Grasping device and fishing robot

Abstract

The present application relates to the technical field of underwater fishing, and discloses a grasping device. The device includes a first connection mechanism, a second connection mechanism and a clamping mechanism; the first connection mechanism includes a heat-shrinkable silica gel tube and a support structure sleeved outside the heat-shrinkable silica gel tube; one end of the second connection mechanism is connected to the first connection mechanism, and the second connection mechanism is deformable; the clamping mechanism is arranged at the other end of the second connection mechanism, and the clamping mechanism changes the grasping position under the drive of the deformation of the second connection mechanism. Through the combined cooperation of the first connection mechanism, the second connection mechanism and the clamping mechanism, the present application can realize movements with multiple degrees of freedom, so as to realize a flexible grasping operation with high flexibility. In this way, the grasping control realized through the deformation of the clamping mechanism can effectively reduce the vibration and noise during the grasping operation, thereby reducing the influence of the grasping operation on the water flow, and further improving the grasping effect on the object to be grasped. The present application also discloses a fishing robot.

Description

Technical Field

[0001] This application relates to the technical field of underwater fishing, for example, it relates to a grasping device and a fishing robot. Background Art

[0002] In recent years, underwater fishing has gradually attracted the attention of technicians in related fields. On the one hand, it is for the acquisition of some nutritious seafood; on the other hand, it is for the fishing of some aquatic organisms with strong reproductive ability that require high-intensity manual salvage.

[0003] Currently, in response to the above situation, technicians in related fields have tried to use underwater robots to carry out related underwater fishing work. However, in the process of using a robotic arm for underwater fishing in existing underwater robots, it is found that at least the following problems exist:

[0004] During the operation of the existing hydraulic cylinder robotic arm, due to the change in its pressure and the flow of hydraulic oil, vibrations and relatively large noises will be generated during fishing, which will have a greater impact on the target objects to be fished, and thus greatly reduce the fishing effect.

[0005] It should be noted that the information disclosed in the above background art section is only used to enhance the understanding of the background of this application, and thus may include information that does not constitute the prior art known to those of ordinary skill in the art. Summary of the Invention

[0006] To have a basic understanding of some aspects of the disclosed embodiments, a simple summary is given below. The summary is not a general review, nor is it intended to identify key / important elements or delineate the protection scope of these embodiments, but rather serves as a preface to the subsequent detailed description.

[0007] Embodiments of the present disclosure provide a grasping device and a fishing robot to achieve a flexible grasping operation with relatively high flexibility, effectively reduce vibrations and noises during the grasping operation, and improve the grasping effect.

[0008] In some embodiments, the grasping device includes: a first connection mechanism, a second connection mechanism, and a clamping mechanism; the first connection mechanism includes a heat-shrinkable silicone tube and a support structure sleeved outside the heat-shrinkable silicone tube; one end of the second connection mechanism is connected to the first connection mechanism, and the second connection mechanism is deformable; the clamping mechanism is arranged at the other end of the second connection mechanism, and the clamping mechanism changes the grasping position under the drive of the deformation of the second connection mechanism.

[0009] In some embodiments, the support structure includes a plurality of support steel rings, and the plurality of support steel rings are evenly distributed on the heat-shrinkable silicone tube.

[0010] In some embodiments, the first connection mechanism further includes a constraint structure configured to fix the relative positions of a plurality of heat-shrinkable silicone tubes.

[0011] In some embodiments, the first connection mechanism further includes a first valve body disposed at the end of the heat-shrinkable silicone tube, and the first valve body is configured to controllably adjust the amount of inflation within the heat-shrinkable silicone tube.

[0012] In some embodiments, the second connection mechanism includes a plurality of connecting pneumatic muscles and a second valve body. The second valve body is disposed at the end of the plurality of connecting pneumatic muscles, and the second valve body is configured to controllably adjust the amount of inflation of the plurality of connecting pneumatic muscles.

[0013] In some embodiments, the second valve body has a single-inlet and double-outlet structure.

[0014] In some embodiments, the grasping device further includes a network structure and a mounting mechanism. The clamping mechanism is disposed on the network structure; the mounting mechanism is configured to mount the network structure to the second connection mechanism.

[0015] In some embodiments, the grasping device further includes a clamping pneumatic muscle that penetrates the network structure; the network structure deforms under the drive of the clamping pneumatic muscle to adjust the clamping state of the clamping mechanism.

[0016] In some embodiments, the clamping mechanism is made of a flexible material.

[0017] In some embodiments, the fishing robot includes the grasping device as described above.

[0018] The grasping device and the fishing robot provided by the embodiments of the present disclosure can achieve the following technical effects:

[0019] Through the combined cooperation of the first connection mechanism, the second connection mechanism, and the clamping mechanism, movements with multiple degrees of freedom can be achieved, thereby realizing a highly flexible flexible grasping operation. Such grasping control achieved through the deformation of the clamping mechanism can effectively reduce vibrations and noise during the grasping operation, thereby reducing the impact of the grasping operation on the water flow, and further improving the grasping effect on the object to be grasped.

