Sea cucumber catching device based on rope driving

Abstract

The application relates to a mechanical device, in particular to a sea cucumber catching device based on rope driving, which comprises a ship body, an end effector, a rope and a rope driving device, the ship body is used for sailing on the sea surface, a through hole is arranged on the ship body, the end effector is used for grabbing sea cucumbers on the sea bottom, the rope driving device is arranged on the ship body, one end of the rope is connected to the rope driving device, and the other end of the rope is connected to the end effector, the rope driving device is suitable for driving the rope to place the end effector on the sea bottom through the through hole or to collect the end effector from the sea bottom to the ship body, and the rope driving device is suitable for driving the rope to adjust the position of the end effector in six degrees of freedom. The sea cucumber catching device based on rope driving has high catching efficiency and long service life.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of mechanical equipment, in particular to a kind of sea cucumber fishing equipment based on rope drive. BACKGROUND

[0002] Sea cucumber fishing is an important link in sea cucumber culture, and the existing sea cucumber fishing equipment usually uses underwater vehicles as bases, which carry rigid mechanical arms. After the underwater vehicle runs to the designated location, the rigid mechanical arm completes the fishing work. Although the underwater vehicle has good endurance, it will stir up sand during navigation, reducing visibility and thus reducing fishing efficiency. Moreover, the rigid mechanical arm gripper can also increase the damage rate of sea cucumbers. SUMMARY

[0003] The purpose of the present application is to provide a kind of sea cucumber fishing equipment based on rope drive with high fishing efficiency and long service life.

[0004] To achieve the above purpose, the present application provides a kind of sea cucumber fishing equipment based on rope drive, including ship body, end effector, rope, rope drive device, the ship body is used for sailing on sea surface, the ship body is provided with through hole, the end effector is used for grabbing sea cucumber on seabed, the rope drive device is arranged on the ship body, one end of the rope is connected to the rope drive device, the other end is connected to the end effector, the rope drive device is suitable for driving the rope to make the end effector place on seabed through the through hole or be collected from seabed to the ship body, the rope drive device is suitable for driving the rope to adjust the position of the end effector in six degrees of freedom direction.

[0005] Further, the end effector includes a bracket, a guide tube, a storage box, and a suction device. The guide tube and the storage box are connected to the bracket. One end of the guide tube communicates with the storage box. The suction device is arranged at the other end of the guide tube. The suction device is used to suck the sea cucumber on the seabed into the guide tube.

[0006] Further, it further includes a shunt pipe, which includes a spherical hollow pipe and a first joint, a second joint, a third joint and a fourth joint connected to the spherical hollow pipe. The first joint is oppositely arranged with the second joint, and the third joint is oppositely arranged with the fourth joint. The first joint is connected with the guide tube and communicates with each other. The second joint is reversely connected with a first self-suction pump. The third joint is connected with a second self-suction pump. The second self-suction pump provides power for the suction of sea cucumber. The fourth joint is connected with the storage box and communicates with each other. The sea cucumber sucked by the suction device enters the storage box through the fourth joint.

[0007] Further, the guide pipe is provided with an anti-backflow device for preventing the sea cucumber sucked into the guide pipe from falling back into the water due to gravity.

[0008] Further, a camera is connected to the bottom of the support, and a controller is arranged on the ship body and connected to the rope driving device.

[0009] Further, the rope is provided with eight ropes, and the support is provided with eight connecting ends, each of which is provided with a universal joint.

[0010] Further, the eight connecting ends are located on two layers, and the four connecting ends on the upper layer are staggered with the four connecting ends on the lower layer.

[0011] Further, a pulley support is arranged, and the second pulley is connected to the pulley support.

[0012] Further, a pair of cooperating lead screws and nuts are further included, the lead screws are vertically connected to the driving assembly support, and the nuts are connected to the pulley support.

[0013] Further, the driving assembly support is provided with four driving assembly supports, and the winch, the first pulley and the second pulley of the two rope driving assemblies are arranged on the same driving assembly support.

[0014] The sea cucumber catching device based on rope driving has at least the following beneficial effects:

[0015] The present application is based on a sea cucumber fishing device driven by a rope, wherein the rope driving device is arranged on the ship body, only the end effector is immersed in the water to catch the sea cucumber, thus most of the components in the fishing device will not be corroded by seawater, the service life is prolonged, and since the rope driving device can drive the rope to place the end effector on the seabed through the through hole or collect the end effector from the seabed to the ship body, the end effector is collected during the ship body advancing, the seawater is not turbid during the ship body advancing, the visibility of the seabed is higher, the fishing efficiency is higher, the end effector can adjust the position in six degrees of freedom, further expanding the fishing area and improving the fishing efficiency.

