An underwater starfish injection robot

Abstract

An underwater starfish injection robot is provided with a main body for underwater movement and an injection assembly that can move and inject poison into starfish, and the injection assembly is assembled on the main body. The injection assembly is provided with a mechanical arm that can drive the injection device to move and an injection device, and the injection device is assembled at one end of the mechanical arm, and the other end of the mechanical arm is assembled on the main body. The underwater starfish injection robot of the present invention can inject poison into starfish underwater. At the same time, the injection assembly of the underwater starfish injection robot can rotate and rotate 360 ​​degrees horizontally, which greatly improves the flexibility of the injection assembly and can meet the requirements of injecting poison into starfish even if they are in different positions.

Description

Technical Field

[0001] The invention relates to the field of underwater robots, and in particular to an underwater starfish injection robot. Background Art

[0002] Corals are an important habitat for marine life, but due to climate change, human destruction and many other factors, the area of ​​corals is decreasing year by year. In response to this problem, humans have carried out comprehensive protection of corals and even cultivated artificial corals. However, crown-of-thorns starfish have caused serious damage to corals. Their damage to corals has exceeded the impact of human activities. Crown-of-thorns starfish feed on coral polyps on the surface of corals. According to research, an average crown-of-thorns starfish eats about two square meters of coral a day. In some years, the number of crown-of-thorns starfish will increase dramatically, and the damage to corals will be even more serious. At the same time, the crown-of-thorns starfish is very tenacious. Even if the salvaged crown-of-thorns starfish is torn into 4 or 5 petals, it can still grow into a complete individual.

[0003] The method of killing crown-of-thorns starfish in the prior art is as follows:

[0004] 1. Containment by natural enemies. The giant conch is the natural enemy of the crown-of-thorns starfish. However, excessive fishing by humans has caused the number of giant conch to gradually decrease. When the number of crown-of-thorns starfish increases sharply in a certain year or region, there are not enough giant conchs to contain the crown-of-thorns starfish.

[0005] 2. Artificial fishing, relying on divers to catch starfish and kill them. The caught crown-of-thorns starfish can also be used as food for artificially raised giant conches. However, the diving depth, diving time, manpower and material resources of divers have greatly limited the development of this method.

[0006] 3. Killing with poison: A small amount of poison is injected into the body of the crown-of-thorns starfish to kill it, and this method will not affect the marine ecological environment. Currently, a poison has been developed that can kill the crown-of-thorns starfish within 24 hours after one injection, but the existing technology still requires divers to dive underwater to inject the crown-of-thorns starfish. However, factors such as the diver's diving depth and diving time have greatly restricted this method.

[0007] Therefore, in view of the shortcomings of the existing technology, it is necessary to provide an underwater starfish injection robot to solve the shortcomings of the existing technology. Summary of the invention

[0008] The purpose of the present invention is to avoid the shortcomings of the prior art and provide an underwater starfish injection robot which injects poison into starfish underwater.

[0009] The above-mentioned purpose of the present invention is achieved by the following technical measures:

[0010] Provided is an underwater starfish injection robot, which comprises a main body for moving underwater and an injection component capable of moving and injecting poison into the starfish, wherein the injection component is assembled on the main body.

[0011] Preferably, the injection assembly is provided with a mechanical arm capable of driving the injection device to move and an injection device, the injection device is assembled on one end of the mechanical arm, and the other end of the mechanical arm is assembled on the main body.

[0012] Preferably, the above-mentioned robotic arm is provided with a first rotating device for driving the robotic arm to rotate as a whole, 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 perform 360° horizontal rotation about the central axis. The first rotating device is fixedly connected to the main body, the rotating device is transmission assembled on the first rotating device, and the second rotating device is transmission assembled on the rotating device.

[0013] Preferably, the injection device is provided with an injection part and an injection motor part for driving the injection part to inject venom into the body of the starfish, the injection motor part is transmission-assembled on the second rotating device, and the injection motor part is transmission-connected to the injection part.

[0014] Preferably, the injection part is provided with a syringe, an electric push rod moving back and forth along the central axis of the syringe, and a medicine liquid storage part. The medicine liquid storage part is assembled on the main body and connected to the syringe. One end of the electric push rod is transmission-connected to the injection motor part, and the other end of the electric push rod is seamlessly connected to the syringe.

[0015] Preferably, the injection part is provided with a one-way valve for preventing the backflow of poison and a solenoid valve for controlling the connection with the liquid medicine storage part, the solenoid valve is connected to the inside of the syringe and the liquid medicine storage part, and the one-way valve is assembled on the needle of the syringe and is connected with the inside of the syringe.

[0016] Preferably, the above-mentioned syringe is a stainless steel round tube syringe.

[0017] Preferably, the maximum capacity range of the above-mentioned syringe is 10ml to 80ml.

[0018] Preferably, the above-mentioned drug solution storage part is a cowhide leather bag.

[0019] Preferably, the maximum capacity of the above-mentioned drug solution storage unit ranges from 1000ml to 5000ml.

