A trackable, grasping, underwater fishing robot

Abstract

The application provides a kind of underwater fishing robot of trackable capture, and relates to underwater robot field.The underwater fishing robot of trackable capture, including robot main body, the position of the robot main body inside is close to right side and is penetrated and is provided with push rod motor, the output end of the push rod motor is fixedly connected with push rod, the right end of the push rod is fixedly connected with rotating motor, the output end of the rotating motor is fixedly connected with first rotating shaft, the right end of the first rotating shaft is fixedly connected with screw rod, the outer diameter of the screw rod is threadedly connected with moving cylinder, the outer diameter of the moving cylinder is fixedly connected with mounting plate close to left side position.The LED light attracts organisms, range finder detects the position of organisms, and signals are transmitted to the robot main body, so that the robot main body approaches organisms, and then cooperates with arc-shaped robot arm and hemispherical fisher to capture organisms, effectively improves fishing efficiency.

Description

Technical Field

[0001] This invention relates to the field of underwater robots, specifically to a trackable and grasping underwater fishing robot. Background Technology

[0002] Underwater fishing robots are a type of underwater robot, also known as unmanned remotely operated vehicles. They are robots that perform extreme underwater operations. The underwater environment is harsh and dangerous, and the diving depth of humans is limited, so underwater robots have become an important tool for ocean development.

[0003] Underwater fishing robots are typically used to catch deep-sea fish. Most deep-sea fish are very agile and will quickly flee when they sense a large object approaching. The deep sea is dark and unpredictable, so the possibility of achieving deep-sea fishing simply by using cameras in conjunction with robots is extremely low. How to improve fishing efficiency is worth studying. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a trackable and graspable underwater fishing robot, which solves the problem of the high difficulty of using underwater robots to catch fish in the deep sea.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a trackable and graspable underwater fishing robot, comprising a robot body, a push rod motor being installed through and near the right side of the robot body, a push rod being fixedly connected to the output end of the push rod motor, the push rod being slidably connected to the robot body, a rotating motor being fixedly connected to the right end of the push rod, a first rotating shaft being fixedly connected to the output end of the rotating motor, a helical rod being fixedly connected to the right end of the first rotating shaft, a pressure-reducing bearing being provided on the outer diameter of the first rotating shaft, a fixed base plate being rotatably connected to the outer diameter of the outer ring of the pressure-reducing bearing, a first rotating groove being provided through the middle of the fixed base plate, a fixed connection between the inner ring of the pressure-reducing bearing and the left side of the outer diameter of the first rotating shaft, and a movable cylinder being threadedly connected to the outer diameter of the helical rod, the movable cylinder having a T-shaped cross-section.

[0006] Preferably, an mounting plate is fixedly connected to the outer diameter of the movable cylinder near the left side. The mounting plate is shaped with rectangular extension plates at both the top and bottom. A groove is provided through the middle of the top and bottom of the mounting plate, and a second rotating groove is provided through both ends of the groove. A second rotating shaft is provided between the inner walls of the front and rear second rotating grooves. Limiting holes are provided through the top and bottom of the mounting plate near the middle. Unequal diameter round rods are fixedly connected to the middle right side of the fixed base plate near the bottom and the bottom. The unequal diameter round rods all pass through the corresponding limiting holes, and the diameter of the thicker rod of the unequal diameter round rod is greater than the diameter of the limiting hole.

[0007] Preferably, a rotating rod is rotatably connected through the middle outer diameter of the second rotating shaft, and a stop block is fixedly connected to the part of the second rotating shaft extending out of the front and rear sides of the mounting plate. A rotating seat is fixedly connected to the right end of each rotating rod. A third rotating groove is provided through the middle of the front and rear sides of the upper and lower rotating seats. A rotatable connecting rod is rotatably connected between the inner walls of the third rotating groove. The rotatable connecting rod is U-shaped, and the side of the rotatable connecting rod near the unequal diameter round rod is rotatably connected to the thicker part of the unequal diameter round rod.

