An underwater fishing device and method

Abstract

The present invention provides an underwater fishing device and method, which relates to the technical field of underwater fishing. It includes a power drive mechanism and a fishing mechanism. The power drive mechanism is fixedly connected to the fishing mechanism. The power drive mechanism includes a first housing and a second housing. An elevating thruster, a translational thruster and an underwater camera are installed on the first housing. The second housing is used for installing power energy equipment and an underwater controller. The fishing mechanism includes a fishing frame. Recovery boxes are provided on both sides of the bottom end of the fishing mechanism, and two groups of fishing grippers and a gripper drive mechanism are provided in the middle of the bottom end of the fishing mechanism. This underwater fishing device realizes underwater lifting and translational movements, realizes the active grasping and fishing of fishing products, improves the low fishing efficiency, and reduces the high fishing cost.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater fishing, and particularly relates to an underwater fishing device and method. Background Art

[0002] Underwater aquaculture is a conventional way of artificially cultivating aquatic products. For example, the cultivation method of oysters: One is to connect the shells with attached oyster seedlings in series with ropes, separated by bamboo tubes about 10 cm in the middle, and suspended on a raft. The other is to clamp the shells with attached oyster seedlings in the twist seam of a polyethylene rope with a diameter of 3 - 3.5 cm, clamp 1 shell every about 10 cm, and hang it vertically on a floating raft. Generally, each rope is 2 - 3 meters long. It is also possible to use rubber tires to clamp the seedlings and suspend them for cultivation.

[0003] During the growth process of oysters, due to various reasons, some oysters will fall off and be distributed along the suspended ropes. When harvesting and collecting oysters, the fallen oysters need to be manually fished by divers. Due to the relatively high density of oysters, the number that divers can fish each time is limited. Therefore, the fishing is difficult, the fishing efficiency is low, and the fishing cost is high; especially when the water depth is relatively deep, such as 30 meters, it is more difficult for divers to fish, and the fishing cost is even higher. Summary of the Invention

[0004] In view of the above problems existing in the prior art, the present invention provides an underwater fishing device and method, including a power driving mechanism and a fishing mechanism. The underwater fishing device realizes underwater lifting and translation movements, realizes the active grasping and fishing of fishing products, improves the low fishing efficiency, and reduces the high fishing cost.

[0005] To this end, the technical solution of the present invention is that an underwater fishing device includes a power driving mechanism and a fishing mechanism. The power driving mechanism is fixedly connected to the fishing mechanism. The power driving mechanism includes a first housing and a second housing. An elevating thruster, a translational thruster, and an underwater camera are installed on the first housing. The second housing is used for the sealed installation of power energy equipment and an underwater controller. The fishing mechanism includes a fishing frame. Recovery boxes are provided on both sides at the bottom end of the fishing mechanism, and two groups of fishing grippers and a gripper driving mechanism are provided in the middle at the bottom end of the fishing mechanism.

[0006] Preferably, a plurality of ducts are provided on the first housing. An elevating thruster is fixedly provided inside the duct. The direction of the duct passage is the vertical direction, and the distribution of the ducts on the first housing is symmetric distribution or uniform distribution.

[0007] Preferably, a plurality of side push brackets are provided on the lower end surface of the first housing. A translational thruster is fixedly installed on the side push brackets. The distribution of the translational thrusters on the first housing is symmetric distribution or uniform distribution.

[0008] Preferably, the fishing gripper comprises a rotating rod, which is fixedly connected to the fishing frame via a bearing and a bearing seat, and a plurality of fishing pieces are installed at intervals on the rotating rod.

[0009] Preferably, the fishing piece includes a straight fishing piece and a curved fishing piece, the shape of the curved fishing piece is an arc-shaped hook, the straight fishing piece and the curved fishing piece are an integrated structure, and the angle between the center line of the straight fishing piece and the center line of the curved fishing piece is 120±10 degrees.

[0010] Preferably, a driving gear is provided on the rotating rod of the fishing gripper, and the gripper driving mechanism is transmission-connected to the rotating rod via the driving gear, and the gripper driving mechanism comprises a rack bracket, a rack and a driving cylinder.

[0011] Preferably, the rack bracket is fixedly connected to the fishing frame, a rack is installed in the middle part of the rack bracket, the rack is slidingly connected to the rack bracket, the rack is cylindrical in shape, the rack is meshed with the driving gear, one end of the rack is connected to the piston rod of the driving cylinder through a connecting head, and the driving cylinder is fixedly connected to the fishing frame.

