毒药注射。同时该水下海星打针机器人的注射组件能进行转动及360°水平旋转,大大提高了注射组件的灵活度,能满足即使海星在不同的位置都能对其进行毒药注射。(An underwater starfish injection robot is provided with a main body used for moving underwater and an injection assembly which can move and inject poison to starfish, wherein the injection assembly is assembled on the main body. The injection assembly is provided with a mechanical arm and an injection device, the mechanical arm can drive the injection device to move, the injection device is assembled at one tail end of the mechanical arm, and the other tail end of the mechanical arm is assembled on the main body. The underwater starfish injection robot can inject poison into starfish at the water bottom. Simultaneously this robot is injectd to starfish under water's injection subassembly can rotate and 360 horizontal rotations, has improved injection subassembly's flexibility ratio greatly, can satisfy even the starfish can both carry out the poison injection to it in the position of difference.)

1. The utility model provides an underwater starfish robot of injecing which characterized in that: the device is provided with a main body used for moving underwater and an injection assembly which can move and inject poison to starfishes, wherein the injection assembly is assembled on the main body.

2. An underwater starfish injection robot as claimed in claim 1, wherein: the injection assembly is provided with a mechanical arm and an injection device, the mechanical arm can drive the injection device to move, the injection device is assembled at one tail end of the mechanical arm, and the other tail end of the mechanical arm is assembled on the main body.

3. An underwater starfish injection robot as claimed in claim 2, wherein: the mechanical arm is provided with a first rotating device for driving the mechanical arm to integrally rotate, a second rotating device for driving the injection device to rotate, and a rotating device for driving the second rotating device and the injection device to horizontally rotate by 360 degrees through a middle shaft, the first rotating device is fixedly connected with the main body, the rotating device is assembled on the first rotating device in a transmission mode, and the second rotating device is assembled on the rotating device in a transmission mode.

4. An underwater starfish injection robot as claimed in claim 3, wherein: the injection device is provided with an injection part and an injection motor part used for pushing the injection part to inject the venom into the starfish body, the injection motor part is assembled on the second rotating device in a transmission mode, and the injection motor part is in transmission connection with the injection part.

5. An underwater starfish needle-making robot as claimed in claim 4, wherein: the injection part is provided with an injector, an electric push rod and a liquid medicine storage part, the electric push rod moves back and forth along the central axis of the injector, the liquid medicine storage part is assembled on the main body and is connected with the injector, one tail end of the electric push rod is in transmission connection with the injection motor part, and the other tail end of the electric push rod is in seamless connection with the injector.

6. An underwater starfish needle-making robot as claimed in claim 5, wherein: the injection part is provided with a one-way valve for preventing poison backflow and an electromagnetic valve for controlling the communication with the liquid medicine storage part, the electromagnetic valve is connected with the interior of the injector and the liquid medicine storage part, and the one-way valve is assembled on a needle head of the injector and is communicated with the interior of the injector.

7. An underwater starfish needle-making robot as claimed in claim 6, wherein: the injector is a stainless steel round tube injector;

the maximum capacity range of the syringe is 10 ml-80 ml.

8. An underwater starfish needle-making robot as claimed in claim 7, wherein: the liquid medicine storage part is a cowhells leather bag;

the maximum capacity of the liquid medicine storage part is 1000 ml-5000 ml.

9. An underwater starfish needle-making robot as claimed in claim 8, wherein: the main part is provided with camera device and light filling device that are used for searching for the starfish, and camera device and light filling device assemble respectively in the syringe.

10. An underwater starfish needle-making robot as claimed in claim 9, wherein: the main body is provided with a control device for controlling the injection assembly to inject the starfish, the control device is electrically connected with the injection assembly, and the control device is also wirelessly connected with the remote control end;

the rotation angle of the first rotating device is 0-180 degrees;

the rotation angle of the second rotating device is 0-360 degrees.

Technical Field

The invention relates to the field of underwater robots, in particular to an underwater starfish injection robot.

Background

Coral is an important place where marine organisms inhabit, but is influenced by climate change, artificial destruction and the like, and the area of coral is decreasing year by year. Aiming at the problem, the mankind carries out comprehensive protection on the coral and even carries out artificial coral cultivation. However, acanthopanax senticosus brings serious damage to the corals, the damage to the corals exceeds the influence of human activities, the acanthopanax senticosus uses coral worm food on the surfaces of the corals, according to the research, one average acanthopanax senticosus eats about two square meters of the corals in one day, in some years, the number of the acanthopanax senticosus is greatly increased, and the damage to the corals is more serious. Meanwhile, the vitality of acanthopanax japonicus seaweeds is very tenacious, and even if the salvaged acanthopanax japonicus seaweeds are torn into 4 or 5 pieces, the acanthopanax japonicus seaweeds can still grow into complete individuals.

