CN111084176A

CN111084176A - An underwater robot carrying a starfish injector

Info

Publication number: CN111084176A
Application number: CN201911407903.0A
Authority: CN
Inventors: 马秀芬; 罗鹏; 兰传春; 于宗赫; 刘虎
Original assignee: Qingdao Robotfish Marine Technology Co ltd; South China Sea Institute of Oceanology of CAS
Current assignee: Qingdao Robotfish Marine Technology Co ltd; South China Sea Institute of Oceanology of CAS
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2020-05-01
Anticipated expiration: 2039-12-31
Also published as: CN111084176B

Abstract

The invention discloses an underwater robot carried starfish syringe which comprises a medicine drawing unit and an injection unit, wherein the injection unit comprises a needle head, a needle head protective tube sleeved outside the needle head and a second driving unit for driving the needle head and the needle head protective tube to move relatively, the second driving unit is connected with the needle head protective tube and drives the needle head protective tube to reciprocate along the needle head so as to realize the extension or retraction of the needle head from the needle head protective tube, the needle head is connected with the medicine drawing unit, the medicine drawing unit is used for drawing liquid medicine and conveying the liquid medicine to the needle head, and the injection unit is used for injecting the drawn liquid medicine into an underwater organism. The underwater biological automatic catching and killing device has the advantages that automatic catching and killing of underwater organisms is realized, a diver does not need to submerge into water, long-time catching and killing of the underwater organisms in deeper sea areas can be realized, the hit rate is high, the catching and killing effect is good, and meanwhile, the needle head is well protected.

Description

Starfish carrying injector of underwater robot

The technical field is as follows:

the invention belongs to the technical field of underwater equipment, and particularly relates to an underwater robot carried starfish injector.

Background art:

coral reefs play an important role in marine ecosystems, and provide a comfortable living environment for young fish, worms, mollusks, sponges, echinoderm organisms, crustaceans and many other animals and plants. It is estimated that about 25% of all marine species live in coral reef areas worldwide. Acanthopanax senticosus, also called as "coral killer", can engulf about 2 squares of coral a day after the adult acanthopanax senticosus, and the coral reef that is being visited by acanthopanax senticosus only has a white coral skeleton left. Acanthopanax japonicus has strong vitality, even if all the tentacles are cut off or most parts of the body are destroyed, the acanthopanax japonicus still cannot die, and broken pieces can still grow into complete acanthopanax japonicus.

The present invention discloses a pesticide for killing acanthaster, which is an injection pesticide for killing acanthaster caused by coral enemy as disclosed in patent CN 110178855A. At present, a diver generally needs to submerge into the sea bottom and inject liquid medicine into the starfishes for killing. With the gradual rise of labor cost and higher danger coefficient of diving into the sea bottom, acanthopoda starfish easily stabs divers, and a starfish catching and killing device capable of being carried on an underwater robot is absolutely needed.

The invention content is as follows:

the invention aims to overcome the defects in the prior art, and seeks to design an underwater robot carrying starfish injector, so that the problem that the existing underwater organisms are difficult to automatically kill is solved, and the problem that a needle head is exposed and easily damaged is solved.

In order to achieve the purpose, the invention relates to an underwater robot carried starfish syringe which comprises a medicine drawing unit and an injection unit, wherein the injection unit comprises a needle head, a needle head protective tube sleeved outside the needle head and a second driving unit for driving the needle head and the needle head protective tube to move relatively, the second driving unit is connected with the needle head protective tube and drives the needle head protective tube to reciprocate along the needle head so as to realize the extension or retraction of the needle head from the needle head protective tube, the needle head is connected with the medicine drawing unit, the medicine drawing unit is used for drawing medicine liquid and conveying the medicine liquid to the needle head, and the injection unit is used for injecting the drawn medicine liquid into an underwater organism.