[0016] The present application is based on a sea cucumber fishing device driven by a rope, wherein the rope driving device is arranged on the ship body, only the end effector is immersed in the water to catch the sea cucumber, thus most of the components in the fishing device will not be corroded by seawater, the service life is prolonged, and since the rope driving device can drive the rope to place the end effector on the seabed through the through hole or collect the end effector from the seabed to the ship body, the end effector is collected during the ship body advancing, the seawater is not turbid during the ship body advancing, the visibility of the seabed is higher, the fishing efficiency is higher, the end effector can adjust the position in six degrees of freedom, further expanding the fishing area and improving the fishing efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the sea cucumber fishing device driven by the rope of the present application;

[0018] Figure 2 It is a schematic diagram of the structure of the rope driving assembly in the sea cucumber fishing device driven by the rope of the present application;

[0019] Figure 3 It is a schematic diagram of the structure of the end effector in the sea cucumber fishing device driven by the rope of the present application; Figure 2 It is a front view of the partial view of A in FIG. 4;

[0020] Figure 4 It is a rear view of the partial view of A in FIG. 4; Figure 2 It is a rear view of the partial view of A in FIG. 4;

[0021] Figure 5 It is a schematic diagram of the structure of the end effector in the sea cucumber fishing device driven by the rope of the present application;

[0022] Figure 6 It is a schematic diagram of the structure of the end effector in the sea cucumber fishing device driven by the rope of the present application;

[0023] Figure 7 It is a schematic diagram of the structure of the end effector in the sea cucumber fishing device driven by the rope of the present application;

[0024] Figure 8 It is a schematic diagram of the structure of the end effector in the sea cucumber fishing device driven by the rope of the present application; DETAILED DESCRIPTION

[0025] As Figure 1As shown, the sea cucumber fishing device based on rope driving includes a ship body 01, an end effector 02, a rope 03 and a rope driving device 04. The ship body 01 is used for sailing on the sea surface. The ship body 01 is provided with a through hole 11. The end effector 02 is used for grabbing sea cucumbers on the seabed. The rope driving device 04 is arranged on the ship body 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 to place the end effector 02 on the seabed through the through hole 11 to grab sea cucumbers or to collect the end effector 02 from the seabed to the ship body 01 after grabbing sea cucumbers. The rope driving device 04 is suitable for driving the rope 03 to adjust the position of the end effector 02 in six degrees of freedom. Specifically, the ship body 01 is a catamaran. The ship body 01 can be used in cooperation with the end effector 02. The through hole 11 is arranged in the middle of the ship body. The through hole 11 is a square. The sea cucumber fishing device based on rope driving has the advantages that since the rope driving device 04 is arranged on the ship body 01, only the end effector 02 is immersed in water to grab sea cucumbers, so most of the components in the fishing device will not be corroded by seawater, and the service life is prolonged. Since the rope driving device 04 can drive the rope 03 to place the end effector 02 on the seabed through the through hole 11 or collect the end effector 02 from the seabed to the ship body 01, the end effector 02 is collected during the ship body 01 travels, and the ship body 01 will not cause the seawater to be turbid during the ship body 01 travels. The visibility of the seabed is higher, the fishing efficiency is higher, the end effector 02 can adjust the position in six degrees of freedom, and the fishing area is further expanded and the fishing efficiency is further improved.

[0026] Optionally, as shown in Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 The end effector 02 includes a support 21, a guide pipe 22, a storage box 23 and a suction device 24. The guide pipe 22 and the storage box 23 are connected to the support 21. One end of the guide pipe 22 communicates with the storage box 23. The suction device 24 is arranged at the other end of the guide pipe 22. The suction device 24 is used for sucking sea cucumbers on the seabed into the guide pipe 22.

[0027] Optionally, the shunt pipe 27 is further included, the shunt pipe 27 comprises a spherical hollow pipe 271 and a first joint 272, a second joint 273, a third joint 274 and a fourth joint 275 connected to the spherical hollow pipe 271, the first joint 272 and the second joint 273 are oppositely arranged, the third joint 274 and the fourth joint 275 are oppositely arranged, the first joint 272 is connected with the guide pipe 22 and communicates with each other, the second joint 273 is reversely connected with a first self-priming pump, the first self-priming pump is used to blow away the sea cucumber, seaweed and other sundries blocked in the spherical hollow pipe 271, so as to prevent the blockage, the first self-priming pump has a small power, the third joint 274 is connected with a second self-priming pump, the second self-priming pump has a large power, the second self-priming pump provides power for the suction of the sea cucumber, the fourth joint 275 is connected with the storage tank 23 and communicates with each other, the sea cucumber sucked by the suction device 24 enters the storage tank 23 through the fourth joint 275. The storage tank 23 is used to temporarily store the sucked sea cucumber, after the storage tank 23 is filled, the end effector 02 is pulled back to the ship body 01 to collect the sea cucumber, so as to improve the working efficiency. The sea cucumber is caught by the suction device 24, which can effectively reduce the damage rate during the catching of the sea cucumber.