[0020] The above general description and the following description are only exemplary and explanatory, and are not used to limit this application. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] One or more embodiments are exemplarily illustrated by corresponding drawings. These exemplary illustrations and the drawings do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are shown as similar elements. The drawings do not constitute a scale limitation, and wherein:

[0022] Figure 1It is a schematic structural diagram of a grasping device provided by an embodiment of the present disclosure;

[0023] Figure 2 It is a schematic structural diagram of another grasping device provided by an embodiment of the present disclosure;

[0024] Figure 3 It is a schematic structural diagram of another grasping device provided by an embodiment of the present disclosure;

[0025] Figure 4 It is a schematic structural diagram of another grasping device provided by an embodiment of the present disclosure;

[0026] Figure 5 It is a schematic structural diagram of a fishing robot provided by an embodiment of the present disclosure;

[0027] Figure 6 It is a schematic structural diagram of another fishing robot provided by an embodiment of the present disclosure;

[0028] Figure 7 It is a schematic structural diagram of another fishing robot provided by an embodiment of the present disclosure;

[0029] Figure 8 It is a schematic structural diagram of another fishing robot provided by an embodiment of the present disclosure.

[0030] Reference numerals:

[0031] 100, the first connection mechanism; 110, heat-shrinkable silica gel tube; 120, support steel ring; 130, restraint plate; 140, fixing plate; 200, the second connection mechanism; 300, grasping device; 310, mounting mechanism; 320, driving mechanism; 321, woven section; 322, limiting surface; 323, grid section; 330, clamping mechanism; 400, housing; 411, upper support plate; 412, middle support plate; 413, lower support plate; 414, support side plate; 415, triangular support; 416, L-shaped support frame; 500, power assembly; 510, horizontal power thruster; 520, vertical power thruster; 530, floating body; 600, storage assembly; 710, upper camera; 720, lower camera; 800, lighting assembly; 910, main control cabin; 920, battery compartment; 930, air pressure control assembly. Detailed implementation manners

[0032] In order to more thoroughly understand the features and technical content of the embodiments of the present disclosure, the implementation of the embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. The attached drawings are for reference and illustration only, and are not intended to limit the embodiments of the present disclosure. In the following technical description, for the sake of explanation, numerous details are provided to provide a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be shown in a simplified manner to simplify the drawings.

[0033] In the specification and claims of the embodiments of the present disclosure and the above-mentioned drawings, the terms "first", "second", etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such data may be interchanged under appropriate circumstances so as to implement the embodiments of the present disclosure described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion.

[0034] In the embodiments of the present disclosure, the orientation or positional relationship indicated by the terms "upper", "lower", "inner", "middle", "outer", "front", "rear", etc. is based on the orientation or positional relationship shown in the drawings. These terms are mainly used to better describe the embodiments of the present disclosure and their embodiments, and are not used to limit that the indicated devices, elements or components must have a specific orientation or be constructed and operated in a specific orientation. And, in addition to being able to represent an orientation or positional relationship, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the embodiments of the present disclosure can be understood according to specific circumstances.

[0035] In addition, the terms "arranged", "connected", "fixed" should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or there is internal communication between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present disclosure can be understood according to specific circumstances.

[0036] Unless otherwise specified, the term "plurality" means two or more.

[0037] In the embodiments of the present disclosure, the character " / " indicates that the front and rear objects are in an "or" relationship. For example, A / B means: A or B.

[0038] The term "and / or" is an associative relationship describing an object, indicating that three relationships can exist. For example, A and / or B means: A or B, or, the three relationships of A and B.

[0039] It should be noted that, without conflict, the embodiments in the present disclosure and the features in the embodiments can be combined with each other.

[0040] According to one aspect of the embodiments of the present disclosure, the embodiments of the present disclosure provide a grasping device. In combination Figure 1 and Figure 2 As shown, as an optional implementation manner, the grasping device includes a mounting mechanism 310, a driving mechanism 320, and a clamping mechanism 330; the first end of the driving mechanism 320 is connected to the mounting mechanism 310; the clamping mechanism 330 is disposed at the second end of the driving mechanism 320, and the driving mechanism 320 can drive the clamping mechanism 330 to deform.

[0041] By using the grasping device provided by the embodiments of the present disclosure, the driving mechanism 320 drives the clamping mechanism 330 to deform to grasp the target object, thereby realizing flexible grasping and improving the flexibility of the grasping device; in this way, not only the grasping range of the grasping device is increased, the grasping accuracy of the grasping device is effectively improved, but also the flexible grasping method can protect the target object to be grasped to a certain extent, thereby avoiding damage to some relatively fragile grasping objects during the grasping process, and further improving the grasping effect of the grasping device.

[0042] In the embodiments of the present disclosure, the driving mechanism 320 can be made of thermoplastic polyurethane (TPU for short). Since the TPU material has both the characteristics of elastic rubber and good plasticity, the driving mechanism 320 made of the TPU material can not only ensure the low-loss characteristics of the driving mechanism 320, but also ensure good corrosion resistance. Even if it is soaked in seawater for a long time, it will not be easily corroded.