[0008] Preferably, a connecting block is fixedly connected to the right side of the rotating seat, and an arc-shaped robotic arm is fixedly connected to the side of the connecting block away from the screw rod. An mounting block is fixedly connected to the arc-shaped outer surface of the right side of the arc-shaped robotic arm. A threaded mounting hole is provided through the middle of the right side of each mounting block, and threaded pins are threaded between the inner walls of the threaded mounting holes.

[0009] Preferably, a hemispherical catcher is provided at the right end of each of the arc-shaped robotic arms, and a mounting hole is provided through the middle of the left side of the hemispherical catcher near the top, and the threaded nail passes through and is threadedly connected to the mounting hole.

[0010] Preferably, sonar is provided at opposite ends of the right side of the arc-shaped robotic arm. The sonar consists of an upper sonar transmitter and a lower sonar receiver. A mounting base is fixedly connected to the right side of the spiral rod. A transparent lampshade is fixedly connected to the right side of the mounting base. An LED bulb is provided on the right side of the mounting base and is located inside the transparent lampshade.

[0011] Preferably, a propeller is rotatably connected through the top and bottom of the robot body, and the outer diameter of the propeller is fixedly connected with evenly distributed propeller blades.

[0012] Working Principle: First, this invention utilizes the high-speed rotation of a propeller blade in water to drive the overall movement. Second, an LED bulb is installed inside the rightmost transparent lampshade. At deep sea depths, the LED bulb emits light, and most deep-sea creatures are phototactic. Simultaneously, it is equipped with a sonar transmitter and receiver. The LED light attracts the creature, and the sonar detects its location by emitting and receiving sound waves, transmitting a signal to the robot body, causing it to approach the creature. Inside the robot body is a push rod motor. The push rod motor drives the push rod to extend and retract. When it approaches the creature, the push rod slowly extends to bring it closer, preventing the robot body from being too large and causing the creature to feel threatened and escape. A rotating motor is located at the right end of the push rod. The rotating motor drives the first rotating shaft to rotate, which in turn drives the propeller to rotate. A movable cylinder is threaded onto the outer diameter of the propeller. A fixed base plate is fixed on the left outer diameter of the first rotating shaft. The fixed base plate is connected to a rotatable connecting rod via a round rod of unequal diameter. The rotatable connecting rod is in turn connected to a rotating rod via a rotating seat. The rod is connected to the mounting plate via a second rotating shaft, which is fixedly attached to the outer diameter of the moving cylinder. When the first rotating shaft drives the screw rod to rotate, since the fixed base plate and the unequal-diameter round rod are stationary, the moving cylinder moves left and right as the screw rod rotates. When the moving cylinder moves to the right, the mounting plate moves to the right accordingly, and consequently, the second rotating shaft also moves to the right. Once the limiting hole approaches the thicker part of the unequal-diameter round rod, it can no longer move to the right. Because the rotating rod can rotate around the second rotating shaft, the rotatable connecting rod can also rotate around... The rotating base rotates, forming a structure similar to a four-bar linkage. Under the constraint of the structure, the arc-shaped robotic arm, which is fixedly connected to the connecting block on the right side of the rotating base, will rotate in the plane and tend to move closer together. After the hemispherical catcher is installed on the mounting block on the right side of the arc-shaped robotic arm with threaded nails, when the mounting plate moves to the right side and can no longer move, the hemispherical catcher will become a whole, trapping organisms or other substances inside. In addition, the hemispherical catcher can be replaced with other structures with catching effects, depending on the size of the organism to be caught.