[0028] Optionally, the anti-backflow device is arranged in the guide pipe 22, and the anti-backflow device is used to prevent the sea cucumber sucked into the guide pipe 22 from falling back into the water due to gravity.

[0029] Optionally, the camera 25 and the controller 26 are further included, the camera 25 is connected to the bottom of the support 21, the controller 26 is arranged on the ship body 01, the controller 26 is further connected with the rope driving device 04, the camera 25 is connected with the controller 26, the camera 25 is used to shoot the underwater picture and transmit the underwater picture to the controller 26, the controller 26 identifies and locates the sea cucumber on the seabed according to the underwater picture, and the controller 26 controls the rope driving device 04 according to the underwater picture, so that the rope driving device 04 drives the rope 03 to drive the end effector 02 to reach the predetermined position. Specifically, the camera 25 adopts a binocular camera, the camera 25 is used to complete the identification and positioning of the sea cucumber, the binocular camera makes the identification of the sea cucumber more accurate, and the binocular camera can also measure the relative position relationship between the target object and the camera. The processor in the controller 26 completes the identification of the sea cucumber through image preprocessing, image segmentation, target feature extraction and image BP neural network learning algorithm, and determines the position relationship between the catching device and the sea cucumber through calibration camera identification parameters, calibration related coordinates, three-dimensional reconstruction and coordinate conversion related algorithm, so as to realize the positioning of the sea cucumber.

[0030] Optionally, as Figure 1 、 Figure 2 、 Figure 3 、 Figure 4As shown, there are eight ropes 03, and eight connecting ends are provided on the bracket 21. The eight connecting ends are located on the upper and lower layers respectively. The four connecting ends on the upper layer are staggered with the four connecting ends on the lower layer. Each connecting end is provided with a universal joint. The rope drive device 04 includes eight rope drive components. Each rope drive component has the same structure. One rope drive component includes a winch 41, a first pulley 42, a second pulley 43, and a drive component bracket 44. The drive component bracket 44 is provided on the hull 01. The first pulley 42, the second pulley 43, and the winch 41 are all provided on the drive component bracket 44. The first pulley 42 is located below the second pulley 43. One end of each of the eight ropes 03 is connected to a winch 41. The other ends of the eight ropes 03 pass through the first pulley 42 and the second pulley 43 of the same group in sequence and are connected to a universal joint. The winch 41 of each rope drive component is connected to the controller 26. Specifically, the winch 41 is a horizontal winch, and the controller 26 controls the rotation direction of the winch 41 of each rope drive assembly, thereby controlling the extension and retraction of each rope 03, realizing the movement of the end effector 02 in six degrees of freedom. The capture robotic arm of this design adopts a rope-driven parallel mechanism, increasing the degrees of freedom of the end effector, making the end effector move more flexibly, and effectively adapting to the complex seabed environment.

[0031] Optionally, the rope drive assembly also includes a pulley bracket 45, with a second pulley 43 connected to the pulley bracket 45. The pulley bracket 45 is adapted to move up and down relative to the drive assembly bracket 44, thereby enabling the reconfigurability of the fixed anchor point. This reconfigurable fixed anchor point can expand the range of motion of the end effector 02 and improve its movement flexibility. During fishing, the end effector 02 sometimes needs to move to the edge of the through hole 11 on the hull 01. The up and down movement of the pulley bracket 45 relative to the drive assembly bracket 44 can prevent collisions between the rope 03 and the hull 01.

[0032] Optionally, it also includes a pair of cooperating lead screws 46 and nuts 47. The lead screws 46 are vertically connected to the drive component bracket 44, and the nuts 47 are connected to the pulley bracket 45. The pulley bracket 45 can move up and down on the drive component bracket 44 through the pair of lead screws and nuts.

[0033] Optionally, the drive component bracket 44 is provided with four, and the winch 41, the first pulley 42, and the second pulley 43 of the two rope drive components are mounted on the same drive component bracket 44.