[0012] Preferably, the two groups of fishing grippers and the gripper driving mechanisms are symmetrically installed, and the fishing pieces of the two groups of fishing grippers are staggered and distributed with a spacing of 1-10 CM between two adjacent fishing pieces.

[0013] Preferably, an underwater fishing device of the present invention further comprises a plurality of lifting rods, the upper ends of the lifting rods are provided with lifting rings, the lower ends of the lifting rods are provided with lifting rod feet, and the lifting rods fix the power drive mechanism and the fishing mechanism together.

[0014] The present invention provides an underwater fishing method, the specific steps of which are as follows:

[0015] 1. In the target fishing area, the underwater fishing device is placed in the water, and the control platform controls the underwater fishing device to start through the underwater controller;

[0016] 2. The underwater fishing device turns on the searchlight and underwater camera, and the underwater camera transmits underwater images or video information to the control platform;

[0017] 3. The control platform determines the fishing location through underwater images or video information;

[0018] 4. The control platform controls the underwater fishing device to move to the fishing position through the underwater controller;

[0019] 5. The two groups of fishing grippers of the fishing mechanism are opened under the drive of the gripper driving mechanism;

[0020] 6. The underwater fishing device descends, and the two sets of fishing grippers close and start to grab under the drive of the gripper drive mechanism;

[0021] 7. Under the continuous driving of the gripper driving mechanism, after the two groups of fishing grippers are staggered, the fishing products are dialed into the recycling box;

[0022] 8. The underwater fishing device rises and moves to the next fishing position;

[0023] 9. In this cycle, the underwater fishing device performs continuous displacement and grasping fishing;

[0024] 10. After the fishing is completed, the underwater fishing device rises to the water surface and is hoisted out of the water as a whole through the hoisting rod.

[0025] The beneficial effects of the present invention are that a lifting thruster and a translation thruster are installed on the first housing of the power driving mechanism. Through the lifting thruster, the lifting movement of the underwater fishing device can be realized, and through the translation thruster, the horizontal movement of the underwater fishing device can be realized. The horizontal movement includes movements in multiple directions such as forward, backward, left, right, left front, left rear, right front, and right rear; the searchlight and the underwater camera respectively provide the underwater light source to obtain underwater image or video information; the fishing position is determined through the underwater image or video information. When the underwater fishing device moves above the fishing position, the two groups of fishing grippers of the fishing mechanism are opened under the drive of the gripper driving mechanism, the underwater fishing device descends, and the two groups of fishing grippers are closed under the drive of the gripper driving mechanism to start grasping. Under the continuous drive of the gripper driving mechanism, after the two groups of fishing grippers are staggered, the fishing products are dialed into the recycling box. The underwater fishing device realizes the underwater lifting and translation movements, realizes the active grasping and fishing of the fishing products, improves the low fishing efficiency, and reduces the high fishing cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is the overall structural schematic diagram of the present invention;

[0027] Figure 2 is Figure 1 the front view of

[0028] Figure 3 is Figure 1 the left view of

[0029] Figure 4 is the structural schematic diagram of the power driving mechanism;

[0030] Figure 5 is Figure 4 the top view of

[0031] Figure 6 is Figure 4 the bottom view of

[0032] Figure 7 is the structural schematic diagram of the fishing mechanism;

[0033] Figure 8Yes Figure 7 Front view of

[0034] Figure 9 Yes Figure 7 Top view of

[0035] Figure 10 Schematic structural diagram of the fishing gripper and the gripper driving mechanism

[0036] Figure 11 Yes Figure 10 Front view of

[0037] Figure 12 Schematic structural diagram of the gripper driving mechanism

[0038] Explanation of symbols in the figure

[0039] 1. Power driving mechanism; 11. First housing; 1101. Duct; 1102. Lifting thruster; 1103. Side thrust bracket; 1104. Translation thruster; 1105. Underwater camera; 12. Second housing; 2. Fishing mechanism; 21. Fishing frame; 2101. Fishing partition net; 22. Recycling box; 2201. Recycling filter hole; 23. Fishing gripper; 2301. Rotating rod; 2302. Bearing seat; 2303. Fishing piece; 23031. Fishing straight piece; 23032. Fishing bent piece; 2304. Fishing cross bar; 2305. Driving gear; 24. Gripper driving mechanism; 2401. Rack bracket; 2402. Rack; 2403. Driving cylinder; 24031. Connector; 3. Hoisting rod; 301. Sling ring; 302. Hoisting rod anchor Specific embodiments