[0043] As an optional embodiment, the driving mechanism 320 can include a network structure and a clamping pneumatic muscle; wherein, the clamping pneumatic muscle penetrates through the network structure, and the clamping pneumatic muscle provides driving force for the driving mechanism 320 through expansion and contraction. The clamping pneumatic muscle here is only a functional description of the pneumatic muscle and does not specifically limit it. It can be understood that, under appropriate circumstances, the clamping pneumatic muscle here can also be interchanged with other pneumatic muscles mentioned later.

[0044] Optionally, the network structure can be a honeycomb network structure as shown in Figure 2 Since it plays a driving role in the grasping device, this network structure can also be called a honeycomb pneumatic network driver.

[0045] In some embodiments, the network structure includes a woven segment 321 and a grid segment 323. The clamping pneumatic muscle sequentially passes through the woven segment 321 and the grid segment 323. Since the grid segment 323 is located at the end of the driving mechanism 320, one end of the pneumatic muscle can be fixed within the grid segment 323.

[0046] Optionally, the woven segment 321 is located at the first end of the driving mechanism 320; the grid segment 323 is connected to the woven segment 321 and the grid segment 323 is located at the second end of the driving mechanism 320. Specifically, the woven segment 321 is connected to the mounting mechanism 310, and the grid segment 323 is connected to the woven segment 321.

[0047] Optionally, the woven segment 321 includes a limiting surface 322, and the relative position of the limiting surface 322 and the mounting mechanism 310 is fixed. Specifically, the woven segment 321 may include a first network segment and a second network segment; the surface of the first network segment away from the second network segment may be the limiting surface 322. Since the limiting surface 322 does not have telescopic properties, when the woven segment 321 is connected to the mounting mechanism 310, the relative position between the limiting surface 322 of the woven segment 321 and the mounting mechanism 310 is relatively fixed.

[0048] Optionally, the clamping pneumatic muscle is arranged on the telescopic side of the woven segment 321. The second network segment is located on the side of the first network segment away from the limiting surface 322. Therefore, arranging the clamping pneumatic muscle on the telescopic side of the woven segment 321 means arranging the clamping pneumatic muscle on the second network segment of the woven segment 321. In this way, as the inflation amount of the clamping pneumatic muscle changes, the expansion and contraction of the clamping pneumatic muscle will drive the woven segment 321 to expand and contract, thereby achieving the driving effect of the network structure.

[0049] Optionally, there may be multiple driving mechanisms 320, and the number of the driving mechanisms 320 is not specifically limited here. Exemplarily, the driving mechanisms 320 may be 2, 3, 5, 7, etc. Multiple driving mechanisms 320 are all arranged on the mounting mechanism 310.

[0050] Optionally, the clamping mechanism 330 is arranged in one-to-one correspondence with the driving mechanism 320. Taking the grasping device having 3 driving mechanisms 320 as an example, at this time, the clamping mechanism 330 is also 3. The driving mechanisms 320 are evenly distributed at equal intervals, and a grasping range will be formed among the three driving mechanisms 320. In practical applications, the side of multiple driving mechanisms 320 facing the middle can be referred to as the inner side.

[0051] Optionally, the clamping mechanism 330 is arranged on one side of the grid segment 323. It can be understood that in the scenario of the above 3 driving mechanisms 320, the clamping mechanism 330 is arranged on the inner side of the grid segment 323. Here, the grid segment 323 plays an effective supporting role for the clamping mechanism 330.

[0052] Optionally, the clamping mechanism 330 is made of a flexible material. In this way, when the clamping mechanism 330 comes into contact with the object to be grasped, damage to the object to be grasped due to clamping can be avoided.

[0053] Optionally, the clamping surface of the clamping mechanism 330 is provided with a convex structure. The convex structure is provided on the surface of the clamping mechanism 330, which can increase the roughness of the surface of the clamping mechanism 330. Thus, when the clamping mechanism 330 grasps an object, the friction between the object to be grasped and the clamping mechanism 330 can be increased, so that the grasping stability of the grasping device for the target object is higher.

[0054] In some embodiments, an air inlet plug can be provided at one end of the clamping pneumatic muscle away from the grid section 323, and the air inlet plug can be controlled by a solenoid valve. Exemplarily, the solenoid valve can be an SMC solenoid valve. The SMC solenoid valve determines the air intake flow according to the input PWM signal, and then controls the size of the air intake flow of the air inlet plug, so as to adjust the pressure condition in the clamping pneumatic muscle, thereby changing the extension state of the clamping pneumatic muscle, realizing the adjustment of the bending degree of the clamping mechanism 330, and further adjusting the clamping state of the clamping mechanism 330.

[0055] In other embodiments, the air inlet plug of the clamping pneumatic muscle can be controlled by an electro-hydraulic proportional servo valve. The electro-hydraulic proportional servo valve determines the air intake flow according to the input PWM signal, and then controls the size of the air intake flow of the air inlet plug, so as to adjust the pressure condition in the clamping pneumatic muscle, thereby changing the extension state of the clamping pneumatic muscle, realizing the adjustment of the bending degree of the clamping mechanism 330, and further adjusting the clamping state of the clamping mechanism 330.