The second driving unit comprises a protective tube guide sleeve, a spring, a sensor fixing plate, a sensor, a needle locking sleeve and a sensor trigger; the protective tube guide sleeve is arranged outside the needle protective tube, one end of the needle is communicated with the medicine drawing unit, the needle locking sleeve is fixed on a central hole of a sensor fixing plate, the free end of the needle passes through the central hole of the needle locking sleeve, the needle is locked and fixed by the needle locking sleeve and then inserted into the needle protective tube, the spring is sleeved outside the needle, one end of the spring is abutted against the needle locking sleeve, the other end of the spring extends into a groove arranged at the inner side of the bottom of the needle protective tube, the needle protective tube comprises a front tube and a rear tube which have the same inner diameter, the outer diameter of the rear tube is larger than that of the front tube, a boss is formed at the outer side of the joint after the front tube and the rear tube are fixedly connected in a coaxial line, the front tube is inserted into the protective tube guide sleeve, the sensor is fixed at one side of the sensor fixing plate, a sensor, the boss leans on the catheter sheath, and the spring is in the free extension state, moves backward, drives sensor trigger and moves to the response within range of sensor, and the spring compresses.

The medicine drawing unit comprises a first driving unit and a medicine drawing assembly, the first driving unit comprises a sealing shell, a driving assembly and a transmission assembly, the driving assembly is connected with the transmission assembly and used for driving the transmission assembly to work, the extending end of a pull rod in the transmission assembly is connected with the medicine drawing assembly and used for driving the medicine drawing assembly to draw medicine liquid and convey the drawn medicine liquid to the injection unit, and the driving assembly and the transmission assembly are arranged in the sealing shell.

The sealing shell comprises a front end cover, an end cover sealing ring, a barrel and a rear end cover, wherein the front end cover and the rear end cover are fixed at the front end and the rear end of the barrel in a sealing mode through the end cover sealing ring.

Specifically, the drive assembly includes a motor fixed within a sealed housing.

Further, the transmission assembly comprises a pull rod, a bearing fixing seat, a bearing, a transmission nut, a locking nut and a coupler, the motor is connected with one end of the transmission nut through the coupler, one end of the pull rod is in threaded connection with a through hole formed in the inner side of the other end of the transmission nut, the front end and the rear end of the transmission nut are fixed on the bearing fixing seat through the bearing, the bearing seat is fixed on the inner side of the barrel, the locking nut is connected to the transmission nut close to one side of the coupler and used for locking the transmission nut, and the other end of the pull rod extends out of.

Furthermore, the medicine drawing assembly comprises a first one-way valve, a second one-way valve, a medicine collecting head, a glass tube, a piston, an injector fixing seat and a medicine bag; the rear end of the syringe fixing seat is fixed at the front end of the sealing shell, the rear end of the glass tube is fixed at the front end of the syringe fixing seat, the front end of the glass tube is connected with a medicine collecting head, the extending end of the pull rod penetrates through the syringe fixing seat and is connected with a piston which is arranged in the glass tube and reciprocates along the inner wall of the glass tube, the medicine collecting head comprises a medicine inlet tube and a medicine outlet tube, one end of the medicine outlet tube is communicated with the front end of the glass tube, the other end of the medicine outlet tube is communicated with the needle head, one end of the medicine inlet tube is communicated with the medicine bag, the other end of the medicine inlet tube is connected with the medicine outlet tube, a second one-way valve and a first one-way valve are respectively arranged in the medicine inlet tube and the medicine outlet tube, when the piston moves forwards along the inner wall of the glass tube, the

The front end of the injector fixing seat is connected with the sensor fixing plate through a circumferential upright post, and the medicine drawing assembly is arranged in a space defined by the upright posts.

The second sealing gasket is arranged in a groove formed in the front end of the injector fixing seat, the rear end of the injector locking sleeve arranged outside the glass tube is in threaded connection with the groove formed in the front end of the injector fixing seat, the second sealing gasket is compressed, the front end of the injector locking sleeve is coated above the joint of the medicine outlet tube and the glass tube, and the first sealing gasket is arranged at the joint of the medicine outlet tube, the glass tube and the injector locking sleeve.

