Serial-parallel robotic arm collaborative sea cucumber fishing equipment

Abstract

The present invention relates to a mechanical device, and more particularly to a serial-parallel robotic arm collaborative sea cucumber fishing device, comprising a hull, an end effector, a rope, and a rope drive device. The hull is used to navigate on the sea surface, and is provided with a through hole. The end effector includes a gripper, which is an elastic gripper, and is used to grasp sea cucumbers. The rope drive device is provided on the hull, and one end of the rope is connected to the rope drive device and the other end is connected to the end effector. The rope drive device is adapted to drive the rope so that the end effector is placed on the seabed through the through hole or retracted from the seabed to the hull. The rope drive device is adapted to drive the rope so that the end effector can adjust its position in six degrees of freedom. The present invention has a long service life, a large fishing area, a higher fishing efficiency, and can avoid damage to sea cucumbers during the catching process.

Description

Technical Field

[0001] The present invention relates to mechanical equipment, in particular to a series-parallel mechanical arm coordinated sea cucumber fishing equipment. Background Art

[0002] Sea cucumber harvesting is a crucial component of the sea cucumber aquaculture industry. Some existing sea cucumber harvesting equipment utilizes an underwater vehicle as a base, equipped with a rigid robotic arm. Once the vehicle reaches a designated location, the rigid robotic arm completes the harvesting process. While these vehicles offer excellent endurance, they can stir up sand during navigation, reducing visibility and thus reducing harvesting efficiency. Furthermore, the rigid robotic arm gripper can increase sea cucumber damage. Other harvesting equipment utilizes a collaborative robotic system consisting of a hexapod benthic biomimetic robot platform and a robotic arm. While this benthic crawler, compared to an underwater vehicle, does not stir up sand during operation and offers better visibility on the seabed, the entire system of this harvesting device remains submerged, making it incapable of continuous operation. This results in lower harvesting efficiency and a shorter lifespan due to corrosion from sea cucumbers. Summary of the Invention

[0003] The purpose of the present invention is to provide a serial-parallel robotic arm cooperative sea cucumber fishing equipment with a long service life, a large fishing area, higher fishing efficiency, and the ability to avoid damage to sea cucumbers during the grabbing process.

[0004] To achieve the above-mentioned objectives, the present invention provides a serial-parallel robotic arm collaborative sea cucumber fishing equipment, including a hull, an end effector, a rope, and a rope driving device. The hull is used to sail on the sea surface, and a through hole is provided on the hull. The end effector includes a gripper, which is an elastic gripper. The gripper is used to grab sea cucumbers. The rope driving device is provided on the hull, and one end of the rope is connected to the rope driving device and the other end is connected to the end effector. The rope driving device is suitable for driving the rope so that the end effector is placed on the seabed through the through hole or retracted from the seabed to the hull. The rope driving device is suitable for driving the rope so that the end effector can adjust its position in six degrees of freedom.

[0005] Furthermore, it also includes a controller, and the end effector also includes an effector bracket, a storage box, a robotic arm, and a camera. One end of the robotic arm is connected to the bottom of the effector bracket, and the other end of the robotic arm is connected to the gripper. The storage box is connected to one side of the effector bracket. The camera is connected to the robotic arm near the gripper. The camera is connected to the controller, and the controller is also connected to the rope drive device. The camera is used to take seabed pictures and transmit the seabed pictures to the controller. The controller identifies and locates sea cucumbers on the seabed according to the seabed pictures. The controller controls the rope drive device according to the seabed pictures, so that the rope drive device drives the rope to drive the end effector to a predetermined position.

[0006] Furthermore, the robotic arm includes a first robotic arm unit, a second robotic arm unit, a third robotic arm unit, a fourth robotic arm unit, and a fifth robotic arm unit. One end of the first robotic arm unit is rotatably connected to the actuator bracket, and the first robotic arm unit, the second robotic arm unit, the third robotic arm unit, the fourth robotic arm unit, and the fifth robotic arm unit are rotatably connected to each other in sequence, and the gripper is rotatably connected to the fifth robotic arm unit.