[0056] In practical applications, under the control of the solenoid valve, when the air intake into the clamping pneumatic muscle increases, the inflation amount of the clamping pneumatic muscle increases accordingly. At this time, the length of the clamping pneumatic muscle will increase accordingly. Under the action of the limiting surface 322, the elongation of the clamping pneumatic muscle will cause the driving mechanism 320 to bend inward. When multiple driving mechanisms 320 bend inward, multiple clamping mechanisms 330 can achieve the clamping effect. Correspondingly, under the control of the solenoid valve, when the air intake into the clamping pneumatic muscle decreases, the inflation amount of the clamping pneumatic muscle decreases accordingly, and the length of the clamping pneumatic muscle will decrease. Under the action of the limiting surface 322, the shortening of the clamping pneumatic muscle will cause the driving mechanism 320 to bend outward and shorten. When multiple driving mechanisms 320 bend outward and shorten, multiple clamping mechanisms 330 can achieve the opening effect. By using the grasping device provided by the embodiments of the present disclosure, the flexibility of the grasping process can be greatly improved, and the failure that an object gets stuck in the clamping mechanism 330 during the grasping process due to a small grasping range can also be avoided to a certain extent.

[0057] In this way, the grasping of the grasping device is completely realized by the high-pressure gas conveyed, without the need to set up electrical equipment such as servos and motors for driving the grasping. Therefore, there is no need to consider the underwater sealing problem of electrical equipment, thus solving the equipment maintenance problem that is prone to occur when using fishing robots on a large scale, and effectively reducing the maintenance cost of the device.

[0058] According to another aspect of the embodiments of the present disclosure, the embodiments of the present disclosure also provide a grasping device. Combining Figure 3 and Figure 4 As shown, the grasping device can be used as a robotic arm with a grasping function. It can be understood that a robotic arm is a widely used automated mechanical device in the field of robotics, and robotic arms exist in fields such as industrial manufacturing, medical treatment, entertainment services, and military. Although the forms of robotic arms in different fields may vary, different robotic arms can receive instructions and perform specific operations of accurately positioning to a certain point in space in response to the received instructions.

[0059] As an optional implementation manner, the grasping device includes a first connection mechanism 100, a second connection mechanism 200, and a clamping mechanism 330; the first connection mechanism 100 includes a heat-shrinkable silica gel tube 110 and a support structure sleeved outside the heat-shrinkable silica gel tube 110; one end of the second connection mechanism 200 is connected to the first connection mechanism 100, and the second connection mechanism 200 is deformably arranged; the clamping mechanism 330 is arranged at the other end of the second connection mechanism 200, and the clamping mechanism 330 changes the grasping position under the drive of the deformation of the second connection mechanism 200.

[0060] By using the grasping device provided by the embodiments of the present disclosure, through the common cooperation of the first connection mechanism 100, the second connection mechanism 200, and the clamping mechanism 330, the movement of multiple degrees of freedom can be realized, thereby realizing a flexible grasping operation with high flexibility. In this way, the grasping control realized by the deformation of the clamping mechanism 330 can effectively reduce the vibration and noise generated during the grasping process, thereby reducing the influence of the grasping operation on the water flow, and further improving the grasping effect on the object to be grasped.

[0061] In the embodiments of the present disclosure, for the heat-shrinkable silica gel tube 110 of the first connection mechanism 100, the heat-shrinkable silica gel material used will shrink when heated, and the diameter of the heat-shrinkable silica gel tube 110 will decrease. Correspondingly, the heat-shrinkable silica gel tube 110 will return to its original tube diameter after cooling. Therefore, when the temperature remains unchanged, it exhibits the characteristics of a plastic material, and its heat-shrinkage characteristics itself realize the functions of an elastic material to a certain extent.

[0062] Optionally, the support structure includes a plurality of support steel rings 120, and the plurality of support steel rings 120 are uniformly disposed on the heat-shrinkable silicone tube 110. Each heat-shrinkable silicone tube 110 can be regarded as a pneumatic muscle, and a plurality of support steel rings 120 are sleeved on each heat-shrinkable silicone tube 110. After the plurality of circular support steel rings 120 are uniformly sleeved on the heat-shrinkable silicone tube 110 and then heated and shrunk, a single pneumatic muscle in a corrugated state is formed. The first connection mechanism 100 can include multiple such pneumatic muscles in a corrugated state. The specific number here is not limited. Hereinafter, an example is given in which the first connection mechanism 100 includes 3 such pneumatic muscles in a corrugated state. Such a pneumatic muscle in a corrugated state can be called a corrugated reinforced pneumatic muscle.

[0063] Optionally, the first connection mechanism 100 further includes a constraint structure, and the constraint structure is configured to fix the relative positions of the plurality of heat-shrinkable silicone tubes 110. In this way, the constraint structure can fix the 3 corrugated reinforced pneumatic muscles. Specifically, the cross-sections of the 3 corrugated reinforced pneumatic muscles can be arranged in an equilateral triangle.

