Design And Research Of Mobile Shrimp And Crab Pond Autonomous Feeding System

In order to reduce the cost of fishery farming,reduce labor,and improve the efficiency of shrimp and crab farming,research on autonomous shrimp and crab pond farming equipment is becoming a hot topic.As one of the key technologies of intelligent shrimp and crab pond breeding,automatic feeding is an important part of the construction of intelligent shrimp and crab ponds.Although China's current pond and crab farming technology has made great progress,it still has insufficient experience in refined and efficient farming.The main method is to rely on manual feeding,and the bait spraying is mainly achieved by manual experience.It is difficult to achieve flooding all over the pond,the time is long,and the labor cost is high.In order to solve the problems of uneven feeding of shrimp and crab bait,high feeding intensity and backward feeding methods,a new bait feeding scheme was proposed through the combination of optimized fixed-point feeding technology and automatic control.Equipped with an automatic bait-feeding device,the bait in the bin is transported to the throwing device by vibration,and the throwing device generates centrifugal force to rotate and throw the bait.This design scheme adopts blow molding processing technology and uses Beidou's autonomous navigation and other control technologies to develop,which realizes a simplified and efficient operation of feeding operations.Automatic feeding reduces labor intensity and labor cost,and provides good technical support for the development of shrimp and crab pond automatic breeding technology.The main research contents and research results of the paper are as follows:(1)According to the requirements of the feeding device design,the overall functional scheme design of the mobile shrimp and crab pond autonomous feeding device with the propeller as the driving method and the Beidou/GPS positioning technology is proposed,and the overall structure is designed.Make a reasonable layout design.(2)Based on the analysis of the navigation performance of single and catamaran,the processing technology and the practicability of the assembly scheme,the hull structure design scheme was proposed,and the 3D modeling was completed in conjunction with the hull profile design,and the hull center of gravity estimation and floating center check Analyze the material properties and processing methods to determine the mold opening process of the hull through the blow molding process;perform field tests to verify the rationality of the design.The main design parameters of the hull are:1.53m in length,0.26m in width,0.3m in depth,0.22m in draft,and 0.9m in total hull width.(3)After analyzing and researching the existing feeding system,a balanced overall shaker device was designed.By designing the structure of the eccentric mechanism and simplifying the analysis and calculation of the four-bar mechanism model of the system,the optimal vibration eccentricity was 2mm.Motor type selection test analysis Select Y80motor with rated speed of 2600r/min,rated torque of 2.5kg.cm,and small temperature rise as the vibration source motor;complete the structural design analysis of the frame,bracket and material box through load analysis-40mm to-20mm is the optimal fulcrum position range.Tests on land and on the water show that the balanced shaker system operates stably as a whole,and the system has significantly improved the crushing rate and uniformity of feeding,and has achieved the optimization effect.(4)The design of the new hull drive system was completed.The direct transmission method that the motor and the transmission shaft are connected by thermal expansion.The double-lip mechanical seal and the flange seat are used to achieve better dynamic sealing and driving effect.The hull main engine power is estimated based on the hull friction resistance R_F and the remaining resistance R_R,combined with the mother The matching parameters of the model ship are selected and matched,and the model MY681212V DC brushed motor with a power of 120W is selected with a rated speed of 2800rpm.After theoretical stiffness check and prototype test verification,it can meet the requirements of good driving and sealing performance in water depth of 1 meter.(5)Designed an autonomous feeding control system,rationalized the planning of three functions:single navigation,navigation and feeding,and fixed-point fixed feeding.The electrical circuit design of Beidou autonomous navigation control was completed,and the design of the handheld remote control terminal was completed.Tests show that the control system can well match the control of hull navigation and feeding operation.The mobile shrimp and crab pond autonomous feeding system prototype was tested in a long-term river pond test,and the results show that the prototype has good running performance.The device effectively improves the feeding breakage rate,feeding uniformity,sailing speed,yaw amount,and feeding efficiency,etc.,and meets the design requirements.It provides a good reference value for the popularization and application of feeding equipment,and provides a good technical support for the later research of equipment in this field.