[0034] While the disclosure is as stated above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of this disclosure, and all such changes and modifications will fall within the protection scope of this invention.

Claims

1. A sea cucumber fishing device based on rope driving, characterized in that: The utility model provides a kind of sea cucumber collecting device, including hull (01), end effector (02), rope (03), rope driving device (04), the hull (01) is used to navigate on sea surface, the hull (01) is provided with through hole (11), the end effector (02) is used to grab sea cucumber on seabed, the rope driving device (04) is arranged on the hull (01), the rope (03) one end is connected on the rope driving device (04), the other end is connected on the end effector (02), the rope driving device (04) is suitable for driving the rope (03) and makes the end effector (02) be placed on seabed or be collected to the hull (01) from seabed via the through hole (11), the rope driving device (04) is suitable for driving the rope (03) and makes the end effector (02) adjust position in six degrees of freedom direction, the end effector (02) includes support (21) controller, the rope (03) is provided with eight, the support (21) is provided with eight connection ends, one universal joint is respectively arranged on each connection end, the rope driving device (04) includes eight rope driving assemblies, each rope driving assembly is same in structure, one of the rope driving assemblies includes winch (41), first pulley (42), second pulley (43), driving assembly support (44), the driving assembly support (44) is arranged on the hull (01), the first pulley (42), the second pulley (43), the winch (41) are all arranged on the driving assembly support (44), one end of eight ropes (03) is connected in one winch (41), the other end of eight ropes (03) is sequentially passed through the first pulley (42) of same group, the second pulley (43) and is connected on one universal joint, the winch (41) of each rope driving assembly is connected with the controller (26), the eight connection ends are located in upper and lower two layers, four connection ends located in upper layer and four connection ends located in lower layer are mutually staggered, still include pulley support (45), the second pulley (43) is connected on the pulley support (45), the pulley support (45) is suitable for moving up and down relative to the driving assembly support (44).

2. The sea cucumber fishing apparatus based on rope driving according to claim 1, characterized in that: The end effector (02) includes support (21), guide pipe (22), storage box (23), suction device (24), the guide pipe (22), the storage box (23) are connected on the support (21), one end of the guide pipe (22) is communicated the storage box (23), the suction device (24) is arranged on the other end of the guide pipe (22), and the suction device (24) is used to suck up sea cucumber on seabed to the guide pipe (22) in.

3. The sea cucumber fishing device based on rope driving according to claim 2, characterized in that: Further comprising a shunt pipe (27), the shunt pipe (27) comprises a spherical hollow pipe (271) and a first joint (272), a second joint (273), a third joint (274), a fourth joint (275) connected to the spherical hollow pipe (271), the first joint (272) and the second joint (273) are oppositely arranged, the third joint (274) and the fourth joint (275) are oppositely arranged, the first joint (272) is connected with the guide pipe (22) and communicates with each other, the second joint (273) is reversely connected with a first self-suction pump, the third joint (274) is connected with a second self-suction pump, the second self-suction pump provides power for the suction of sea cucumber, the fourth joint (275) is connected with the storage tank (23) and communicates with each other, the sea cucumber sucked by the suction device (24) enters the storage tank (23) through the fourth joint (275).

4. The sea cucumber fishing device based on rope driving according to claim 3, characterized in that: The anti-backflow device is arranged in the guide pipe (22) and is used to prevent the sea cucumber sucked into the guide pipe (22) from falling back into the water due to gravity.

5. The rope-driven based sea cucumber fishing device according to claim 4, characterized in that: Further comprising a camera (25) and a controller (26), the camera (25) is connected to the bottom of the support (21), the controller (26) is arranged on the ship body (01), the controller (26) is also connected with the rope driving device (04), the camera (25) is connected with the controller (26), the camera (25) is used to shoot the underwater picture and transmit the underwater picture to the controller (26), the controller (26) identifies and locates the sea cucumber on the seabed according to the underwater picture, and the controller (26) controls the rope driving device (04) according to the underwater picture, so that the rope driving device (04) drives the rope (03) to drive the end effector (02) to reach the predetermined position.

6. The rope-driven based sea cucumber fishing device according to claim 5, characterized in that: Further comprising a pair of cooperating lead screws (46) and nuts (47), the lead screws (46) are vertically connected to the driving assembly supports (44), and the nuts (47) are connected to the pulley supports (45).

7. The rope-driven based sea cucumber fishing device according to claim 6, characterized in that: The driving assembly supports (44) are provided with four driving assembly supports (44), and the hoist (41), the first pulley (42) and the second pulley (43) of the two rope driving assemblies are arranged on the same driving assembly support (44).

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