[0064] Optionally, the constraint structure can include a constraint plate 130 and a fixing plate 140. The constraint plate 130 can be provided with 3 through holes, and the 3 corrugated reinforced pneumatic muscles respectively pass through the 3 through holes; in this way, the constraint plate 130 fixes the relative positions of the 3 corrugated reinforced pneumatic muscles. Then, the 3 corrugated reinforced pneumatic muscles whose relative positions are fixed via the constraint plate 130 are fixed on the fixing plate 140, and the complete first connection mechanism 100 is formed. Among them, a plug can be installed at each end of each corrugated reinforced pneumatic muscle, and the end away from the second connection mechanism 200 is the air inlet end, and 3 air inlet plugs are provided at the air inlet end.

[0065] Optionally, the first connection mechanism 100 further includes a first valve body, and the first valve body is disposed at the end of the heat-shrinkable silicone tube 110, and the first valve body is configured to controllably adjust the air filling amount in the heat-shrinkable silicone tube 110. Specifically, each heat-shrinkable silicone tube 110 is configured with a first valve body, and the first valve body can include an air inlet plug, and the air inlet plug is controlled by an electro-hydraulic proportional servo valve. The electro-hydraulic proportional servo valve determines the magnitude of the air inlet flow rate required from the air inlet plug according to the input PWM signal. By controlling the air inlet flow rate of each heat-shrinkable silicone tube 110, the pressure condition in the heat-shrinkable silicone tube 110 is adjusted, so as to change the extension state of the entire corrugated reinforced pneumatic muscle, and further realize the free bending and telescoping of the first connection mechanism 100 in space, and realize the movement of multiple degrees of freedom.

[0066] Optionally, the second connection mechanism 200 includes a plurality of connecting pneumatic muscles and a second valve body. The second valve body is disposed at the ends of the plurality of connecting pneumatic muscles, and the second valve body is configured to controllably adjust the inflation amount of the plurality of connecting pneumatic muscles. Here, the plurality of connecting pneumatic muscles may be an even number. Taking 8 connecting pneumatic muscles as an example below, the connecting pneumatic muscles here are only a functional description of the pneumatic muscles and do not specifically limit them. Here, the connecting pneumatic muscles may also be referred to as woven net restraint type pneumatic muscles.

[0067] In practical applications, 8 woven net restraint type pneumatic muscles can be divided into groups of 2 each. Each group of 2 woven net restraint type pneumatic muscles is configured with a second valve body.

[0068] Optionally, the second valve body may be of a single-inlet and double-outlet structure. Specifically, the single-inlet and double-outlet structure may be a single-inlet and double-outlet plug, and each single-inlet and double-outlet plug is controlled by an electro-pneumatic proportional servo valve. The electro-pneumatic proportional servo valve determines the magnitude of the intake air flow for the single-inlet and double-outlet plug according to the input PWM signal. The intake air amounts of the 2 woven net restraint type pneumatic muscles in each group are the same. Therefore, in the scenario of 8 woven net restraint type pneumatic muscles, the second connection mechanism 200 can be freely bent and telescoped in space by changing the intake air amounts of the 4 groups of pneumatic muscles.

[0069] Optionally, the grasping device further includes a network structure and a mounting mechanism 310. The clamping mechanism 330 is disposed on the network structure; the mounting mechanism 310 is configured to mount the network structure to the second connection mechanism 200. The mounting mechanism 310 can mount the aforementioned driving mechanism 320 and the clamping mechanism 330 to the second connection mechanism 200, making the grasping device provided by the embodiments of the present disclosure have higher grasping flexibility.

[0070] Optionally, the grasping device further includes clamping pneumatic muscles that penetrate the network structure; the network structure deforms under the drive of the clamping pneumatic muscles to adjust the clamping state of the clamping mechanism 330. Specifically, the network structure includes a woven net segment 321 and a grid segment 323, and the grid segment 323 is connected to the woven net segment 321; wherein, the woven net segment 321 includes a limiting surface 322, and the side of the woven net segment 321 away from the limiting surface 322 is a telescopic net segment. In this way, since the clamping pneumatic muscles are disposed on the telescopic side of the woven net segment 321, with the change of the inflation amount of the clamping pneumatic muscles, the telescoping of the clamping pneumatic muscles will drive the telescoping of the woven net segment 321, thereby achieving the driving effect of the network structure.

[0071] Optionally, the clamping mechanism 330 is made of a flexible material, which can avoid damaging the object to be grasped due to clamping when the clamping mechanism 330 comes into contact with the object to be grasped, thereby improving the grasping effect of the grasping device.

[0072] According to another aspect of the embodiments of the present disclosure, the embodiments of the present disclosure further provide a fishing robot. In combination with Figures 5 - 8 As shown, as an optional implementation manner, the fishing robot includes the grasping device 300 as described above.

[0073] In some embodiments, the fishing robot is applied to an underwater environment. The fishing robot includes a housing 400, a power assembly 500, a grasping device 300, and a pneumatic control assembly 930. The power assembly 500 is configured to provide power for the movement of the fishing robot in the underwater environment. The grasping device 300 is connected to the housing 400, and the grasping device 300 is arranged to grasp a target object in the underwater environment. The pneumatic control assembly 930 is configured to controllably adjust the grasping state of the grasping device 300.