[0007] Furthermore, eight ropes are provided, eight connecting ends are provided on the actuator bracket, and a universal joint is provided on each connecting end. The rope drive device includes four longitudinal rope drive assemblies and four transverse rope drive assemblies. The four longitudinal rope drive assemblies have the same structure, and the four transverse rope drive assemblies have the same structure. One of the longitudinal rope drive assemblies includes a first winch, a first pulley, a second pulley, and a longitudinal drive assembly bracket. The longitudinal drive assembly bracket is vertically arranged on the hull, and the first pulley, the second pulley, and the first winch are all arranged on the longitudinal drive assembly bracket. The four longitudinal drive assembly brackets are respectively located at the four corners of the periphery of the through hole, and one end of the four ropes is respectively connected to one of the first winches, and the four The other end of the rope is successively passed around the first pulley and the second pulley of the same group and then connected to a universal joint located at a lower position of the actuator bracket. One of the transverse rope drive assemblies includes a second winch, a third pulley, a fourth pulley, and a transverse drive assembly bracket. The second winch, the third pulley, and the fourth pulley are all connected to the transverse drive assembly bracket. One end of the four ropes is respectively connected to a second winch, and the other ends of the four ropes are successively passed around the third pulley and the fourth pulley of the same group and then connected to a universal joint located at a higher position of the actuator bracket. The first winch of each longitudinal rope drive assembly and the second winch of each transverse rope drive assembly are connected to the controller.

[0008] Furthermore, the eight connection ends are located in the upper and lower layers, and the four connection ends located in the upper layer and the four connection ends located in the lower layer are staggered with each other.

[0009] Furthermore, two transverse drive assembly brackets are provided, and the second hoist, the third pulley, and the fourth pulley of the two transverse rope drive assemblies are connected to the same transverse drive assembly bracket.

[0010] Furthermore, the two transverse drive assembly brackets are respectively connected between the tops of the two longitudinal drive assembly brackets.

[0011] Furthermore, the longitudinal rope drive assembly also includes a first pulley bracket, and the transverse rope drive assembly also includes a second pulley bracket, the second pulley is connected to the first pulley bracket, and the first pulley bracket is suitable for moving up and down relative to the longitudinal drive assembly bracket, and the third pulley is connected to the second pulley bracket, and the second pulley bracket is suitable for moving left and right relative to the transverse drive assembly bracket.

[0012] Furthermore, the longitudinal rope drive assembly also includes a pair of mutually cooperating first screw rods and first nut, the first screw rod is vertically connected to the longitudinal drive assembly bracket, and the first nut is connected to the first pulley bracket, and the transverse rope drive assembly also includes a pair of mutually cooperating second screw rods and second nut, the second screw rod is transversely connected to the transverse drive assembly bracket, and the second nut is connected to the second pulley bracket.

[0013] Furthermore, the hull is a catamaran.

[0014] The serial-parallel robotic arm cooperative sea cucumber fishing equipment of the present invention has at least the following beneficial effects:

[0015] The serial-parallel robotic arm cooperative sea cucumber fishing equipment of the present invention has a rope driving device arranged on the hull, and only the end effector is immersed in the water to catch sea cucumbers. Therefore, most components in the fishing equipment will not be corroded by seawater, and the service life is extended. In addition, since the rope driving device can drive the rope to place the end effector on the seabed through the through hole or retract it from the seabed to the hull, the end effector is retracted during the movement of the hull, and the seawater will not be turbid during the movement of the hull. The visibility of the seabed is higher and the fishing efficiency is higher. The end effector can adjust its position in six degrees of freedom to further expand the fishing area and improve the fishing efficiency. The gripper of the end effector is an elastic gripper, which can prevent the sea cucumber from being damaged during the process of grabbing the sea cucumber.