[0013] This invention provides a trackable and graspable underwater fishing robot. It has the following beneficial effects:

[0014] This invention utilizes a four-bar linkage structure comprised of unequal-diameter round rods, rotatable connecting rods, a rotating rod, a first rotating shaft, and a mounting plate. Under the constraints of this structure, when the mounting plate moves to the right, the arc-shaped robotic arm, fixedly connected to the right-side connecting block of the rotating seat, rotates within a plane and tends to move closer together. Simultaneously, a hemispherical catcher is mounted on the mounting block on the right side of the arc-shaped robotic arm via threaded pins. When the mounting plate moves to the right and can no longer move, the hemispherical catcher merges into one unit, trapping organisms or other materials within. An LED light is installed inside the transparent lampshade on the far right. When the robot is deep in the ocean, LED bulbs emit light, and most deep-sea creatures are attracted to light. In conjunction with sonar, the LED lights attract the creatures, the sonar detects their location, and sends a signal to the robot to move closer to them. Inside the robot is a push rod motor that drives the push rod to extend and retract. Once the approximate location of the creature is detected, the push rod can be slowly extended to approach it. This avoids the large size of the robot and the large noise generated by the rotating propeller blades, which could make the creature feel threatened and escape, thus improving the efficiency of the harvesting. Attached Figure Description

[0015] Figure 1 This is a perspective view of the main body of the present invention;

[0016] Figure 2 This is an exploded view of the main body of the present invention;

[0017] Figure 3 This is a schematic diagram of the linkage structure of the present invention;

[0018] Figure 4 This is a schematic diagram of the rotating structure of the present invention;

[0019] Figure 5 This is a schematic diagram of the fishing state according to the present invention;

[0020] Figure 6 This is a schematic diagram of the installation of the fishing device of the present invention.

[0021] The components include: 1. Robot body; 2. Push rod motor; 3. Push rod; 4. Rotary motor; 5. Fixed base plate; 501. First rotating groove; 6. Pressure-reducing bearing; 7. Mounting plate; 701. Second rotating groove; 702. Limiting hole; 8. First rotating shaft; 9. Moving cylinder; 10. Helical rod; 11. Unequal diameter round rod; 12. Rotatable connecting rod; 13. Mounting seat; 14. Transparent lampshade; 15. Rotating seat; 150. Third rotating groove; 16. Rotating rod; 17. Second rotating shaft; 18. Stop block; 19. Connecting block; 20. Arc-shaped robotic arm; 201. Mounting block; 202. Threaded mounting hole; 21. Sonar; 22. LED bulb; 23. Propeller; 24. Propeller blade; 30. Hemispherical catcher; 301. Mounting hole; 31. Threaded nail. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] Example:

[0024] like Figure 1-6 As shown, this embodiment of the invention provides a tracking and grasping underwater fishing robot, including a robot body 1. A push rod motor 2 is installed inside the robot body 1 near the right side. A push rod 3 is fixedly connected to the output end of the push rod motor 2. The push rod 3 is slidably connected to the robot body 1. A rotary motor 4 is fixedly connected to the right end of the push rod 3. Both the push rod motor 2 and the rotary motor 4 are controlled by the robot body 1. A first rotating shaft 8 is fixedly connected to the output end of the rotary motor 4. A helical rod 10 is fixedly connected to the right end of the first rotating shaft 8. A pressure-reducing bearing 6 is provided on the outer diameter of the first rotating shaft 8. A fixed base plate 5 is rotatably connected to the outer diameter of the pressure-reducing bearing 6. A first rotating groove 501 is provided through the middle of the fixed base plate 5. The inner ring of the pressure-reducing bearing 6 is fixedly connected to the left side of the outer diameter of the first rotating shaft 8. The pressure-reducing bearing 6 is mainly used to reduce the friction between the first rotating shaft 8 and the fixed base plate 5 and reduce the power loss of the motor. A movable cylinder 9 is threadedly connected to the outer diameter of the helical rod 10. The movable cylinder 9 has a T-shaped cross-section and can move left and right.