[0074] By using the fishing robot provided by the embodiments of the present disclosure, the pneumatic control assembly 930 controls the grasping state of the grasping device 300 to realize the movement of multiple degrees of freedom of the grasping device 300, thereby realizing a flexible grasping operation with high flexibility. Such a fishing robot does not need to be provided with electrical equipment for driving the grasping operation, effectively reducing the volume of the fishing robot, thereby improving the flexibility of fishing. In addition, without providing electrical equipment, there is no need to consider the underwater maintenance problem of the electrical equipment, thereby reducing the maintenance cost of the fishing robot.

[0075] Generally, the above-mentioned fishing robot is usually equipped with an air compression device, which can be located on the water surface. The air compression device provides high-pressure gas for the fishing robot. The air compression device can be connected to the pneumatic control assembly 930 through an air pipe. In this way, the air compression device can supply air to each pneumatic muscle, so as to ensure that each mechanism including the pneumatic muscle can effectively play a driving role. Exemplarily, the 1MPa high-pressure gas provided by the air compression device can be introduced into the manifold of the pneumatic control assembly 930 through a quick connector and a watertight joint, and then the air supply to each pneumatic muscle can be realized by controlling each solenoid valve and electro-pneumatic proportional servo valve. Optionally, the air compression device on the water surface can always maintain the input of 1MPa high-pressure gas.

[0076] In some embodiments, the housing 400 may be an open support body, which specifically includes an upper support plate 411, a middle support plate 412, a lower support plate 413, support side plates 414, a triangular support 415, and an L-shaped support frame 416. Among them, the upper support plate 411 is located at the upper part of the support body, the lower support plate 413 is located at the bottom of the support body, the middle support plate 412 is located between the upper support plate 411 and the lower support plate 413, and the upper support plate 411, the middle support plate 412, and the lower support plate 413 are all connected to the left and right support side plates 414. The triangular support 415 and the L-shaped support frame 416 are connected to the upper support plate 411 and the support side plates 414. The housing 400 plays a role in fixing and supporting the various components of the entire fishing robot.

[0077] Optionally, the pneumatic control assembly 930 may be disposed on the middle support plate 412.

[0078] In the embodiments of the present disclosure, the power assembly 500 includes a floating body 530, a horizontal power thruster 510, and a vertical power thruster 520. Among them, the floating body 530 is located at the top of the housing 400.

[0079] Optionally, the horizontal power thruster 510 is configured to control the movement of the fishing robot in the horizontal direction, specifically including forward, backward, turning, and translation. Exemplarily, the horizontal power thruster 510 may include a horizontal power motor, a horizontal central propeller, a horizontal fairing, and a horizontal thruster fixing member.

[0080] As Figure 6 shown, four horizontal power motors are fixed on the support side plates 414 on both sides of the support body through the horizontal thruster fixing members. The horizontal power motors can be placed at a certain angle, and the outer circular surface formed by them is connected to the horizontal central propeller and the horizontal fairing.

[0081] In practical applications, as Figure 6 shown, the two horizontal power thrusters 510 on the left side may adopt positive propellers, and the two horizontal power thrusters 510 on the right side may adopt reverse propellers. When the two horizontal power thrusters 510 in the front or the rear rotate in the opposite direction, due to the reaction force generated in the water environment, a force with an opposite rotational moment is formed, realizing the mutual cancellation of forces, so that the fishing robot moves forward or backward. When the two horizontal power thrusters 510 in the front rotate in the same direction, the two horizontal power thrusters 510 in the rear also rotate in the same direction, and when the rotational direction of the thrusters in the rear is different from that of the thrusters in the front, the fishing robot rotates left or right in place. When the two horizontal power thrusters 510 in the front rotate in the same direction, the two horizontal power thrusters 510 in the rear rotate in the same direction and the rotational direction of the thrusters in the rear is the same as that of the thrusters in the front, the fishing robot moves left or right in a translational motion.

[0082] Optionally, the vertical thruster 520 is configured to control the movement of the fishing robot in the vertical direction, specifically including ascending and diving. Exemplarily, the vertical thruster 520 includes a vertical power motor, a vertical central propeller, a vertical fairing, and a vertical thruster fixture.

[0083] In practical applications, the vertical power motors are vertically arranged on both sides of the upper part of the support side plate 414 through brackets. The vertical power motors are connected to the vertical central propellers through rotating shafts. The left vertical thruster 520 and the right vertical thruster 520 respectively adopt a right-handed propeller and a left-handed propeller; when the vertical thrusters 520 rotate in the reverse direction, the rotational torques generated in the water environment cancel each other out, thus avoiding the spin phenomenon of the fishing robot. When all four vertical thrusters 520 rotate forward or backward, the fishing robot realizes the upward floating movement or the diving movement.

