阅读说明：本技术 一种小型半自动海带拖拽采收船及采收方法 (small semi-automatic kelp dragging and harvesting ship and harvesting method ) 是由 谭永明 谌志新 袁世鹏 江涛 李晓波 *** 车建锋 肖露阳 于 2019-11-28 设计创作，主要内容包括：本发明涉及一种小型半自动海带拖拽采收船,包括一船体,船体上直立固定设置一吊装组件；吊装组件包括一立柱,立柱顶部固定设置一立柱电机组件；立柱电机组件包括立柱电机,立柱电机通过链轮传动机构带动上横梁组件绕立柱水平转动；上横梁组件上固定设置一上横梁运动电机组件,上横梁运动电机组件包括上横梁运动电机,上横梁运动电机、绳轮组件,上横梁运动电机通过蜗轮蜗杆机构带动绳轮组件转动,进行吊绳收放；吊绳下端与机械手组件连接；机械手组件包括气动滑块,柱销Ⅰ穿过一对夹爪并和气缸罩固定；一对柱销Ⅱ插入各自夹爪的滑动槽中,并和气动滑块固定,气动滑块上下运动顶动夹爪底部,推动一对夹爪绕柱销Ⅰ旋转,实现夹爪加紧和放开。(The invention relates to a small-sized semi-automatic kelp dragging and harvesting ship which comprises a ship body, wherein a hoisting assembly is vertically and fixedly arranged on the ship body, the hoisting assembly comprises a upright post, a upright post motor assembly is fixedly arranged at the top of the upright post, the upright post motor assembly comprises an upright post motor, the upright post motor drives an upper cross beam assembly to horizontally rotate around the upright post through a chain wheel transmission mechanism, an upper cross beam movement motor assembly is fixedly arranged on the upper cross beam assembly, the upper cross beam movement motor assembly comprises an upper cross beam movement motor, the upper cross beam movement motor and a rope pulley assembly, the upper cross beam movement motor drives the rope pulley assembly to rotate through a worm gear and worm mechanism to retract and release a hoisting rope, the lower end of the hoisting rope is connected with a manipulator assembly, the manipulator assembly comprises a pneumatic sliding block, a column pin I penetrates through to fix a clamping jaw and a cylinder cover, an pair column pin II is inserted into a sliding groove of each clamping jaw and fixed with the pneumatic sliding block, the.)

1, kind small-size semi-automatic kelp is dragged and is gathered ship, its characterized in that:

comprises a ship body (1), wherein a hoisting component (2) is vertically and fixedly arranged on the ship body (1);

the hoisting assembly (2) comprises an upright post (7), and a upright post motor assembly (8) is fixedly arranged at the top of the upright post (7);

the upright post motor assembly (8) comprises an upright post motor (12), and the upright post motor (12) drives the upper crossbeam assembly to horizontally rotate around the upright post (7) through a chain wheel transmission mechanism;

an upper beam motion motor assembly is fixedly arranged on the upper beam assembly (7), the upper beam motion motor assembly comprises an upper beam motion motor (23), the upper beam motion motor (23) and a rope pulley assembly (28), the upper beam motion motor (23) drives the rope pulley assembly (28) to rotate through a worm and gear mechanism to receive and release a lifting rope, and the lower end of the lifting rope is connected with the manipulator assembly (3);

the manipulator assembly (3) comprises a pneumatic sliding block (33), a pin I (31) penetrates through pairs of clamping jaws and is fixed with a cylinder cover, a pin II (32) pairs of pins are inserted into sliding grooves of the clamping jaws respectively and are fixed with the pneumatic sliding block (33), the pneumatic sliding block (33) moves up and down to push the bottoms of the clamping jaws, is pushed to rotate the clamping jaws around the pin I (31), and clamping and releasing of the clamping jaws are achieved.

2. The small semi-automatic kelp dragging and harvesting ship according to claim 1, characterized in that: the piston rod is connected with the pneumatic sliding block (33) through a pneumatic sliding block fixing shaft, and forms a sealed cylinder with the sealing ring I (36), the guide sleeve, the cylinder cover, the sealing ring II (40), the sealing ring III (41), the cylinder end cover (42) and the sealing ring IV (43), and moves downwards during inflation and is reset through the spring (39).

