Sucking and catching type underwater sea cucumber catching robot

Abstract

The invention discloses a suction catching type underwater sea cucumber catching robot, which belongs to the technical field of underwater robots and comprises a frame, and a plurality of vertical propellers and a plurality of horizontal propellers are arranged on the frame; floating bodies are arranged on the top of the frame; a ginseng storage mechanism is in sliding fit in the frame, a suction-catching pipe is arranged at the inlet end of the ginseng storage mechanism, a suction-catching opening mechanism is arranged at the end, away from the ginseng storage mechanism, of the suction-catching pipe, and the suction-catching opening mechanism comprises a suction-catching horn mouth and a rotating mechanism controlling the suction-catching horn mouth to rotate; the frame is provided with a notch for the suction catching opening mechanism to stretch out or retract back. And a suction power mechanism is arranged on the ginseng storage mechanism. The rotating mechanism can adjust the angle of the sucking and catching horn mouth, the rotating mechanism controls the sucking and catching horn mouth to rotate between 0 degree and 90 degrees, the sucking and catching horn mouth is in a horizontal state relative to the water bottom when the rotating mechanism is 0 degree, the sucking and catching horn mouth is perpendicular to the water bottom when the rotating mechanism is 90 degrees, and therefore conversion from horizontal sucking and catching to vertical sucking and catching is completed.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater robots, and in particular relates to a suction-capturing underwater sea cucumber catching robot. Background Art

[0002] At present, the harvesting of sea cucumbers in marine ranches is mainly done manually or by robotic harvesting or suction capture. In order to reduce the labor intensity of operators, non-manual harvesting methods such as robotic harvesting or suction capture are gradually replacing manual harvesting methods.

[0003] However, non-artificial capture methods have the following problems:

[0004] The mechanical capture method is usually to equip the underwater robot body with a mechanical arm for grabbing sea cucumbers, which can easily damage the sea cucumbers. The suction capture method is usually to equip the underwater robot body with a suction port for sucking sea cucumbers, but the suction port cannot rotate relative to the robot body, so it can only suck sea cucumbers on the seabed. At present, artificial reefs are generally used in marine ranches or pond sea cucumber farming. Sea cucumbers are generally distributed on reefs. The existing non-rotatable suction port structure cannot suck sea cucumbers distributed on reefs, resulting in a significant decrease in suction capture efficiency. Summary of the invention

[0005] The purpose of the present invention is to overcome the deficiencies of the above-mentioned prior art and to provide a suction-capturing underwater sea cucumber catching robot.

[0006] To achieve the above object, the present invention adopts the following technical solution:

[0007] A suction-capturing underwater sea cucumber catching robot comprises a frame, on which a plurality of vertical thrusters and a plurality of horizontal thrusters are arranged;

[0008] A floating body is arranged on the top of the frame;

[0009] The frame is internally slidably matched with a sea cucumber storage mechanism, a suction and capture tube is arranged at one end of the entrance of the sea cucumber storage mechanism, a suction and capture port mechanism is arranged at one end of the suction and capture tube away from the sea cucumber storage mechanism, and the suction and capture port mechanism includes a suction and capture bell mouth for sucking and capturing sea cucumbers and a rotating mechanism for controlling the rotation of the suction and capture bell mouth;

[0010] The frame is provided with a notch for the suction and capture mechanism to extend or retract;

[0011] The parameter storage mechanism is provided with a suction power mechanism for providing suction power.

[0012] Preferably, the parameter storage mechanism comprises an outer box with an open right end and a detachable parameter storage bin sealed and arranged inside the outer box;

[0013] The front and rear sides of the outer box are slidably matched with the linear guide rails on the frame in the left and right directions, and the frame is provided with a telescopic driving mechanism for driving the outer box to move along the linear guide rails;

[0014] The suction and capture tube extends into the ginseng storage bin from the left side wall of the outer box and the left side wall of the ginseng storage bin.

[0015] Preferably, the telescopic drive mechanism comprises a telescopic motor arranged on the frame, the output end of the telescopic motor is coaxially connected to one end of the screw rod, and the other end of the screw rod is adaptively connected to a screw rod bearing seat arranged on the frame;

[0016] The outer box is fixedly provided with a nut;

[0017] The screw rod is threadably matched with the nut.