[0084] Optionally, the grasping device 300 includes a first connection mechanism 100, and the first connection mechanism 100 includes a strong pneumatic muscle; the air pressure control component 930 includes a solenoid valve for controlling the air intake of the strong pneumatic muscle. The strong pneumatic muscle here can be the corrugated strong pneumatic muscle mentioned above. Specifically, each corrugated strong pneumatic muscle can be made by sleeving a plurality of support steel rings on a heat-shrinkable silica gel tube.

[0085] Optionally, the solenoid valve for controlling the air intake of the strong pneumatic muscle can be an electro-hydraulic proportional servo valve. An air intake plug can be arranged at the air intake end of each corrugated strong pneumatic muscle, and the electro-hydraulic proportional servo valve controls the air intake flow rate of the air intake plug. In this way, by controlling the air intake flow rate of each heat-shrinkable silica gel tube, the pressure condition inside the heat-shrinkable silica gel tube is adjusted, so as to change the stretching state of the whole corrugated strong pneumatic muscle, and further realize the free bending and telescoping of the first connection mechanism 100 in space, and realize the movement with multiple degrees of freedom.

[0086] Optionally, the grasping device 300 further includes a second connection mechanism 200, and the second connection mechanism 200 is connected to the first connection mechanism 100; the second connection mechanism 200 includes: a connecting pneumatic muscle and an air intake plug arranged on the connecting pneumatic muscle. The connecting pneumatic muscle here can be the net-binding pneumatic muscle mentioned above. Every 2 net-binding pneumatic muscles are in a group.

[0087] Optionally, the air intake plug has a single-inlet and double-outlet structure. Specifically, the single-inlet and double-outlet structure can be a single-inlet and double-outlet plug.

[0088] Optionally, the air pressure control component 930 includes an electro-pneumatic proportional servo valve configured to control the air intake state of the air intake plug. Specifically, each single-inlet double-outlet plug is controlled by an electro-pneumatic proportional servo valve. The electro-pneumatic proportional servo valve determines the magnitude of the air intake flow rate for the single-inlet double-outlet plug according to the input PWM signal. The air intake amounts of the two wire-mesh bound pneumatic muscles in each group are the same.

[0089] Optionally, the grasping device 300 further includes a network structure, a clamping mechanism 330, and clamping pneumatic muscles. The network structure is connected to the second connecting mechanism 200; the clamping mechanism 330 is disposed on the network structure; the clamping pneumatic muscles penetrate through the network structure. Specifically, the network structure includes a wire-mesh segment and a grille segment, and the grille segment is connected to the wire-mesh segment; wherein, the wire-mesh segment includes a limiting surface, and the side of the wire-mesh segment away from the limiting surface is a telescopic wire-mesh segment. Thus, since the clamping pneumatic muscles are disposed on the telescopic side of the wire-mesh segment, with the change in the inflation amount of the clamping pneumatic muscles, the expansion and contraction of the clamping pneumatic muscles will drive the wire-mesh segment to expand and contract, thereby achieving the driving effect of the network structure.

[0090] In some embodiments, the fishing robot further includes an electrical component, and the electrical component includes a main control bin 910 and a battery bin 920. Optionally, the main control bin 910 and the battery bin 920 can be disposed within the housing 400. The main control bin 910 can include a first sealed bin, a controller, a communicator, etc.; the controller and the communicator can be disposed within the first sealed bin to ensure the continuous and stable operation of the devices within the main control bin 910 and the control functions of the fishing robot. The battery bin 920 can include a second sealed bin, an aviation battery, a relay, etc.; the aviation battery and the relay can be disposed within the second sealed bin to ensure the continuous and stable operation of the battery bin 920 and the devices with power supply requirements.

[0091] Optionally, the main control bin 910 is fixed above the upper support plate 411. The main control bin 910 can be connected to an external console through a watertight joint and an external watertight cable to implement functions such as electrical control and information feedback. In addition, the main control bin 910 can also transmit control signals to the air circuit control component through a watertight cable and be connected to the power component 500 together with the power supply cable.

[0092] In some embodiments, the fishing robot further includes a camera device and a lighting device 800. The camera device is disposed outside the housing 400 and is configured to acquire image information; the lighting device 800 is disposed corresponding to the camera device and is configured to supplement light to the underwater environment so that the camera device can acquire image information.

[0093] Optionally, the imaging device may include an upper camera 710, a lower camera 720, and a camera support frame. The upper camera 710 is fixed to the upper support plate 411 through the camera support frame to obtain real-time images in front of and slightly below the front of the fishing robot. The lower camera 720 is fixed below the middle support plate 412 to obtain real-time images of the process of the grasping device 300 grasping the target object.

[0094] Optionally, the lighting device 800 may include two lighting lamps. The two lighting lamps are respectively fixed on both sides of the support side plate 414 through the lighting lamp support frames, and the irradiation direction is 45 degrees downward obliquely in the horizontal direction. With the lighting device 800 arranged in this way, when the fishing robot faces the underwater environment at night, through the supplementary lighting operation of the lighting device 800, it can also effectively obtain image information through the imaging device, thereby improving the fishing efficiency of the fishing robot.

[0095] In some embodiments, the fishing robot further includes a storage assembly 600. The storage assembly 600 is arranged inside the housing 400 and is configured to place the target object grasped by the grasping device 300.