[0040] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention

[0041] As Figures 1 - 12As shown in the figure, the present invention provides an underwater fishing device, which includes a power driving mechanism 1 and a fishing mechanism 2. The power driving mechanism 1 is fixedly connected to the fishing mechanism 2. The power driving mechanism 1 includes a first housing 11 and a second housing 12. The first housing 11 is the main housing of the power driving mechanism 1 and is used to install various power output devices and monitoring devices. There are multiple ducts 1101 on the first housing 11. An elevating thruster 1102 is fixedly installed inside the duct 1101. The direction of the channel of the duct 1101 is the vertical direction. The distribution mode of the ducts 1101 on the first housing 11 is symmetric distribution or uniform distribution, which ensures the balance of the lifting power. The number of the ducts 1101 is at least 2. As an optimal solution, the number of the ducts 1101 is 8, and the ducts 1101 are evenly distributed in a ring on the first housing 11.

[0042] On the lower end face of the first housing 11, there are multiple side thrust brackets 1103. A translational thruster 1104 is fixedly installed on the side thrust bracket 1103. The translational thruster 1104 provides translational power for the underwater fishing device in all directions such as front-back, left-right, etc. The number of the translational thrusters 1104 is at least 2. The distribution mode of the translational thrusters 1104 on the first housing 11 is symmetric distribution or uniform distribution. As an optimal solution, the number of the translational thrusters 1104 is 8. Two translational thrusters 1104 are installed on each side thrust bracket 1103, and the translational thrusters 1104 are symmetrically distributed on the first housing 11.

[0043] On the lower end face of the first housing 11, there are also multiple underwater cameras 1105. The distribution mode of the underwater cameras 1105 on the first housing 11 is symmetric distribution or uniform distribution.

[0044] In order to ensure the smoothness of the movement of the first housing 11 underwater and reduce the resistance of underwater movement, the shape of the first housing 11 adopts a streamlined design or a butterfly design. As an optimal solution, the first housing 11 adopts a butterfly design.

[0045] The second housing 12 and the first housing 11 are of an integrated design or a split design. The second housing 12 is used for the sealed installation of power energy equipment and underwater controllers. The power energy equipment supplies power to devices such as elevating thrusters and translational thrusters. The underwater controller is connected to the control platform through a communication cable. As an optimal solution, the second housing 12 is installed in the middle above the first housing 11, and the shape of the second housing 12 is streamlined or semi-circular.

[0046] In a specific embodiment, the interior of the second housing 12 is designed as a cylindrical sealed cabin, and devices such as a battery, a power management device, and a motion controller are arranged in the sealed cabin.

[0047] The fishing mechanism 2 includes a fishing frame 21. Fishing partition nets 2101 are arranged around the left and right sides of the fishing frame 21. Recovery boxes 22 are provided on both sides of the bottom end of the fishing mechanism 2. Recovery filter holes 2201 are provided on the recovery boxes 22, and the recovery boxes 22 are used for collecting underwater fishing products.

[0048] In the middle of the bottom end of the fishing mechanism 2, two groups of fishing grippers 23 and gripper driving mechanisms 24 are provided. Each gripper driving mechanism 24 drives a fishing gripper 23 to rotate and open and close. The fishing gripper 23 includes a rotating rod 2301. The rotating rod 2301 is fixedly connected to the fishing frame 21 through a bearing and a bearing seat 2302. A plurality of fishing pieces 2303 are installed at intervals on the rotating rod 2301. The fishing piece 2303 includes a fishing straight piece 2301 and a fishing bent piece 2302. The shape of the fishing bent piece 2302 is an arc-shaped hook. The fishing straight piece 2301 and the fishing bent piece 2302 are of an integral structure. The included angle between the center line of the fishing straight piece 2301 and the center line of the fishing bent piece 2302 is 120±10 degrees. To strengthen the strength of the fishing gripper 23, a plurality of fishing pieces 2303 are fixedly connected through a fishing cross bar 2304.

[0049] A driving gear 2305 is provided on the rotating rod 2301 of the fishing gripper 23. The gripper driving mechanism 24 is in transmission connection with the rotating rod 2301 through the driving gear 2305. The gripper driving mechanism 24 includes a rack bracket 2401, a rack 2402, and a driving cylinder 2403. The rack bracket 2401 is fixedly connected to the fishing frame 21. A rack 2402 is installed in the middle of the rack bracket 2401. The rack 2402 is slidably connected to the rack bracket 2401. The shape of the rack 2402 is cylindrical. The rack 2402 meshes with the driving gear 2305. The meshing mode of the rack 2402 and the driving gear 2305 is straight tooth meshing or helical tooth meshing. One end of the rack 2402 is connected to the piston rod of the driving cylinder 2403 through a connecting head 24031. The connecting head 24031 is a U-shaped connecting head. The driving cylinder 2403 is fixedly connected to the fishing frame 21. For example, the driving cylinder 2403 is fixedly connected to the fishing frame 21 through a pipe clamp. The driving cylinder 2403 is a hydraulic cylinder, and the hydraulic cylinder is driven by a hydraulic power unit. The hydraulic power unit is fixed on the fishing frame 21.