[0018] Preferably, a magnet is arranged on the bottom plate of the outer box, and a Hall sensor is arranged in the frame for use in conjunction with the magnet to detect the position of the outer box.

[0019] Preferably, the parameter storage bin is a rectangular box structure, the upper side wall of the parameter storage bin includes a movable parameter storage cover, and a circle of sealing rubber pad is provided at the left end of the right side wall of the parameter storage bin;

[0020] After the parameter storage bin is placed in the outer box, the right side wall of the parameter storage bin is locked between the front and rear side walls of the outer box and the right side wall of the parameter storage bin to press the sealing rubber pad against the open end of the outer box to achieve a detachable sealed connection.

[0021] Preferably, a plug hole adapted for the suction and capture tube to extend into is provided on the left side wall of the parameter storage bin, and a cover plate capable of covering the plug hole is hinged inside the left side wall of the parameter storage bin;

[0022] The hinged connection between the cover plate and the parameter storage bin is located at the upper part of the socket, and a counterweight block is fixedly arranged at the lower part of the cover plate facing away from the socket.

[0023] Preferably, a plurality of through holes are evenly arranged on the left side wall, front side wall, rear side wall, upper side wall and lower side wall of the parameter storage bin;

[0024] The suction power mechanism comprises two first suction devices symmetrically arranged on the front and rear side walls of the outer box and two second suction devices symmetrically arranged on the front and rear side walls of the outer box, wherein the first suction devices are close to the suction and capture pipe.

[0025] Preferably, the rotating mechanism comprises an elbow and a rubber tube, and the elbow is a 45° elbow;

[0026] One end of the elbow is connected to the suction and capture tube, the other end of the elbow is connected to one end of the rubber tube, and the other end of the rubber tube is connected to the small end of the suction and capture horn head;

[0027] The fixing plates are symmetrically arranged on the front and rear sides of the elbow;

[0028] A rotating motor is arranged on the elbow, and an output shaft of the rotating motor passes through one of the fixing plates and is connected to the main pulley;

[0029] The front and rear sides of the suction horn head are rotatably matched with the corresponding fixed plates through a rotating shaft, and one of the rotating shafts passes through the corresponding fixed plate and is connected to the secondary pulley;

[0030] The main pulley and the slave pulley are connected in transmission via a belt.

[0031] Preferably, a guide sleeve is fixedly provided on the outside of the left side wall of the outer box, and the suction and capture tube is slidably matched with the guide sleeve;

[0032] A plurality of buffer rods are evenly arranged between the guide sleeve and the elbow along the circumferential direction.

[0033] Preferably, an underwater camera is arranged on the left side wall of the outer box below the guide sleeve, and an underwater photoelectric sensor is arranged on the elbow.

[0034] The beneficial effects of the present invention are:

[0035] (1) The present invention captures sea cucumbers by suction, thereby avoiding the breakage of sea cucumbers caused by mechanical capture; at the same time, the rotating mechanism in the present invention can adjust the angle of the suction capture bell mouth, wherein the rotating mechanism controls the suction capture bell mouth to rotate between 0 and 90 degrees, when 0 degrees, the suction capture bell mouth is horizontal with the water bottom, and when 90 degrees, the suction capture bell mouth is perpendicular to the water bottom, thereby completing the transition from horizontal suction capture to vertical suction capture.

[0036] (2) The sea cucumber storage mechanism in the present invention is slidably matched with the frame, that is, the sea cucumber storage mechanism is of movable design. When the sea cucumber storage mechanism moves to the rightmost end, the sea cucumber can be easily taken out. At this time, the suction and capture port mechanism is driven by the sea cucumber storage mechanism to enter the frame to form a transportation mode, thereby protecting the suction and capture port mechanism.

[0037] (3) When the present invention is used to capture sea cucumbers by suction, the suction tube is inserted into the storage bin to push open the cover plate. When the storage bin needs to be taken out, the storage bin is pulled out to the right in the horizontal direction. During the process of the suction tube withdrawing from the insertion hole, the cover plate rotates downward under the action of the counterweight block to cover the insertion hole to prevent the sea cucumber from falling out of the insertion hole.