[0096] Optionally, the storage assembly 600 includes a storage box, and the storage box is configured to be a hollow structure. In this way, the hollow structure can facilitate filtering out water and sundries other than the target object in the storage box, and can also reduce the water flow resistance during the moving process.

[0097] Optionally, the storage assembly 600 further includes a pneumatic slide rail. The pneumatic slide rail is arranged on the inner wall of the housing 400 and is connected to the storage box. The pneumatic slide rail is configured to controllably move the storage box; the air pressure control assembly 930 is further configured to send a control instruction for moving the storage box to the pneumatic slide rail when it is determined that the grasping device 300 has a need to place the target object.

[0098] Specifically, the air pressure control assembly 930 further includes a solenoid valve for controlling the pneumatic slide rail. If there are two pneumatic slide rails, the solenoid valve can be two two-way two-position solenoid valves. One two-way two-position solenoid valve can lead out two air pipes, and the two air pipes are respectively communicated with the upper air port and the lower air port on the pneumatic slide rail through watertight joints and quick pneumatic joints.

[0099] In practical applications, taking the fishing of starfish as an example, when the control personnel observes through the imaging device that the linear distance between the starfish and the first connecting mechanism 100 is less than the reference distance, the air pressure control assembly 930 is controlled to perform air intake control on the corrugated strong pneumatic muscle, the net-binding pneumatic muscle, and the clamping pneumatic muscle. Then, through the cooperation of the corrugated strong pneumatic muscle and the net-binding pneumatic muscle, the clamping mechanism 330 is positioned directly above the starfish, and then air intake control is performed on the clamping pneumatic muscle to make the plurality of driving mechanisms bend inward, so that the clamping mechanism 330 is closed to grasp the starfish.

[0100] After the clamping mechanism 330 grabs the starfish, control the pneumatic pressure control component 930 to push out the storage box by the pneumatic slide rail; then continue to control the air intake of the corrugated reinforced pneumatic muscle and the net-weaving restraint pneumatic muscle to move the starfish above the storage box; then control the air intake of the clamping pneumatic muscle to open the clamping mechanism 330 so that the starfish falls into the storage box, and finally control the pneumatic pressure control component 930 to recycle the storage box by the pneumatic slide rail. Thus, a complete grasping is completed.

[0101] The above description and drawings fully illustrate the embodiments of the present disclosure so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process, and other changes. The embodiments only represent possible variations. Unless explicitly required, the individual components and functions are optional, and the order of operations can vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. Moreover, the terms used in this application are only for describing the embodiments and are not used to limit the claims. As used in the description of the embodiments and claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to also include the plural forms. Additionally, when used in this application, the term "comprise" and its variants "comprises" and / or "comprising" etc. refer to the presence of the stated features, wholes, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or groups of these. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process or device including the element. In this article, what each embodiment focuses on can be the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other.

Claims

1. A grasping device, characterized in that, Comprising: A first connection mechanism, including a heat-shrinkable silicone tube and a support structure sleeved outside the heat-shrinkable silicone tube; A second connection mechanism, one end of the second connection mechanism is connected to the first connection mechanism, and the second connection mechanism is deformable; A clamping mechanism, arranged at the other end of the second connection mechanism, and the clamping mechanism changes the grasping position under the drive of the deformation of the second connection mechanism; Wherein, the grasping device further includes: A network structure, and the clamping mechanism is arranged on the network structure; An installation mechanism, configured to install the network structure on the second connection mechanism; A clamping pneumatic muscle, penetrating through the network structure; Wherein, the network structure includes a woven segment and a grid segment, and the grid segment is connected to the woven segment; the woven segment includes a limiting surface, and the side of the woven segment away from the limiting surface is a telescopic segment; the clamping mechanism is arranged on the network structure, the clamping mechanism is arranged inside the grid segment, and the network structure deforms under the drive of the clamping pneumatic muscle to adjust the clamping state of the clamping mechanism.

2. The gripping device according to claim 1, characterized in that, The support structure includes a plurality of support steel rings, and the plurality of support steel rings are evenly distributed on the heat-shrinkable silicone tube.

3. The gripping device according to claim 1, characterized in that The first connection mechanism further includes: A constraint structure, configured to fix the relative positions of the plurality of heat-shrinkable silicone tubes.

4. The grasping device according to claim 1, wherein The first connection mechanism further includes: A first valve body, arranged at the end of the heat-shrinkable silicone tube, and the first valve body is configured to controllably adjust the inflation amount in the heat-shrinkable silicone tube.

5. The grasping device according to claim 1, wherein The second connection mechanism includes: A plurality of connecting pneumatic muscles; A second valve body, arranged at the ends of the plurality of connecting pneumatic muscles, and the second valve body is configured to controllably adjust the inflation amount of the plurality of connecting pneumatic muscles.

6. The gripping device according to claim 5, characterized in that, The second valve body is of a single-inlet and double-outlet structure.

7. The gripping device according to claim 1, characterized in that The clamping mechanism is made of a flexible material.

8. A fishing robot, characterized in that, Including the grasping device according to any one of claims 1 to 7.

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