3. The small semi-automatic kelp dragging and harvesting ship according to claim 1, characterized in that: the device is characterized by further comprising a pneumatic control assembly (4), wherein the pneumatic control assembly (4) is fixedly arranged on the upper cross beam movement motor (23) and used for controlling the action of the pneumatic sliding block (33).

4. The small semi-automatic kelp dragging and harvesting ship according to claim 1, characterized in that: the ship body structure is characterized by further comprising an electric control assembly (5), wherein the electric control assembly (5) is fixedly arranged on the ship body (1) and used for controlling the upright post motor (12) and the upper cross beam movement motor (23).

5. The small semi-automatic kelp dragging and harvesting ship according to claim 1, characterized in that: the ship is characterized by further comprising a battery (6), wherein the battery (6) is fixedly arranged on the ship body (1).

6. The small semi-automatic kelp dragging and harvesting ship according to claim 1, characterized in that: the upper crossbeam motion motor assembly further comprises a transverse connecting column (17), the transverse connecting column (17) rotates through a rolling bearing assembly I (19), and a shaft fixing ring I (18) is axially fixed on the rolling bearing assembly I (19); the transverse connecting column (17), the worm (20), the shaft connecting piece (21), the motor reducer (22) and the upper cross beam movement motor (23) are sequentially connected; the shaft fixing ring II (26) is axially fixed on the rolling bearing assembly II (27); the longitudinal shaft (25) is connected with the worm wheel (29), the worm wheel (29) rotates around the longitudinal shaft (25) under the rotation of the worm (20) to drive the rope wheel assembly (28) arranged on the longitudinal shaft (25) to rotate, and a rope connected with a manipulator is wound and released to realize the lifting of the manipulator.

7. The small semi-automatic kelp dragging and harvesting ship according to claim 1, characterized in that: the boat body (1) is not provided with a walking power mechanism.

8, A method for harvesting the small semi-automatic kelp by dragging and harvesting boat according to claim 1, wherein the harvesting operation comprises the following steps:

s1, preprocessing stage: manually driving a harvesting ship to enter a raft frame, untying the seedling rope with the kelp from the middle small floating ball and taking down the small floating ball;

s2, the harvesting boat enters the harvesting raft frame, a worker untwists the seedling rope only connected with the boom rope, the end of the rope is placed at the clamp of the manipulator, the switch is pressed, and the manipulator clamps the seedling rope through pneumatic force;

s3, dragging and dropping the kelp to a program set position through a hoisting mechanism lifting motor, an upper beam movement motor and an upright post motor, and releasing a mechanical arm through a program to place the kelp in sequence;

and S4, returning the manipulator to the initial position after the placement is completed, and entering the next operation cycles.

Technical Field

The invention relates to an kelp harvesting boat, in particular to a small semi-automatic kelp dragging and harvesting boat and a harvesting method.

Background

The kelp harvesting is completed through high-strength manual harvesting, a raft frame used for kelp cultivation is generally completed through traditional manual production, the length of a rope used for manufacturing the raft frame is not standard, the quality and the state difference of the rope are greatly different under the condition of repeated utilization for many years, the risk that a propeller is wound on a power ship entering a harvesting area to prevent the ship from going forward is caused by the fact that wild algae grows on the raft frame along with the growth of kelp, and the comprehensive action of wind wave flow can cause the distortion of the harvesting raft frame, so that a large-scale standardized harvesting ship cannot stably harvest.

The kelp has low added value and narrow market, and the replacement of the kelp by a scientific and standard raft frame is often impossible because of the cost problem of .

How to provide kinds of miniaturized semi-automatic harvesting ships, with low costs, the flexibility is high, reduces high intensity of labour, is the technological problem that this field awaits a urgent need to solve.

Disclosure of Invention

The invention aims to provide an small semi-automatic kelp dragging and harvesting ship which can adapt to kelp harvesting of a valve frame under the condition of multi-year use, manually untwists seedling ropes for culturing kelp loaded on a raft frame, achieves automatic dragging and kelp harvesting and placing by means of hoisting and placing equipment on the harvesting ship, facilitates shuttling in the raft frame by the small harvesting ship, can not generate winding hooking and dragging without power slurry, can achieve 1-2 people for harvesting, has few members and high efficiency, avoids the problem that large harvesting equipment cannot automatically untwist and harvest due to the fact that the raft frame is not standard through manual tripping, and can be automatically completed by the equipment as the link with the greatest labor intensity, namely automatic tightening, dragging and placing.