The underwater robot carries a starfish injector and further comprises a control unit, and the control unit is connected with a control system of the underwater robot, a circuit board of the medicine drawing unit and a sensor respectively.

The trapping and killing device has good trapping and killing effect on the underwater organisms moving slowly, such as starfishes, and is certainly suitable for trapping and killing other underwater organisms.

Compared with the prior art, the invention has the following beneficial effects: the automatic trapping and killing of underwater organisms are realized, a diver does not need to submerge into water, the underwater organisms in deeper sea areas can be trapped and killed for a long time, the hit rate is high, the trapping and killing effect is good, and meanwhile, the needle head is well protected.

Description of the drawings:

fig. 1 is a sectional view of an underwater robot-mounted starfish syringe according to embodiment 1.

Fig. 2 is a three-dimensional configuration diagram of the underwater robot carrying the starfish syringe according to embodiment 1.

FIG. 3 is a schematic view of the normal state of the injection unit in example 1.

FIG. 4 is a schematic view of the operation state of the injection unit in embodiment 1.

The specific implementation mode is as follows:

the invention is further illustrated by the following specific examples in combination with the accompanying drawings.

Example 1:

the terms "front" and "rear" in the present invention are for convenience of description, and are defined with reference to the use state of the trap.

The embodiment relates to an underwater robot carried starfish syringe, which comprises a medicine drawing unit and an injection unit, wherein the injection unit comprises a needle head 2, a needle head protective tube 1 sleeved outside the needle head 2 and a second driving unit for driving the needle head 2 and the needle head protective tube 1 to move relatively, the second driving unit is connected with the needle head protective tube 1 and drives the needle head protective tube 1 to reciprocate along the needle head 2, so that the needle head 2 extends out of or retracts into the needle head protective tube 1, the needle head 2 is connected with the medicine drawing unit, the medicine drawing unit is used for drawing liquid medicine and conveying the liquid medicine to the needle head, and the injection unit is used for injecting the drawn liquid medicine into an underwater organism.

The second driving unit comprises a protective tube guide sleeve 3, a spring 4, a sensor fixing plate 5, a sensor 6, a needle locking sleeve 7 and a sensor trigger 38; the protective tube guide sleeve 3 is arranged outside the needle protective tube 1, one end of the needle 2 is communicated with the medicine drawing unit, the needle locking sleeve 7 is fixed on a central hole of the sensor fixing plate 5, the free end of the needle passes through the central hole of the needle locking sleeve 7, the needle 2 is locked and fixed by the needle locking sleeve 7 and then inserted into the needle protective tube 1, the spring 4 is sleeved outside the needle 2, one end of the spring is abutted against the needle locking sleeve 7, the other end of the spring extends into a groove arranged on the inner side of the bottom of the needle protective tube 1, the needle protective tube 1 comprises a front tube 39 and a rear tube 40 which have the same inner diameter, the outer diameter of the rear tube 40 is larger than that of the front tube 39, a boss is formed at the outer side of the connection part after the front tube 39 and the rear tube 40 are coaxially and fixedly connected, the front tube 39 is inserted into the protective tube guide sleeve 3, the sensor 6 is fixed on one side of the sensor fixing plate 5, a sensor trigger 38, when the sensor trigger 38 moves to the foremost end, the boss abuts against the protective tube guide sleeve 3, the spring is in a free extension state and moves backwards to drive the sensor trigger to move to the sensing range of the sensor, and the spring is compressed. The sensor may be an underwater proximity switch and the corresponding sensor trigger 38 is a sensing strip.

Under the normal state, under the elasticity of the spring 4, the needle protection tube 1 protects the needle outside the needle 2. Under the action of external force, the needle protecting tube 1 overcomes the elasticity of the spring 4 and moves backwards in the working state, and the needle is exposed.