[0016] The serial-parallel robotic arm cooperative sea cucumber fishing equipment of the present invention will be described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of the serial-parallel robotic arm cooperative sea cucumber fishing equipment of the present invention;

[0018] Figure 2 It is a structural schematic diagram of the longitudinal rope drive assembly in the serial-parallel robotic arm cooperative sea cucumber fishing equipment of the present invention;

[0019] Figure 3 for Figure 2 Front view of the partial view at A in the middle;

[0020] Figure 4 for Figure 2 Rear view of the partial view at A in the middle;

[0021] Figure 5 It is a structural schematic diagram of the transverse rope drive assembly in the serial-parallel robotic arm cooperative sea cucumber fishing equipment of the present invention;

[0022] Figure 6 for Figure 5 Partial view at point D in the middle;

[0023] Figure 7 for Figure 5 Partial view at E in the middle;

[0024] Figure 8 This is a schematic structural diagram of the end effector in the serial-parallel robotic arm collaborative sea cucumber fishing equipment of the present invention;

[0025] Figure 9 This is a schematic diagram of the main structure of the end effector in the serial-parallel robotic arm cooperative sea cucumber fishing equipment of the present invention;

[0026] Figure 10 This is a schematic diagram of the upward structure of the end effector in the serial-parallel robotic arm cooperative sea cucumber fishing equipment of the present invention. DETAILED DESCRIPTION

[0027] like Figure 1 As shown, the present invention is a serial-parallel robotic arm collaborative sea cucumber fishing equipment, including a hull 01, an end effector 02, a rope 03, and a rope driving device 04. The hull 01 is used for sailing on the sea surface. A through hole 11 is provided on the hull 01. The end effector 02 includes a gripper 25. The gripper 25 is an elastic gripper. The gripper 25 is used to grab sea cucumbers on the seabed. The rope driving device 04 is provided on the hull 01. One end of the rope 03 is connected to the rope driving device 04 and the other end is connected to the end effector 02. The rope driving device 04 is suitable for driving the rope 03 so that the end effector 02 is placed on the seabed through the through hole 11 to grab sea cucumbers or retracted from the seabed to the hull 01 after grabbing sea cucumbers. The rope driving device 04 is suitable for driving the rope 03 so that the end effector 02 can adjust its position in the six degrees of freedom direction. Specifically, hull 01 is a catamaran capable of being used in conjunction with end effector 02. A through hole 11 is provided in the middle of the hull, and is square in shape. The gripper 25 is made of rubber or other elastic material. In the serial-parallel robotic arm cooperative sea cucumber fishing equipment of the present invention, since the rope drive device 04 is disposed on hull 01, only the end effector 02 is submerged in the water to capture sea cucumbers. Therefore, most components of the fishing equipment are protected from seawater corrosion, extending their service life. Furthermore, since the rope drive device 04 can drive the rope 03 to place the end effector 02 on the seabed through the through hole 11 or retract it from the seabed to hull 01, the end effector 02 is retracted while hull 01 is moving, preventing turbidity in the seawater. This improves seabed visibility and fishing efficiency. The end effector 02 can adjust its position in six degrees of freedom, further expanding the fishing area and increasing fishing efficiency. The gripper 25 of the end effector is an elastic gripper, preventing damage to the sea cucumbers during the process of capturing them.

[0028] Alternatively, as Figure 8 、 Figure 9 、 Figure 10As shown, the serial-parallel robotic arm cooperative sea cucumber fishing equipment of the present invention also includes a controller, and the end effector 02 also includes an actuator bracket 21, a storage box 22, a robotic arm 23, and a camera 24. One end of the robotic arm 23 is connected to the bottom of the actuator bracket 21, and the other end of the robotic arm 23 is connected to the gripper 25. The storage box 22 is connected to one side of the actuator bracket 21. The camera 24 is connected to the position of the robotic arm 23 near the gripper 25. The camera 24 is connected to the controller, and the controller is also connected to the rope drive device 04. The camera 24 is used to take pictures of the seabed and transmit the seabed pictures to the controller. The controller identifies and locates the sea cucumbers on the seabed according to the seabed pictures. The controller controls the rope drive device 04 according to the seabed pictures, so that the rope drive device 04 drives the rope 03 to drive the end effector 02 to a predetermined position. Specifically, the camera 24 uses a binocular camera, which is used to complete the identification and positioning of sea cucumbers. The use of a binocular camera makes the identification and positioning of sea cucumbers more accurate. The storage box 22 is used to temporarily store the sea cucumbers grabbed by the gripper 25. After the storage box 22 is full, the end effector 02 is pulled back to the hull 01 to collect the sea cucumbers, thereby improving work efficiency.