[0025] A mounting plate 7 is fixedly connected to the outer diameter of the movable cylinder 9 near the left side. The mounting plate 7 is shaped with rectangular extension plates at both the top and bottom. A groove is provided through the middle of the top and bottom of the mounting plate 7, and a second rotating groove 701 is provided through both ends of the groove. A second rotating shaft 17 is provided between the inner walls of the front and rear second rotating grooves 701. A limiting hole 702 is provided through the middle of the top and bottom of the mounting plate 7. Unequal diameter round rods 11 are fixedly connected to the middle of the right side of the fixed base plate 5 near the bottom and bottom. The unequal diameter round rods 11 are all connected through the corresponding limiting holes 702, and the diameter of the thicker rod of the unequal diameter round rod 11 is greater than the diameter of the limiting hole 702. The limiting hole 702 is mainly used to limit the movement distance of the mounting plate 7 on the unequal diameter round rods 11. When the screw rod 10 rotates, since the fixed base plate 5 and the unequal diameter round rods 11 remain stationary, the movable cylinder 9 will move relative to the screw rod 10, that is, the movable cylinder 9 will move to the right side of the screw rod 10.

[0026] Rotating rods 16 are rotatably connected through the middle outer diameter of the second rotating shaft 17. The parts of the second rotating shaft 17 extending out of the mounting plate 7 on both sides are fixedly connected to stop blocks 18. Rotating seats 15 are fixedly connected to the right end of the rotating rods 16. A third rotating groove 150 is provided between the middle of the front and rear sides of the upper and lower rotating seats 15. Rotatable connecting rods 12 are rotatably connected between the inner walls of the third rotating groove 150. The rotatable connecting rods 12 are U-shaped, and the side of the rotatable connecting rods 12 near the unequal diameter round rods 11 is rotatably connected to the thicker part of the unequal diameter round rods 11. When the moving cylinder 9 moves to the right, the mounting plate 7 moves to the right accordingly, and the second rotating shaft 17 also moves to the right. When the limiting hole 702 is close to the thicker part of the unequal diameter round rods 11, it can no longer move to the right. Since the rotating rods 16 can rotate around the second rotating shaft 17, and the rotatable connecting rods 12 can also rotate around the rotating seats 15, a structure similar to a four-bar linkage is formed.

[0027] A connecting block 19 is fixedly connected to the right side of the rotating seat 15. An arc-shaped robotic arm 20 is fixedly connected to the side of the connecting block 19 away from the screw rod 10. An mounting block 201 is fixedly connected to the arc-shaped outer surface of the right side of the arc-shaped robotic arm 20. A threaded mounting hole 202 is provided through the middle of the right side of the mounting block 201. Threaded nails 31 are threaded between the inner walls of the threaded mounting holes 202. Different structures can be installed on the arc-shaped robotic arm 20 through the connection and combination of the threaded nails 31 and the threaded mounting holes 202, which improves the applicability of the device.

[0028] Each of the right ends of the arc-shaped robotic arm 20 is equipped with a hemispherical catcher 30. A mounting hole 301 is provided through the middle of the left side of the hemispherical catcher 30 near the top. A threaded pin 31 passes through and is threadedly connected to the mounting hole 301. The hemispherical catcher 30 is installed on the arc-shaped robotic arm 20 by the threaded pin 31. Under the constraint of the four-bar linkage structure, when the mounting plate 7 moves to the right, the upper and lower arc-shaped robotic arms 20 will tend to move closer together until the upper and lower hemispherical catchers 30 are combined into one, thus completing the catch. The hemispherical catcher 30 can be replaced with other structures with catching effects, depending on the size of the organism to be caught, which can expand the applicability of the device.

[0029] Sonar 21 is installed on the opposite right side of the arc-shaped robotic arm 20. The sonar 21 consists of a sonar transmitter at the top and a sonar receiver at the bottom. A mounting base 13 is fixedly connected to the right side of the spiral rod 10. A transparent lampshade 14 is fixedly connected to the right side of the mounting base 13. An LED bulb 22 is installed on the right side of the mounting base 13 and is located inside the transparent lampshade 14. The phototaxis of deep-sea organisms can attract organisms. Combined with the approximate positioning of the sonar 21, the fishing efficiency can be effectively improved.

[0030] The robot body 1 has a propeller 23 that runs through and rotates through the top and bottom middle. The outer diameter of the propeller 23 is fixedly connected with evenly distributed propeller blades 24. The propeller blades 24 rotate at high speed underwater, which can drive the device to move underwater.