[0020] Preferably, the main body is provided with a camera device and a fill light device for searching for starfish, and the camera device and the fill light device are respectively mounted on the syringe.

[0021] 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 to the injection assembly, and the control device is also wirelessly connected to the remote control terminal.

[0022] Preferably, the rotation angle of the first rotating device is 0° to 180°.

[0023] Preferably, the rotation angle of the second rotating device is 0° to 360°.

[0024] The invention discloses 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 into a starfish, wherein the injection assembly is assembled on the main body. The underwater starfish injection robot of the invention can inject poison into a starfish underwater. At the same time, the injection assembly of the underwater starfish injection robot can rotate and 360° horizontally, which greatly improves the flexibility of the injection assembly and can meet the requirement of injecting poison into a starfish even if the starfish is in different positions. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention is further described with reference to the accompanying drawings, but the contents in the accompanying drawings do not constitute any limitation to the present invention.

[0026] Figure 1 This is a schematic diagram of the structure of an underwater starfish injection robot.

[0027] Figure 2 for Figure 1 Schematic diagram of the structure of the injection component.

[0028] Figure 3 Schematic diagram of the injection device.

[0029] Figures 1 to 3 Including:

[0030] Main body 1,

[0031] Injection component 2,

[0032] The mechanical arm 21, the first rotating device 211, the second rotating device 212, the rotating device 213,

[0033] Injection device 22,

[0034] Injection unit 221, syringe 2211, electric push rod 2212, liquid medicine storage unit 2213, one-way valve 2214, solenoid valve 2215,

[0035] Injection motor unit 222,

[0036] Camera device 3,

[0037] Fill light device 4. DETAILED DESCRIPTION

[0038] The technical solution of the present invention is further described in conjunction with the following embodiments.

[0039] Example 1.

[0040] An underwater starfish injection robot, such as Figures 1 to 3 As shown, a main body 1 for underwater movement and an injection assembly 2 that can move and inject poison into starfish are provided, and the injection assembly 2 is assembled on the main body 1.

[0041] The injection assembly 2 is provided with a mechanical arm 21 capable of driving the injection device 22 to move, and the injection device 22 . The injection device 22 is assembled at one end of the mechanical arm 21 , and the other end of the mechanical arm 21 is assembled at the main body 1 .

[0042] The robotic arm 21 is provided with a first rotating device 211 for driving the robotic arm 21 to rotate as a whole, a second rotating device 212 for driving the injection device 22 to rotate, and a rotating device 213 for driving the second rotating device 212 and the injection device 22 to perform 360° horizontal rotation around the central axis. The first rotating device 211 is fixedly connected to the main body 1, the rotating device 213 is transmission-assembled on the first rotating device 211, and the second rotating device 212 is transmission-assembled on the rotating device 213.

[0043] The injection device 22 is provided with an injection part 221 and an injection motor part 222 for pushing the injection part 221 to inject venom into the body of the starfish. The injection motor part 222 is transmission-assembled on the second rotating device 212 , and the injection motor part 222 is transmission-connected to the injection part 221 .

[0044] The injection part 221 is provided with a syringe 2211, an electric push rod 2212 which moves back and forth along the central axis of the syringe 2211, and a liquid medicine storage part 2213. The liquid medicine storage part 2213 is assembled on the main body 1 and connected to the syringe 2211. One end of the electric push rod 2212 is transmission-connected to the injection motor part 222, and the other end of the electric push rod 2212 is seamlessly connected to the syringe 2211.

[0045] The injection part 221 is provided with a one-way valve 2214 for preventing poison or seawater from flowing back and a solenoid valve 2215 for controlling the communication with the liquid medicine storage part 2213. The solenoid valve 2215 is connected to the inside of the syringe 2211 and the liquid medicine storage part 2213. The one-way valve 2214 is assembled on the needle of the syringe 2211 and communicates with the inside of the syringe 2211. The liquid medicine storage part 2213 is a cow tendon leather bag.

[0046] The principle of the poison entering the syringe 2211 of the present invention is: when the electromagnetic valve 2215 is opened, the electric push rod 2212 pushes the venom injection liquid into the starfish body. When the electric push rod 2212 is reset, the inside of the syringe 2211 is negative pressure, and the liquid in the liquid storage part 2213 flows to the syringe 2211 through water pressure to complete the poison filling.

[0047] The main body 1 is provided with a camera device 3 and a fill light device 4 for searching for starfish, and the camera device 3 and the fill light device 4 are respectively assembled on the syringe 2211.

[0048] The main body 1 is provided with a control device for controlling the injection assembly 2 to inject the starfish. The control device is electrically connected to the injection assembly 2 and is also wirelessly connected to a remote control terminal.

[0049] It should be noted that the first rotating device 211, the second rotating device 212 and the rotating device 213 of the present invention perform corresponding movements through motors, and motors of this movement mode are common knowledge and will not be described one by one here.

[0050] The control device can realize the movement of the injection assembly 2 and the data connection with the remote control terminal. Such control devices have been widely used in industrial production, and the model of the control device is not the focus of the invention, so it will not be described here one by one.