[0029] Optionally, the robotic arm 23 includes a first robotic arm unit 231, a second robotic arm unit 232, a third robotic arm unit 233, a fourth robotic arm unit 234, and a fifth robotic arm unit 235. One end of the first robotic arm unit 231 is rotatably connected to the actuator bracket 21, and the first robotic arm unit 231, the second robotic arm unit 232, the third robotic arm unit 233, the fourth robotic arm unit 234, and the fifth robotic arm unit 235 are rotatably connected to each other in sequence. The gripper 25 is rotatably connected to the fifth robotic arm unit 235, so that the robotic arm 23 forms a six-degree-of-freedom serial robotic arm. The environmental conditions in the seabed area for breeding sea cucumbers are relatively complex. The robotic arm 23 is a six-degree-of-freedom serial robotic arm, which increases the flexibility in catching sea cucumbers and enables the end effector to better adapt to the complex environment of the seabed, avoiding positions in the sea cucumber breeding area that the end effector cannot reach.

[0030] Alternatively, as Figure 1 、 Figure 2 、 Figure 3 、 Figure 4As shown, eight ropes 03 are provided, and eight connection ends are provided on the actuator bracket 21, and a universal joint is provided on each connection end. The rope drive device 04 includes four longitudinal rope drive assemblies and four transverse rope drive assemblies. The four longitudinal rope drive assemblies have the same structure, and the four transverse rope drive assemblies have the same structure. One of the longitudinal rope drive assemblies includes a first winch 41, a first pulley 42, a second pulley 43, and a longitudinal drive assembly bracket 44. The longitudinal drive assembly bracket 44 is vertically arranged on the hull 01, and the first pulley 42, the second pulley 43, and the first winch 41 are all arranged on the longitudinal drive assembly bracket 44. The first pulley 42 is located below the second pulley 43. The four longitudinal drive assembly brackets 44 are respectively located at the four corners of the outer periphery of the through hole 11. One end of the four ropes 03 is respectively connected to a first winch 41, and the other ends of the four ropes 03 are respectively passed around the first pulley 42 and the second pulley 43 of the same group and then connected to a universal joint located at a lower position of the actuator bracket 21, as shown in FIG. Figure 5 、 Figure 6 、 Figure 7 As shown, one of the transverse rope drive assemblies includes a second hoist 51, a third pulley 52, a fourth pulley 53, and a transverse drive assembly bracket 54. The transverse drive assembly bracket 54 is arranged horizontally. The second hoist 51, the third pulley 52, and the fourth pulley 53 are all connected to the transverse drive assembly bracket 54. One end of the four ropes 03 is respectively connected to a second hoist 51, and the other ends of the four ropes 03 are respectively passed around the third pulley 52 and the fourth pulley 53 of the same group and then connected to a universal joint located at a higher position of the actuator bracket 21. The first hoist 41 of each longitudinal rope drive assembly and the second hoist 51 of each transverse rope drive assembly are connected to the controller. Specifically, the first winch 41 and the second winch 51 are both horizontal winches, and the first pulley 42, the second pulley 43, the third pulley 52, and the fourth pulley 53 are all fixed pulleys. The controller controls the rotation direction of each first winch 41 and the second winch 51 and then controls the extension and retraction of each rope 03, thereby realizing the movement of the end effector 02 in six degrees of freedom, increasing the degrees of freedom of the end effector 02, making its movement more flexible, and effectively adapting to the complex seabed environment.

[0031] Optionally, the eight connection ends on the actuator bracket 21 are located in the upper and lower layers, and the four connection ends located in the upper layer and the four connection ends located in the lower layer are staggered with each other to prevent the ropes 03 from interfering with each other.