The sealing shell comprises a front end cover 22, an end cover sealing ring 23, a cylinder body 24 and a rear end cover 34, wherein the front end cover 22 and the rear end cover 34 are fixed at the front end and the rear end of the cylinder body 24 through the end cover sealing ring 23 in a sealing mode.

Specifically, the driving assembly is a motor 31 and a circuit board 33, one end of the circuit board 33 is connected with the motor 31, the motor 31 is fixed in the sealed shell through a motor fixing plate 30, and the circuit board 33 is arranged at the rear end of the sealed shell.

Further, the transmission assembly comprises a pull rod 19, a bearing fixing seat 25, a bearing 26, a transmission nut 27, a locking nut 28 and a coupler 29, a motor 31 is connected with one end of the transmission nut 27 through the coupler 29, one end of the pull rod 19 is in threaded connection with a through hole formed in the inner side of the other end of the locking nut 28, the front end and the rear end of the transmission nut 27 are fixed on the bearing fixing seat 25 through the bearing 26, a bearing seat is fixed on the inner side of the cylinder 24, the locking nut 28 is connected to the transmission nut 27 close to one side of the coupler 29 and used for locking the transmission nut 27, and the other end of the pull rod 19 extends out of the. In order to ensure the sealing performance, a groove is arranged on the front end cover, and the star ring 21 is sleeved on the pull rod 19 and is pressed in the groove through the baffle plate 20.

Further, the medicine drawing assembly comprises a first one-way valve 9, a second one-way valve 10, a medicine collecting head 11, a glass tube 14, a piston 15, an injector fixing seat 18 and a medicine bag; the rear end of a syringe fixing seat 18 is fixed at the front end of a sealing shell, the rear end of a glass tube 14 is fixed at the front end of the syringe fixing seat 18, the front end of the glass tube 14 is connected with a medicine collecting head 11, the extending end of a pull rod 19 penetrates through the syringe fixing seat 18 and is connected with a piston 15 which is arranged in the glass tube 14 and reciprocates along the inner wall of the glass tube 14, the length of the syringe fixing seat 18 is larger than or equal to the stroke of the piston in reciprocating motion, the medicine collecting head 11 comprises a medicine inlet tube 37 and a medicine outlet tube 36, one end of the medicine outlet tube 36 is communicated with the front end of the glass tube 14, the other end of the medicine inlet tube 36 is communicated with a medicine bag, the other end of the medicine inlet tube 37 is connected with the medicine outlet tube 36, a second one-way valve 10 and a first one-way valve 9 are respectively arranged in the medicine inlet tube 37 and the medicine outlet tube 36, when the piston moves forwards along the inner wall of the glass tube, the first check valve 9 is closed and the second check valve 10 is open. The front end of the injector fixing seat 18 is connected with the sensor fixing plate 5 through 4 upright posts 8 on the circumferential direction, and the medicine drawing assembly is arranged in a space surrounded by the upright posts. The sensor fixing plate is supported by the upright posts, and the medicine drawing assembly is protected.

In order to ensure the tightness of the connection between the glass tube 14 and the medicine outlet tube 36 and the syringe fixing seat 18. The second sealing gasket 17 is arranged in a groove formed in the front end of the injector fixing seat 18, the rear end of the injector locking sleeve 13 arranged outside the glass tube 14 is in threaded connection with the groove formed in the front end of the injector fixing seat 18, the second sealing gasket 17 is pressed tightly, the front end of the injector locking sleeve 13 is coated above the joint of the medicine outlet tube 36 and the glass tube 14, and the first sealing gasket 12 is arranged at the joint of the medicine outlet tube 36, the glass tube 14 and the injector locking sleeve 13. Further, a piston packing 16 is provided at the joint of the piston 15 and the glass tube 14.