[0038] (4) When it is found that the sea cucumbers need to be sucked, the two first suckers and the two second suckers are started at the same time. The suction force formed at this time is the largest, and the sea cucumbers can be quickly sucked in. When the sea cucumbers pass through the elbow, the two first suckers are closed, and the sea cucumbers enter the right part of the sea cucumber storage bin under the suction of the two second suckers, avoiding a large number of sea cucumbers from gathering on the left side of the sea cucumber storage bin.

[0039] (5) The guide sleeve in the present invention plays the role of supporting the suction and capture tube, making it convenient for the suction and capture tube to move left and right in the guide sleeve; four buffer rods are installed between the guide sleeve and the elbow. When the left suction and capture bell mouth hits a reef or obstacle, the buffer rod contracts and the suction and capture tube moves rightward in the guide sleeve, forming a buffering effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The drawings in the specification, which constitute a part of the present application, are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0041] Figure 1 This is a schematic structural perspective view of the suction-capturing underwater sea cucumber harvesting robot of the present invention;

[0042] Figure 2 This is a schematic front view of the structure of the suction-capturing underwater sea cucumber catching robot of the present invention;

[0043] Figure 3 It is a schematic structural stereogram of the storage bin mechanism and the suction and capture port mechanism in the present invention;

[0044] Figure 4 It is a schematic top view of the structure of the storage bin mechanism and the suction and capture port mechanism in the present invention;

[0045] Figure 5 The structure of the ginseng storage bin in the present invention is schematically shown in FIG. Figure 1 ;

[0046] Figure 6 The structure of the ginseng storage bin in the present invention is schematically shown in FIG. Figure 2 ;

[0047] Figure 7 It is a schematic top view of the structure of the ginseng storage bin in the present invention;

[0048] Figure 8 yes Figure 7 AA section view;

[0049] Fig. 9 This is a schematic diagram of the structure when the suction bell mouth is parallel to the bottom of the water in the present invention;

[0050] Fig.10 This is a schematic diagram of the structure when the suction bell mouth of the present invention is perpendicular to the bottom of the water;

[0051] Fig.11 It is a schematic diagram of the structure when the suction and capture port mechanism of the present invention is retracted into the frame;

[0052] in:

[0053] 1-frame, 11-vertical thruster, 12-horizontal thruster, 13-linear guide rail, 14-telescopic motor, 15-screw, 151-screw bearing seat, 16-screw nut, 17-Hall sensor, 18-notch;

[0054] 2-Floating body;

[0055] 3-parameter storage mechanism, 31-outer box, 32-parameter storage bin, 321-parameter storage cover, 322-hinge, 323-handle, 324-sealing rubber pad, 33-lock, 34-jack, 35-cover plate, 351-counterweight, 36-guide sleeve, 37-underwater camera, 38-parameter storage float;

[0056] 4-Suction and capture tube;

[0057] 5- suction bell mouth, 51- rotating shaft;

[0058] 6-rotating mechanism, 61-elbow, 62-rubber tube, 63-fixed plate, 64-rotating motor, 65-main pulley, 66-slave pulley, 67-belt, 68-underwater photoelectric sensor;

[0059] 7-first suction device, 8-second suction device, 9-buffer rod. DETAILED DESCRIPTION

[0060] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0061] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0062] In the present invention, the directions or positional relationships indicated by terms such as "upper", "lower", "bottom", "top", etc. are based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention. They do not specifically refer to any part or element in the present invention and cannot be understood as limitations on the present invention.

[0063] In the present invention, terms such as "connected" and "connection" should be understood in a broad sense, indicating that the connection can be fixed, integral or detachable; it can be directly connected or indirectly connected through an intermediate medium. Relevant scientific research or technical personnel in this field can determine the specific meaning of the above terms in the present invention according to specific circumstances, and they should not be understood as limiting the present invention.

[0064] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0065] like Figure 1-Figure 2 As shown, a suction-capturing underwater sea cucumber harvesting robot comprises a frame 1, on which a plurality of vertical thrusters 11 and a plurality of horizontal thrusters 12 are arranged. Specifically, a total of four vertical thrusters 11 are arranged, which are respectively located at the four corners of the upper part of the frame 1; a total of four horizontal thrusters 12 are arranged, which are respectively located at the four corners of the inner side of the bottom plate of the frame 1;

[0066] A floating body 2 is arranged on the top of the frame 1;