[0032] Optionally, two transverse drive assembly brackets 54 are provided, and the second winch 51 , the third pulley 52 , and the fourth pulley 53 of the two transverse rope drive assemblies are connected to the same transverse drive assembly bracket 54 , and the two transverse drive assembly brackets 54 are both located on the periphery of the through hole 11 .

[0033] Optionally, two transverse drive assembly brackets 54 are respectively connected between the tops of the two longitudinal drive assembly brackets 44, which can further avoid interference between the ropes 03. A support frame 58 is also provided between the two longitudinal drive assembly brackets 44 to support the transverse drive assembly bracket 54.

[0034] Optionally, the longitudinal rope drive assembly further includes a first pulley bracket 45, and the transverse rope drive assembly further includes a second pulley bracket 55. The second pulley 43 is connected to the first pulley bracket 45, and the first pulley bracket 45 is adapted to move up and down relative to the longitudinal drive assembly bracket 44. The third pulley 52 is connected to the second pulley bracket 55, and the second pulley bracket 55 is adapted to move left and right relative to the transverse drive assembly bracket 54. The mobility of the first and second pulley brackets 45, 55 enables reconfigurable anchor points. This reconfigurable anchor point arrangement expands the range of motion of the end effector 02 and enhances its flexibility. During the fishing process, the end effector 02 sometimes needs to be moved to the edge of the through hole 11 in the hull 01. The vertical movement of the first pulley bracket 45 relative to the longitudinal drive assembly bracket 44 and the left and right movement of the second pulley bracket 55 relative to the transverse drive assembly bracket 54 prevent collision between the rope 03 and the hull 01.

[0035] Optionally, the longitudinal rope drive assembly also includes a pair of mutually cooperating first screw rods 46 and first nut 47, the first screw rod 46 is vertically connected to the longitudinal drive assembly bracket 44, and the first nut 47 is connected to the first pulley bracket 45, and the transverse rope drive assembly also includes a pair of mutually cooperating second screw rods 56 and second nut, the second screw rod 56 is transversely connected to the transverse drive assembly bracket 54, and the second nut is connected to the second pulley bracket 55.

[0036] Although the present disclosure is disclosed as above, the protection scope of the present disclosure is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A serial-parallel robotic arm collaborative sea cucumber fishing equipment, characterized by: The invention comprises a hull (01), an end effector (02), a rope (03), a rope driving device (04), and a controller, wherein the end effector (02) further comprises an actuator bracket (21), the hull (01) is used for sailing on the sea surface, the hull (01) is provided with a through hole (11), the end effector (02) comprises a gripper (25), the gripper (25) is an elastic gripper, and the gripper (25) is used for grabbing sea cucumbers, the rope driving device (04) is provided on the hull (01), and one end of the rope (03) is connected to the rope The driving device (04) is connected to the end effector (02) at the other end, the rope driving device (04) is suitable for driving the rope (03) so that the end effector (02) is placed on the seabed through the through hole (11) or is retracted from the seabed to the hull (01), the rope driving device (04) is suitable for driving the rope (03) so that the end effector (02) is adjusted in the six-degree-of-freedom direction, eight ropes (03) are provided, and eight connecting ends are provided on the actuator bracket (21), and each of the connecting ends is provided with A universal joint, the rope drive device (04) includes four longitudinal rope drive assemblies and four transverse rope drive assemblies, the four longitudinal rope drive assemblies have the same structure, the four transverse rope drive assemblies have the same structure, one of the longitudinal rope drive assemblies includes a first winch (41), a first pulley (42), a second pulley (43), and a longitudinal drive assembly bracket (44), the longitudinal drive assembly bracket (44) is vertically arranged on the hull (01), the first pulley (42), the second pulley (43), the first winch ( 41) are all arranged on the longitudinal drive component bracket (44), and the four longitudinal drive component brackets (44) are respectively located at the four corners of the outer periphery of the through hole (11), one end of the four ropes (03) is respectively connected to a first hoist (41), and the other ends of the four ropes (03) are respectively passed around the first pulley (42) and the second pulley (43) of the same group and then connected to a universal joint located at a lower position of the actuator bracket (21), and one of the transverse rope drive components includes a second hoist (51) , a third pulley (52), a fourth pulley (53), a transverse drive component bracket (54), the second hoist (51), the third pulley (52), and the fourth pulley (53) are all connected to the transverse drive component bracket (54), one end of the four ropes (03) is respectively connected to one of the second hoists (51), and the other ends of the four ropes (03) are respectively passed around the third pulley (52) and the fourth pulley (53) of the same group and then connected to a universal joint located at a higher position of the actuator bracket (21).The first hoist (41) of each longitudinal rope drive assembly and the second hoist (51) of each transverse rope drive assembly are connected to the controller. The longitudinal rope drive assembly further includes a first pulley bracket (45), and the transverse rope drive assembly further includes a second pulley bracket (55). The second pulley (43) is connected to the first pulley bracket (45), and the first pulley bracket (45) is suitable for moving up and down relative to the longitudinal drive assembly bracket (44). The third pulley is connected to the second pulley bracket (55), and the second pulley bracket (55) is suitable for moving left and right relative to the transverse drive assembly bracket (54).