The invention adopts the following technical scheme:

A small semi-automatic kelp dragging and harvesting ship comprises a ship body 1, wherein a hoisting assembly 2 is vertically and fixedly arranged on the ship body 1, the hoisting assembly 2 comprises a upright post 7, the top of the upright post 7 is fixedly provided with a upright post motor assembly 8, the upright post motor assembly 8 comprises an upright post motor 12, the upright post motor 12 drives an upper cross beam assembly to horizontally rotate around the upright post 7 through a chain wheel transmission mechanism, the upper cross beam assembly 7 is fixedly provided with an upper cross beam movement motor assembly, the upper cross beam movement motor assembly comprises an upper cross beam movement motor 23, the upper cross beam movement motor 23 and a rope pulley assembly 28, the upper cross beam movement motor 23 drives the rope pulley assembly 28 to rotate through a worm gear mechanism to retract and release a lifting rope, the lower end of the lifting rope is connected with a manipulator assembly 3, the manipulator assembly 3 comprises a pneumatic sliding block 33, a column pin I31 penetrates through to fix clamping jaws and a cylinder cover, a column pin II 32 of is inserted into sliding grooves of respective clamping jaws and fixed with the pneumatic sliding block 33, the pneumatic sliding block 33 moves up and down to push to tighten and loosen the clamping jaws to realize rotation.

Preferably, the piston rod is connected with the pneumatic sliding block 33 through a pneumatic sliding block fixing shaft, and forms a sealed cylinder with the sealing ring I36, the guide sleeve, the cylinder cover, the sealing ring II 40, the sealing ring III 41, the cylinder end cover 42 and the sealing ring IV 43, and moves downwards during inflation and is reset through the spring 39.

Preferably, the device further comprises a pneumatic control assembly 4, wherein the pneumatic control assembly 4 is fixedly arranged on the upper beam movement motor 23 and is used for controlling the action of the pneumatic slider 33.

Preferably, the ship further comprises an electric control assembly 5, wherein the electric control assembly 5 is fixedly arranged on the ship body 1 and is used for controlling the upright post motor 12 and the upper cross beam movement motor 23.

Preferably, the ship further comprises a battery 6, and the battery 6 is fixedly arranged on the ship body 1.

Preferably, the upper beam movement motor assembly further comprises a transverse connecting column 17, the transverse connecting column 17 rotates through a rolling bearing assembly I19, and a shaft fixing ring I18 is axially fixed on the rolling bearing assembly I19; the transverse connecting column 17, the worm 20, the shaft connecting piece 21, the motor reducer 22 and the upper beam movement motor 23 are sequentially connected; the shaft fixing ring II 26 is used for axially fixing the rolling bearing assembly II 27; the longitudinal shaft 25 is connected with a worm wheel 29, and the worm wheel 29 rotates around the longitudinal shaft 25 under the rotation of the worm 20 to drive a rope wheel assembly 28 arranged on the longitudinal shaft 25 to rotate, wind and release a rope connected with a manipulator, so that the manipulator is lifted.

Preferably, the hull 1 is not provided with a walking power mechanism.

the harvesting method of the small semi-automatic kelp dragging and harvesting boat comprises the following steps:

s1, preprocessing stage: manually driving a harvesting ship to enter a raft frame, untying the seedling rope with the kelp from the middle small floating ball and taking down the small floating ball;

s2, the harvesting boat enters the harvesting raft frame, a worker untwists the seedling rope only connected with the boom rope, the end of the rope is placed at the clamp of the manipulator, the switch is pressed, and the manipulator clamps the seedling rope through pneumatic force;

s3, dragging and dropping the kelp to a program set position through a hoisting mechanism lifting motor, an upper beam movement motor and an upright post motor, and releasing a mechanical arm through a program to place the kelp in sequence;

and S4, returning the manipulator to the initial position after the placement is completed, and entering the next operation cycles.

The invention has the beneficial effects that:

1) the process is simple and practical, adopts human-computer interaction, and has strong adaptability;

2) the problem that large-scale harvesting equipment cannot automatically separate ropes for harvesting due to the fact that the raft frame is not standard is avoided through manual tripping; as the most labor-intensive link, the automatic tightening, dragging and placing can be automatically completed by equipment, and the equipment is small and exquisite, has few operators and is more flexible to use.