[0050] The two groups of fishing grippers 23 and the gripper driving mechanisms 24 are symmetrically installed, and the fishing pieces 2303 of the two groups of fishing grippers 23 are distributed in an interlaced manner. The distance between two adjacent fishing pieces 2303 is 1-10 CM. The above design is the best design for the arrangement density of the fishing pieces 2303. Because too large an arrangement density of the fishing pieces 2303 will increase the weight of the fishing gripper 23 and increase the load of the driving cylinder 2403, and too small an arrangement density of the fishing pieces 2303 will miss small-sized fishing products.

[0051] An underwater fishing device of the present invention is also equipped with a searchlight, which is installed on the first housing 11 of the power drive mechanism 1 or on the fishing frame 21 of the fishing mechanism 2, and the searchlight is used for searching in the underwater environment.

[0052] For the convenience of overall hoisting, an underwater fishing device of the present invention further includes a plurality of hoisting rods 3. A lifting ring 301 is provided at the upper end of the hoisting rod 3, and a hoisting rod anchor 302 is provided at the lower end of the hoisting rod 3. The hoisting rod 3 fixedly connects the power drive mechanism 1 and the fishing mechanism 2 together, realizing overall hoisting and avoiding the force deformation of the power drive mechanism 1 and the fishing mechanism 2 during hoisting.

[0053] In a specific embodiment, in order to increase the buoyancy of the underwater fishing device in water, the hoisting rod anchor 302 is designed as a hollow structure.

[0054] The working principle of an underwater fishing device provided by the present invention is that a lifting thruster 1102 and a translation thruster 1104 are installed on the first housing 11 of the power drive mechanism 1. Through the lifting thruster 1102, the lifting movement of the underwater fishing device can be realized, and through the translation thruster 1104, the horizontal movement of the underwater fishing device can be realized. The horizontal movement includes movements in multiple directions such as forward, backward, left, right, front left, rear left, front right, and rear right. The searchlight and the underwater camera 1105 respectively provide underwater light sources to obtain underwater image or video information. The fishing position is determined through the underwater image or video information. When the underwater fishing device moves above the fishing position, the two groups of fishing grippers 23 of the fishing mechanism 2 are opened under the drive of the gripper drive mechanism 24, the underwater fishing device descends, and the two groups of fishing grippers 23 are closed under the drive of the gripper drive mechanism 24 to start grasping. Under the continuous drive of the gripper drive mechanism 24, after the two groups of fishing grippers 23 are staggered, the fishing products are dialed into the recovery box 22. The underwater fishing device realizes underwater lifting and translation movements, realizes the active grasping and fishing of fishing products, improves the low fishing efficiency, and reduces the high fishing cost.

[0055] The present invention provides an underwater fishing method, and the specific steps are as follows:

[0056] 1. In the fishing target area, put the underwater fishing device into the water, and the control platform controls the underwater fishing device to start through the underwater controller.

[0057] 2. The underwater fishing device turns on the searchlight and the underwater camera, and the underwater camera transmits the underwater image or video information to the control platform.

[0058] 3. The control platform determines the fishing position through the underwater image or video information.

[0059] 4. The control platform controls the underwater fishing device to move to the fishing position through the underwater controller.

[0060] 5. The two groups of fishing grippers of the fishing mechanism open under the drive of the gripper drive mechanism;

[0061] 6. The underwater fishing device descends, and the two groups of fishing grippers close under the drive of the gripper drive mechanism to start grasping;

[0062] 7. Under the continuous drive of the gripper drive mechanism, after the two groups of fishing grippers are staggered, the fishing products are dialed into the recycling box;

[0063] 8. The underwater fishing device rises and moves to the next fishing position;

[0064] 9. In this cycle, the underwater fishing device performs continuous displacement and grasping fishing;

[0065] 10. After the fishing is completed, the underwater fishing device rises to the water surface and is hoisted out of the water as a whole through the lifting rod.