The methods for killing acanthopanax starfish in the prior art include the following methods:

1. the natural enemies are restrained, the large acanthus chinensis with huge body size is the natural enemies of acanthopoda starfish, but the number of the large acanthus chinensis is gradually reduced by the transitional fishing of human beings, and the acanthopoda starfish cannot be restrained by the large acanthopoda starfish in the years or areas of the surge of acanthopoda starfish.

2. The method is characterized in that the method comprises the following steps of manually fishing, fishing starfishes for killing by means of divers, and using the fished starfish as food of manually fed large snails, wherein the development of the method is greatly limited due to the influence of the submergence depth, submergence time, manpower and material resources of the divers.

3. The poison killing method kills acanthopsophila by injecting a small amount of poison into acanthopsophila, and the method does not affect the marine ecological environment. A single injection of poison has been developed which kills acanthaster within 24 hours, but the prior art also requires a diver to dive into the water to inject acanthaster. The diver dive depth, dive time and other influencing factors greatly restrict the method.

Therefore, aiming at the defects of the prior art, the underwater starfish injection robot is necessary to solve the defects of the prior art.

Disclosure of Invention

The invention aims to provide an underwater starfish injection robot which avoids the defects of the prior art. The underwater starfish injection robot performs poison injection on the starfish at the water bottom.

The above object of the present invention is achieved by the following technical measures:

provided is an underwater starfish injection robot, which is provided with a main body for underwater movement and an injection assembly capable of moving and injecting poison to a starfish, wherein the injection assembly is assembled on the main body.

Preferably, the injection assembly is provided with a mechanical arm and an injection device, the mechanical arm can drive the injection device to move, the injection device is assembled at one tail end of the mechanical arm, and the other tail end of the mechanical arm is assembled on the main body.

Preferably, the mechanical arm is provided with a first rotating device for driving the mechanical arm to integrally rotate, a second rotating device for driving the injection device to rotate and a rotating device for driving the second rotating device and the injection device to horizontally rotate for 360 degrees by a middle shaft, the first rotating device is fixedly connected with the main body, the rotating device is assembled on the first rotating device in a transmission mode, and the second rotating device is assembled on the rotating device in a transmission mode.

Preferably, the injection device is provided with an injection part and an injection motor part for pushing the injection part to inject the venom into the starfish body, the injection motor part is assembled on the second rotating device in a transmission mode, and the injection motor part is in transmission connection with the injection part.

Preferably, the injection part is provided with an injector, an electric push rod which moves back and forth along the central axis of the injector, and a liquid medicine storage part, the liquid medicine storage part is assembled on the main body and is connected with the injector, one end of the electric push rod is in transmission connection with the injection motor part, and the other end of the electric push rod is in seamless connection with the injector.

Preferably, the injection part is provided with a check valve for preventing reverse flow of the poison medicine and an electromagnetic valve for controlling communication with the liquid medicine storage part, the electromagnetic valve is connected with the inside of the syringe and the liquid medicine storage part, and the check valve is assembled on the needle of the syringe and is communicated with the inside of the syringe.

Preferably, the syringe is a stainless steel round tube syringe.

Preferably, the maximum volume of the syringe is 10ml to 80 ml.

Preferably, the medical fluid storage part is a cowhells leather bag.

Preferably, the maximum volume of the medical fluid storage unit is 1000ml to 5000 ml.

Preferably, the main body is provided with an image pickup device and a light supplement device for searching for starfish, and the image pickup device and the light supplement device are respectively assembled to the injector.

Preferably, the main body is provided with a control device for controlling the injection assembly to inject the starfish, the control device is electrically connected with the injection assembly, and the control device is also in wireless connection with the remote control end.

Preferably, the rotation angle of the first rotating means is 0 ° to 180 °.

Preferably, the rotation angle of the second rotating device is 0 ° to 360 °.

The invention relates to an underwater starfish injection robot which is provided with a main body used for moving underwater and an injection assembly capable of moving and injecting poison to starfish, wherein the injection assembly is assembled on the main body. The underwater starfish injection robot can inject poison into starfish at the water bottom. Simultaneously this robot is injectd to starfish under water's injection subassembly can rotate and 360 horizontal rotations, has improved injection subassembly's flexibility ratio greatly, can satisfy even the starfish can both carry out the poison injection to it in the position of difference.

Drawings

The invention is further illustrated by means of the attached drawings, the content of which is not in any way limiting.

Fig. 1 is a schematic structural diagram of an underwater starfish injection robot.

Fig. 2 is a schematic structural view of the injection assembly of fig. 1.

Fig. 3 is a schematic view of an injection device.

In fig. 1 to 3, the following components are included:

a main body 1,

An injection component 2,

A robot arm 21, a first turning device 211, a second turning device 212, a turning device 213,

An injection device 22,

An injection part 221, a syringe 2211, an electric plunger 2212, a drug solution storage part 2213, a one-way valve 2214, an electromagnetic valve 2215,

An injection motor part 222,

An image pickup device 3,

And a light supplement device 4.

Detailed Description

The technical solution of the present invention is further illustrated by the following examples.