3) The valve frame can be suitable for kelp harvesting under the condition of use for many years, seedling ropes carrying cultivated kelp on the raft frame are manually untied, and automatic dragging and kelp harvesting and placing are realized by means of hoisting and placing equipment on a harvesting ship;

4) the miniaturized harvesting ship is convenient for shuttling in the raft frame, and cannot be wound and hooked without power slurry; the harvesting can be completed by 1-2 persons, the number of members is small, and the efficiency is high.

Drawings

Fig. 1 is a front view of a small semi-automatic kelp dragging and harvesting boat according to the present invention.

Fig. 2 is a sectional view a-a in fig. 3.

Figure 3 is a top view of the hoist assembly.

Fig. 4 is a schematic view of a mast motor assembly.

Fig. 5 is a view of the upper beam movement motor assembly.

Figure 6 is a diagram of a robot assembly.

Fig. 7 is a view of an upper cross member assembly.

Fig. 8 is a partially enlarged view of fig. 1.

Fig. 9 is an enlarged view of another detail from fig. 1.

Fig. 10 is a schematic view of a small semi-automatic kelp dragging and harvesting boat walking between pairs of rope ropes on a raft frame, wherein the walking direction of the harvesting boat is perpendicular to the direction of the seedling ropes, a floating ball 48 is arranged in the middle of each seedling rope, and the floating ball 48 can untie the seedling ropes so as to divide the seedling ropes into two sections.

In the figure, the device comprises a ship 1, a ship 2, a hoisting assembly 3, a manipulator assembly 4, a pneumatic control assembly 5, an electric control assembly 6 and a battery. 7. The device comprises a column, 8, a column motor assembly, 9, an upper cross beam assembly, 10, a lifting motor assembly, 11 and an upper cross beam movement motor assembly. 12. Upright post motor, 13, motor reducer, 14, chain, 15, small chain wheel, 16, big chain wheel. 17. The device comprises transverse connecting columns, 18, shaft fixing rings I and 19, rolling bearing assemblies I and 20, worms, 21, shaft connectors, 22, motor reducers, 23, upper cross beam movement motors, 24, bracket assemblies, 25, longitudinal shafts 26, shaft fixing rings II and 27, rolling bearing assemblies II and 28, rope pulley assemblies, 29 and turbines. 30. The device comprises clamping jaws 31, pins I and 32, pins 2 and 33, pneumatic sliding blocks 34, sliding block rotating shafts 35, piston rods 36, sealing rings I and 37, guide sleeves 38, cylinder covers 39, springs 40, sealing rings II and 41, sealing rings III and 42, cylinder end covers 43 and sealing rings IV. 44. Bearing assembly, 45, crossbeam. 46. A rope 47, a seedling rope 48 and a floating ball.

Detailed Description

The invention is further illustrated in the following description with reference to the figures and the specific embodiments.

Referring to fig. 1, the small semi-automatic kelp dragging and harvesting ship comprises a ship body 1, a hoisting assembly 2, a manipulator assembly 3, a pneumatic control assembly 4, an electric control assembly 5 and a battery 6. The ship body is a carrier of all equipment; the hoisting component 2 completes mechanical motions of hoisting, transferring, resetting and the like on the kelp; the pneumatic control component 4 is used for pneumatically controlling the manipulator, and the manipulator completes clamping and loosening actions through pneumatic; the electric control component 4 completes the control action of the whole harvesting action; the battery provides the electrical energy source for the operation of the device.

Referring to fig. 2-3, the hoisting assembly is composed of a column 7, a column motor assembly 8, an upper beam assembly 9, a lifting motor assembly 10, and an upper beam movement motor assembly 11. The upright post 7 is arranged on the ship, and the upright post motor assembly is arranged at the top end of the upright post to realize that the cross beam rotates around the upright post; the upper beam assembly completes fixed-shaft rotation through a bearing assembly in the assembly; the upper cross beam movement motor drives the lifting motor assembly and the pneumatic control assembly to move along the cross beam, and the lifting motor achieves lifting of the manipulator.

Referring to fig. 4, the column motor assembly is composed of a column motor 12, a motor reducer 13, a chain 14, a small chain wheel 15 and a large chain wheel 16. The motor reducer 13 is installed on the upright post motor 12, and the small chain wheel fixed on the reducer drives the chain to pull the large chain wheel to rotate, so that the rotation of the beam is realized.