[0066] However, as described above, it is only a specific embodiment of the present invention, and the scope of implementation of the present invention cannot be limited thereby. Therefore, the replacement of equivalent components, or equivalent changes and modifications made according to the scope of protection of the present invention patent, should still fall within the scope covered by the claims of the present invention.

Claims

1. An underwater fishing device, characterized in that, The invention comprises a power drive mechanism and a fishing mechanism, wherein the power drive mechanism is fixedly connected to the fishing mechanism, the power drive mechanism comprises a first shell and a second shell, the first shell is provided with a lifting thruster, a translation thruster and an underwater camera, the second shell is used for sealing installation of power energy equipment and an underwater controller, the fishing mechanism comprises a fishing frame, recovery boxes are provided on both sides of the bottom end of the fishing mechanism, two groups of fishing grippers and gripper drive mechanisms are provided in the middle of the bottom end of the fishing mechanism, the two groups of fishing grippers and gripper drive mechanisms are symmetrically installed, the fishing pieces of the two groups of fishing grippers are staggered with each other, the fishing grippers comprise a rotating rod, the rotating rod is connected to the fishing frame through a bearing and a bearing seat, a plurality of fishing pieces are installed on the rotating rod at intervals, the fishing pieces comprise straight fishing pieces and fishing pieces The fishing curved piece is in the shape of an arc-shaped hook, the fishing straight piece and the fishing curved piece are an integrated structure, a driving gear is provided on the rotating rod of the fishing gripper, the gripper driving mechanism is connected to the rotating rod through the driving gear, the gripper driving mechanism comprises a rack bracket, a rack and a driving cylinder, the rack is meshed with the driving gear, one end of the rack is connected to the piston rod of the driving cylinder through a connecting head, and the driving cylinder is fixedly connected to the fishing frame; when working, the two groups of fishing grippers of the fishing mechanism are opened under the drive of the gripper driving mechanism, the underwater fishing device is lowered to the fishing position, the two groups of fishing grippers are closed and start to grab under the drive of the gripper driving mechanism, and under the continued drive of the gripper driving mechanism, the two groups of fishing grippers are staggered and the fishing products are dialed into the recovery box.

2. The underwater fishing device according to claim 1, characterized in that, The first shell is provided with a plurality of ducts, and a lifting thruster is fixedly provided inside the ducts. The direction of the passage of the ducts is a vertical direction, and the distribution of the ducts on the first shell is symmetrical distribution or uniform distribution.

3. An underwater fishing device according to claim 1, characterized in that, A plurality of side thrust brackets are provided on the lower end surface of the first shell, and translation propellers are fixedly mounted on the side thrust brackets. The distribution of the translation propellers on the first shell is symmetrical distribution or uniform distribution.

4. An underwater fishing device according to claim 1, wherein, The angle between the center line of the straight fishing piece and the center line of the curved fishing piece is 120±10 degrees.

5. An underwater fishing device according to claim 1, characterized in that, The rack bracket is fixedly connected to the fishing frame, a rack is installed in the middle of the rack bracket, the rack is slidably connected to the rack bracket, and the rack is cylindrical in shape.

6. An underwater fishing device according to claim 5, characterized in that, The distance between two adjacent fishing pieces is 1-10CM.

7. An underwater fishing device according to claim 6, characterized in that, The underwater fishing device also includes a plurality of lifting rods, the upper ends of the lifting rods are provided with lifting rings, the lower ends of the lifting rods are provided with lifting rod feet, and the lifting rods fix the power drive mechanism and the fishing mechanism together.

8. An underwater fishing method, using an underwater fishing device as claimed in claim 7, wherein the specific steps are as follows: In the target fishing area, the underwater fishing device is placed in the water, and the control platform controls the underwater fishing device to start through the underwater controller; The underwater fishing device turns on the searchlight and underwater camera, and the underwater camera transmits underwater images or video information to the control platform; The control platform determines the fishing location through underwater images or video information; The control platform controls the underwater fishing device to move to the fishing position through an underwater controller; The two groups of fishing grippers of the fishing mechanism are opened under the drive of the gripper drive mechanism; The underwater fishing device descends, and the two groups of fishing grippers are closed under the drive of the gripper drive mechanism to start grasping; Under the continuous drive of the gripper drive mechanism, after the two groups of fishing grippers are staggered, the fishing products are dialed into the recycling box; The underwater fishing device rises and moves to the next fishing position; In this cycle, the underwater fishing device performs continuous displacement and grasping fishing; After the fishing is completed, the underwater fishing device rises to the water surface and is hoisted out of the water as a whole through the lifting rod.

Images