The specific working process of carrying the starfish injector by the underwater robot is as follows: the underwater robot carries a starfish injector to move to the side of an organism to be killed, such as a starfish, a needle 2 is punctured into the starfish body, under the action of pressure, a needle protection tube 1 moves backwards to drive an induction sheet to move backwards, a spring is compressed, when the induction sheet moves into the induction range of an underwater proximity switch 6, the underwater proximity switch 6 sends a signal to a control unit, the control unit sends a signal to a circuit board, the circuit board 33 drives a motor 31 to work, the motor 31 rotates forwards (or reversely), a transmission nut 27 is driven to rotate around a bearing 26 through a coupler 29, as the transmission nut 27 is in threaded connection with a pull rod 19, the pull rod 19 moves forwards to drive a piston 15 to move forwards along the inner wall of a glass tube 14, liquid in the glass tube 14 is compressed, a second one-way valve 10 is cut off, a first one-way valve 9 is switched on, and liquid medicine in the glass tube 14 is pushed to flow into the needle 2 from, and then enter the starfish body to complete the injection. The needle head 2 is pulled out, the needle head protective tube 1 moves forwards and returns under the action of the spring, and the needle head protective tube is arranged outside the needle head 2 to avoid the damage of the needle head under the action of external force. After injection is completed, the control unit sends a signal to the circuit board, the circuit board 33 drives the motor 31 to work, the motor 31 rotates in the reverse direction (or in the forward direction), the transmission nut 27 is driven to rotate around the bearing 26 through the coupler 29, the pull rod 19 moves backwards due to the threaded connection of the transmission nut 27 and the pull rod 19, the pull rod 19 moves backwards, the piston 15 is driven to move backwards along the inner wall of the glass tube 14, vacuum is formed in the glass tube 14, the second one-way valve 10 is switched on, the first one-way valve 9 is switched off, and liquid medicine in the medicine bag enters the glass tube through the medicine inlet tube 38 to wait for.

Claims

1. an underwater robot is equipped with a starfish injector, it is characterized in that, comprise medicine-drawing unit and injecting unit, injecting unit comprises needle, the needle protecting tube that is sleeved on the outside of needle and the second driving unit that drives needle and needle protecting tube relative motion , the second drive unit is connected with the needle protection tube, and drives the needle protection tube to reciprocate along the needle to realize the extension or retraction of the needle from the needle protection tube. The liquid medicine is delivered to the needle, and the injection unit is used to inject the liquid medicine into the underwater organism.

2. The underwater robot carrying a starfish injector according to claim 1, wherein the second drive unit comprises a protective tube guide sleeve, a spring, a sensor fixing plate, a sensor, a needle locking sleeve and a sensor trigger; The tube guide sleeve is placed on the outside of the needle protection tube, one end of the needle is connected with the drug-draining unit, the needle locking sleeve is fixed on the center hole of the sensor fixing plate, the free end of the needle passes through the center hole of the needle locking sleeve, and the needle locking sleeve locks the needle Tightly fix it, and then insert it into the needle protection tube. The spring is sleeved on the outside of the needle, one end of which is abutted on the needle locking sleeve, and the other end extends into the groove opened on the inner side of the bottom of the needle protection tube. The needle protection tube includes a front tube with the same inner diameter. And the rear tube, the outer diameter of the rear tube is larger than the outer diameter of the front tube, after the front tube and the rear tube are fixedly connected coaxially, a boss is formed on the outside of the connection, the front tube is inserted into the protective tube guide sleeve, and the sensor is fixed on the sensor. On one side of the plate, a fixed sensor trigger that matches the sensor is fixed on the rear tube. The needle guard moves back and forth relative to the needle in the cavity in the middle of the protective tube guide sleeve. When it moves to the front end, the boss abuts against the protective tube guide When the sleeve is put on, the spring is in a free extension state and moves backwards, which drives the sensor trigger to move within the sensing range of the sensor, and the spring compresses.