[0051] The rotation angle of the first rotating device 211 of the present invention is 0° to 180°. The rotation angle of the second rotating device 212 is 0° to 360°.

[0052] The working process of the underwater starfish injection robot of the present invention is that the staff on the water captures the underwater image signal based on the camera device 3, and controls the main body 1 to approach the position of the crown-of-thorns starfish, and then adjusts the first rotating device 211, the second rotating device 212 and the rotating device 213 to make the needle of the injection part 221 inserted into the body of the crown-of-thorns starfish, and finally controls the injection motor part 222 to push the venom into the body of the crown-of-thorns starfish.

[0053] The underwater starfish injection robot is provided with a main body 1 for underwater movement and an injection component 2 that can move and inject poison into the starfish, and the injection component 2 is assembled on the main body 1. The underwater starfish injection robot of the present invention can inject poison into the starfish underwater. At the same time, the injection component 2 of the underwater starfish injection robot can rotate and rotate 360 ​​degrees horizontally, which greatly improves the flexibility of the injection component 2, and can meet the requirements of injecting poison into the starfish even if it is in different positions.

[0054] Example 2.

[0055] An underwater starfish injection robot, the other features of which are the same as those of Example 1, except that the syringe 2211 is a stainless steel round tube syringe 2211.

[0056] The maximum capacity of the syringe 2211 of the present invention ranges from 10ml to 80ml, and can be 20ml, 30ml, 40ml, 50ml, 55ml, 60ml, 70ml, 75ml, etc. The specific implementation method depends on the actual situation. The maximum capacity of the syringe 2211 of this embodiment is 41ml.

[0057] The maximum capacity of the liquid medicine storage unit 2213 of the present invention ranges from 1000ml to 5000ml, and can be 1100ml, 1200ml, 1300ml, 1500ml, 2000ml, 3000ml, 4000ml, 4500ml, etc. The specific implementation method is determined according to the actual situation. The maximum capacity of the liquid medicine storage unit 2213 of this embodiment is 2000ml.

[0058] Since the amount of poison injected into the starfish at one time is 10 ml, the syringe 2211 of this embodiment can be injected four times after being filled with poison.

[0059] The underwater starfish injection robot is provided with a main body 1 for underwater movement and an injection component 2 that can move and inject poison into the starfish, and the injection component 2 is assembled on the main body 1. The underwater starfish injection robot of the present invention can inject poison into the starfish underwater. At the same time, the injection component 2 of the underwater starfish injection robot can rotate and rotate 360 ​​degrees horizontally, which greatly improves the flexibility of the injection component 2, and can meet the requirements of injecting poison into the starfish even if it is in different positions.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit the scope of protection of the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the essence and scope of the technical solution of the present invention.

Claims

1. An underwater starfish injection robot, characterized by: A main body for underwater movement and an injection assembly capable of moving and injecting poison into a starfish are provided, wherein the injection assembly is assembled on the main body; The injection assembly is provided with a mechanical arm capable of driving the injection device to move and an injection device, the injection device is assembled at one end of the mechanical arm, and the other end of the mechanical arm is assembled at the main body; The injection device is provided with an injection part and an injection motor part for driving the injection part to inject venom into the body of the starfish, the injection motor part is transmission-assembled on the second rotating device, and the injection motor part is transmission-connected with the injection part; The injection part is provided with a syringe, an electric push rod that moves forward and backward along the central axis of the syringe, and a liquid medicine storage part, the liquid medicine storage part is assembled on the main body and connected to the syringe, one end of the electric push rod is transmission-connected to the injection motor part, and the other end of the electric push rod is seamlessly connected to the syringe; The injection part is provided with a one-way valve for preventing the backflow of poison and a solenoid valve for controlling the communication with the liquid medicine storage part, the solenoid valve is connected with the inside of the syringe and the liquid medicine storage part, and the one-way valve is assembled on the needle of the syringe and communicated with the inside of the syringe; The mechanical arm is provided with a first rotating device for driving the mechanical arm to rotate as a whole, 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 perform a 360° horizontal rotation about the central axis, the first rotating device is fixedly connected to the main body, the rotating device is transmission-assembled on the first rotating device, and the second rotating device is transmission-assembled on the rotating device; The main body is provided with a control device for controlling the injection assembly to inject the starfish. The control device is electrically connected to the injection assembly and is also wirelessly connected to a remote control terminal.

2. The underwater starfish injection robot according to claim 1, characterized in that: The syringe is a stainless steel round tube syringe; The maximum capacity range of the syringe is 10 ml to 80 ml.

3. The underwater starfish injection robot according to claim 2, characterized in that: The liquid medicine storage part is a cow tendon leather bag; The maximum capacity range of the drug solution storage part is 1000ml to 5000ml.

4. The underwater starfish injection robot according to claim 3 is characterized by: The main body is provided with a camera device and a fill light device for searching for starfish, and the camera device and the fill light device are respectively assembled on the syringe.

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