[0031] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A trackable, grasping, underwater fishing robot comprising a robot body (1), characterized in that: A push rod motor (2) is installed inside the robot body (1) near the right side. A push rod (3) is fixedly connected to the output end of the push rod motor (2). The push rod (3) is slidably connected to the robot body (1). A rotary motor (4) is fixedly connected to the right end of the push rod (3). A first rotating shaft (8) is fixedly connected to the output end of the rotary motor (4). A screw rod (10) is fixedly connected to the right end of the first rotating shaft (8). A pressure-reducing bearing (6) is installed on the outer diameter of the first rotating shaft (8). A fixed base plate (5) is rotatably connected to the outer diameter of the outer ring of the pressure-reducing bearing (6). A first rotating groove (501) is provided through the middle of the fixed base plate (5). The inner ring of the pressure-reducing bearing (6) is fixedly connected to the left side of the outer diameter of the first rotating shaft (8). A movable cylinder (9) is threadedly connected to the outer diameter of the screw rod (10), and the cross-section of the movable cylinder (9) is T-shaped. The movable cylinder (9) is fixedly connected to a mounting plate (7) near the left side of its outer diameter. The mounting plate (7) is shaped with rectangular extension plates at both the top and bottom. The mounting plate (7) has a groove through the middle of the top and bottom, and a second rotating groove (701) through both ends of the groove. A second rotating shaft (17) is provided between the inner walls of the front and rear second rotating grooves (701). Limiting holes (702) are provided through the middle of the top and bottom of the mounting plate (7). Unequal diameter round rods (11) are fixedly connected to the middle of the right side of the fixed base plate (5) near the bottom and the bottom. The unequal diameter round rods (11) all pass through the corresponding limiting holes (702), and the diameter of the thicker rod of the unequal diameter round rod (11) is greater than the diameter of the limiting hole (702). A rotating rod (16) is rotatably connected through the middle outer diameter of the second rotating shaft (17). A stop block (18) is fixedly connected to the part of the second rotating shaft (17) extending out of the mounting plate (7) on both sides. A rotating seat (15) is fixedly connected to the right end of the rotating rod (16). A third rotating groove (150) is provided between the middle of the front and rear sides of the upper and lower rotating seats (15). A rotatable connecting rod (12) is rotatably connected between the inner walls of the third rotating groove (150). The rotatable connecting rod (12) is in the shape of a square. The side of the rotatable connecting rod (12) close to the unequal diameter round rod (11) is rotatably connected to the thicker part of the unequal diameter round rod (11). A connecting block (19) is fixedly connected to the right side of the rotating seat (15). An arc-shaped robotic arm (20) is fixedly connected to the side of the connecting block (19) away from the screw rod (10). An mounting block (201) is fixedly connected to the arc-shaped outer surface of the right side of the arc-shaped robotic arm (20). A threaded mounting hole (202) is provided through the middle of the right side of the mounting block (201). Threaded nails (31) are threaded between the inner walls of the threaded mounting holes (202). Sonar (21) is provided on the opposite right side of the arc-shaped robotic arm (20). The sonar (21) consists of a sonar transmitter above and a sonar receiver below. A mounting base (13) is fixedly connected to the right side of the spiral rod (10). A transparent lampshade (14) is fixedly connected to the right side of the mounting base (13). An LED bulb (22) is provided on the right side of the mounting base (13) and the LED bulb (22) is located inside the transparent lampshade (14).

2. A trackable, grasping, underwater fishing robot according to claim 1, characterized in that: The right end of each of the arc-shaped robotic arms (20) is provided with a hemispherical catcher (30). The middle left side of the hemispherical catcher (30) near the top is provided with a mounting hole (301). The threaded nail (31) passes through and is threadedly connected to the mounting hole (301).

3. The tracked, grasping, underwater fishing robot of claim 1, wherein: The robot body (1) has a propeller (23) that runs through and rotates through the top and bottom middle. The outer diameter of the propeller (23) is fixedly connected with evenly distributed propeller blades (24).

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