2. The serial-parallel robotic arm cooperative sea cucumber fishing equipment according to claim 1, characterized in that: The end effector (02) further includes a storage box (22), a robotic arm (23), and a camera (24). One end of the robotic arm (23) is connected to the bottom of the actuator bracket (21), and the other end of the robotic arm (23) is connected to the gripper (25). The storage box (22) is connected to one side of the actuator bracket (21). The camera (24) is connected to a position on the robotic arm (23) close to the gripper (25). The camera (24) is connected to the controller. The controller is also connected to the rope drive device (04). The camera (24) is used to take a seabed picture and transmit the seabed picture to the controller. The controller identifies and locates the sea cucumber on the seabed according to the seabed picture. The controller controls the rope drive device (04) according to the seabed picture, so that the rope drive device (04) drives the rope (03) to drive the end effector (02) to a predetermined position.

3. The serial-parallel robotic arm cooperative sea cucumber fishing equipment according to claim 2, characterized in that: The robotic arm (23) includes a first robotic arm unit (231), a second robotic arm unit (232), a third robotic arm unit (233), a fourth robotic arm unit (234), and a fifth robotic arm unit (235); one end of the first robotic arm unit (231) is rotatably connected to the actuator bracket (21); the first robotic arm unit (231), the second robotic arm unit (232), the third robotic arm unit (233), the fourth robotic arm unit (234), and the fifth robotic arm unit (235) are rotatably connected to each other in sequence; and the gripper (25) is rotatably connected to the fifth robotic arm unit (235).

4. The serial-parallel robotic arm cooperative sea cucumber fishing equipment according to claim 3, characterized in that: The eight connection ends are located in the upper and lower layers, and the four connection ends located in the upper layer are staggered with the four connection ends located in the lower layer.

5. The serial-parallel robotic arm cooperative sea cucumber fishing equipment according to claim 4, characterized in that: Two transverse drive component brackets (54) are provided, and the second hoists (51), the third pulley (52), and the fourth pulley (53) of the two transverse rope drive assemblies are connected to the same transverse drive component bracket (54).

6. The serial-parallel robotic arm cooperative sea cucumber fishing equipment according to claim 5, characterized in that: The two transverse drive component brackets (54) are respectively connected between the tops of the two longitudinal drive component brackets (44).

7. The serial-parallel robotic arm cooperative sea cucumber fishing equipment according to claim 6, characterized in that: The longitudinal rope drive assembly further comprises a pair of mutually cooperating first screw rods (46) and first nuts (47), wherein the first screw rod (46) is vertically connected to the longitudinal drive assembly bracket (44), and the first nut (47) is connected to the first pulley bracket (45). The transverse rope drive assembly further comprises a pair of mutually cooperating second screw rods (56) and second nuts, wherein the second screw rod (56) is transversely connected to the transverse drive assembly bracket (54), and the second nut is connected to the second pulley bracket (55).

8. The serial-parallel robotic arm cooperative sea cucumber fishing equipment according to claim 1, characterized in that: The hull (01) is a catamaran.

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