Referring to fig. 5, the upper beam movement motor assembly is composed of a transverse connecting column 17, a shaft fixing ring i 18, a rolling bearing assembly i 19, a worm 20, a shaft connecting piece 21, a motor reducer 22 (upper beam movement), an upper beam movement motor 23, a bracket assembly 24, a longitudinal shaft 25, a shaft fixing ring ii 26, a rolling bearing assembly ii 27, a rope pulley assembly 28 and a turbine 29. The transverse connecting column rotates through the rolling bearing assembly, and the shaft fixing ring I is axially fixed on the rolling bearing assembly I; the transverse connecting column is sequentially connected with a worm, a shaft connecting piece, a motor reducer (upper beam movement) and an upper beam movement motor; the shaft fixing ring II is axially fixed on the rolling bearing assembly II; the longitudinal shaft is connected with the worm wheel, the worm wheel rotates around the longitudinal shaft under the rotation of the worm, the rope wheel assembly mounted on the longitudinal shaft is driven to rotate, a rope connected with the mechanical arm is wound and released, and the mechanical arm is lifted.

Referring to fig. 6 and 9, the manipulator assembly comprises a clamping jaw 30, a pin I31, a pin II 32, a pneumatic slider 33, a slider fixing shaft 34, a piston rod 35, a sealing ring I36, a guide sleeve 37, a cylinder cover 38, a spring 39, a sealing ring II 40, a sealing ring III 41, a cylinder end cover 42 and a sealing ring IV 43. The pin I penetrates through two ends of the clamping jaw and is fixed with the cylinder cover; the pin II is inserted into the sliding groove of the clamping jaw, two ends of the pin II are fixed with the pneumatic sliding block, the pneumatic sliding block moves up and down to push the bottom of the clamping jaw, and the clamping jaw is pushed to rotate around the pin I, so that the clamping jaw is tightened and loosened; the piston rod is connected with the pneumatic sliding block through a pneumatic sliding block fixing shaft, and forms a sealed cylinder with the sealing ring I, the guide sleeve, the cylinder cover, the sealing ring II, the sealing ring III, the cylinder end cover and the sealing ring IV, and moves downwards during inflation and is reset through a spring.

Referring to fig. 7, the upper beam assembly is composed of a bearing assembly 44 and a beam 45, the bearing assembly 44 is connected with a flange welded on the upright post through a screw, a middle shaft of a beam welding body passes through the bearing, and the upper end of the middle shaft is connected with a large chain wheel in the upright post motor assembly.

Referring to fig. 1 and 8, the pneumatic control assembly 4 is composed of a vacuum pump, a gas pipe, a flow control valve, a flow rate regulating valve, etc. since the design is the prior art, the drawings are shown in detail, but do not influence the implementation of the scheme by those skilled in the art.

Present kelp harvesting equipment is mostly large-scale multi-functional automation equipment, and this kind of equipment degree of automation is high, and the function is many, but with high costs, occupation personnel are many and poor to environmental suitability, and the high breed raft frame of mainly used standardization level is not fit for breeding the mode of gathering that the scale is little, raft frame standardization is poor and require function list .

The small semi-automatic kelp dragging and harvesting ship in the embodiment is used for finishing the harvesting function of kelp, and manually unbuckled seedling ropes with kelp are fastened, lifted and dragged to get onto the ship and are sequentially placed at arrangement positions according to program setting.

The harvesting operation steps are as follows:

s1, preprocessing stage: manually driving a harvesting ship to enter a raft frame, untying the seedling rope with the kelp from the middle small floating ball and taking down the small floating ball;

s2, the harvesting boat enters the harvesting raft frame, a worker untwists the seedling rope only connected with the boom rope, the end of the rope is placed at the clamp of the manipulator, the switch is pressed, and the manipulator clamps the seedling rope through pneumatic force;

s3, dragging and dropping the kelp to a program set position through a hoisting mechanism lifting motor, an upper beam movement motor and an upright post motor, and releasing a mechanical arm through a program to place the kelp in sequence;

and S4, returning the manipulator to the initial position after the placement is completed, and entering the next operation cycles.

Aiming at the current situation and harvesting habit of the raft frame, the developed small semi-automatic kelp dragging and harvesting boat can drag the harvesting boat to carry out human-computer interaction, so that the labor intensity can be reduced to the greatest extent, and the influence of the problems of the raft frame and sea conditions on the stable use of harvesting equipment is also solved.

While the preferred embodiments of the present invention have been described, those skilled in the art will appreciate that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined by the appended claims.