3. underwater robot according to claim 2 is equipped with starfish injector, it is characterized in that, described medicine drawing unit comprises the first drive unit and draw medicine assembly, the first drive unit comprises sealing shell, drive assembly and transmission assembly, drive The assembly is connected with the transmission assembly and is used to drive the transmission assembly to work. The extension end of the pull rod in the transmission assembly is connected with the drug-drawing assembly, which is used to drive the drug-draining assembly to draw the medicinal liquid and deliver the absorbed medicinal liquid to the injection unit. The drive assembly, The transmission components are placed in the sealed shell.

4. The underwater robot carrying starfish injector according to claim 3 is characterized in that, the sealing shell comprises a front end cap, an end cap sealing ring, a cylinder and a rear end cap, and both the front end cap and the rear end cap pass through the end cap The sealing ring is sealed and fixed at the front and rear ends of the cylinder body.

5 . The starfish injector mounted on an underwater robot according to claim 3 , wherein the drive assembly comprises a motor, and the motor is fixed in the sealing shell. 6 .

6. The underwater robot carrying a starfish injector according to claim 3 is characterized in that, the transmission assembly comprises a tie rod, a bearing holder, a bearing, a transmission nut, a locking nut and a coupling, and the motor is connected to the coupling through the coupling. One end of the drive nut is connected, one end of the tie rod is threadedly connected with the through hole opened on the inner side of the other end of the drive nut, the front and rear ends of the drive nut are fixed on the bearing fixing seat through bearings, the bearing seat is fixed on the inner side of the cylinder, and the locking nut is connected close to the coupling. On the drive nut on one side of the shaft, it is used to lock the drive nut, and the other end of the tie rod protrudes from the center of the front end cover of the sealing shell.

7. The underwater robot carrying starfish syringe according to claim 3, is characterized in that, described medicine drawing assembly comprises first one-way valve, second one-way valve, medicine collecting head, glass tube, piston, syringe holder and medicine bag; the rear end of the syringe holder is fixed at the front end of the sealing shell, the rear end of the glass tube is fixed at the front end of the syringe holder, the front end of the glass tube is connected with the drug collection head, and the extension end of the pull rod passes through the syringe holder and is placed in the glass tube. It is connected with a piston that reciprocates along the inner wall of the glass tube. The medicine collection head includes a medicine inlet tube and a medicine outlet tube. One end of the medicine outlet tube is connected with the front end of the glass tube, the other end is connected with the needle, one end of the medicine inlet tube is connected with the medicine bag, and the other end is connected with the medicine bag. On the medicine outlet pipe, a second one-way valve and a first one-way valve are respectively arranged in the medicine inlet pipe and the medicine outlet pipe. When the piston moves forward along the inner wall of the glass tube, the first one-way valve is turned on, and the second one-way valve is turned on. When the valve is closed and the piston moves backwards along the inner wall of the glass tube, the first one-way valve is closed and the second one-way valve is turned on.

8 . The underwater robot carrying a starfish syringe according to claim 7 , wherein the front end of the syringe holder is connected to the sensor fixing plate through the root upright in the circumferential direction, and the medicine-draining assembly is placed in the space enclosed by the upright. 9 .

9. underwater robot according to claim 8 is equipped with starfish syringe, it is characterized in that, the second gasket is placed in the groove that the syringe holder front end opens, the syringe locking sleeve rear end that is placed on the outside of the glass tube and The groove opened at the front end of the syringe holder is threadedly connected, the second sealing gasket is pressed tightly, the front end of the syringe locking sleeve is covered above the connection between the drug discharge tube and the glass tube, and the first sealing gasket is placed on the drug discharge tube and the glass tube. and the connection of the syringe locking sleeve.

10. underwater robot according to claim 9 is equipped with starfish injector, it is characterized in that, described underwater robot is equipped with starfish injector, also comprises control unit, control unit and the control system of underwater robot respectively, the circuit of drawing medicine unit board and sensor connections.