[0067] The frame 1 is internally slidably fitted with a sea cucumber storage mechanism 3, a suction and capture tube 4 is provided at one end of the entrance of the sea cucumber storage mechanism 3, a suction and capture port mechanism is provided at one end of the suction and capture tube 4 away from the sea cucumber storage mechanism 3, and the suction and capture port mechanism includes a suction and capture bell mouth 5 for sucking and capturing sea cucumbers and a rotation mechanism 6 for controlling the rotation of the suction and capture bell mouth 5;

[0068] The frame 1 is provided with a notch 18 for the suction and capture port mechanism to extend or retract. The suction and capture port mechanism follows the parameter storage mechanism 3 to move into the frame 1 to form a transport mode, and the suction and capture port mechanism follows the parameter storage mechanism 3 to move out of the frame 1 to form a collection and capture mode.

[0069] The parameter storage mechanism 3 is provided with a suction power mechanism for providing suction power.

[0070] Preferably, Figure 3-Figure 4 As shown, the parameter storage mechanism 3 includes an outer box 31 with an open right end and a parameter storage bin 32 detachably and sealedly disposed inside the outer box 31;

[0071] The front and rear sides of the outer box 31 are slidably matched with the linear guide rail 13 on the frame 1 in the left and right directions, and the frame 1 is provided with a telescopic driving mechanism for driving the outer box 31 to move along the linear guide rail 13;

[0072] The suction and capture tube 4 extends into the parameter storage bin 32 from the left side wall of the outer box 31 and the left side wall of the parameter storage bin 32 .

[0073] Preferably, Figure 3-Figure 4As shown, the telescopic drive mechanism includes a telescopic motor 14 arranged on the frame 1, the output end of the telescopic motor 14 is coaxially connected to one end of a screw rod 15, and the other end of the screw rod 15 is adaptively connected to a screw rod bearing seat 151 arranged on the frame 1;

[0074] The nut 16 is fixedly arranged on the outer box 31;

[0075] The screw rod 15 is threadably matched with the nut 16 .

[0076] Through the threaded cooperation between the screw rod 15 and the nut 16, and the linear sliding limit cooperation between the outer box 31 and the linear guide rail 13, the outer box 31 can be moved left and right under the drive of the telescopic motor 14; when transportation is required, the suction and capture port mechanism follows the parameter storage mechanism 3 and retracts into the frame 1 to play a protective role; when underwater capture is required, the suction and capture port mechanism extends out of the frame 1.

[0077] Preferably, a magnet is disposed on the bottom plate of the outer box 31 , and a Hall sensor 17 is disposed in the frame 1 for use in conjunction with the magnet to detect the position of the outer box 31 .

[0078] Preferably, Figure 5-Figure 8 As shown, the parameter storage bin 32 is a rectangular box structure, and the upper side wall of the parameter storage bin 32 includes a movable parameter storage cover 321. Specifically, the parameter storage cover 321 is movably connected by a hinge 322. A circle of sealing rubber pad 34 is provided at the left end of the right side wall of the parameter storage bin 32, and a handle 323 is provided on the outside of the right side wall of the parameter storage bin 32.

[0079] After the parameter storage bin 32 is placed in the outer box 31, the right side wall of the parameter storage bin 32 is pressed against the open end of the outer box 31 by the lock buckle 33 between the front and rear side walls of the outer box 31 and the right side wall of the parameter storage bin 32 to realize a detachable sealed connection, wherein the lock buckle 33 is a prior art and its specific structure is not described herein.

[0080] Preferably, a plug hole 34 adapted for the suction and capture tube 4 to extend into is provided on the left side wall of the parameter storage bin 32, and a cover plate 35 capable of covering the plug hole 34 is hinged inside the left side wall of the parameter storage bin 32;

[0081] The hinged connection between the cover plate 35 and the parameter storage bin 32 is located at the upper part of the insertion hole 34 , and a counterweight block 351 is fixedly arranged at the lower part of the cover plate 35 facing away from the insertion hole 34 .

[0082] When catching sea cucumbers by suction, the suction tube 4 is inserted into the ginseng storage bin 32 to push open the cover 35; when the ginseng storage bin 32 needs to be taken out, the ginseng storage bin 32 is pulled out to the right horizontally. During the process of the suction tube 4 withdrawing from the insertion hole 34, under the action of the counterweight block 351, the cover 35 rotates downward to cover the insertion hole 34 to prevent the sea cucumber from falling out of the insertion hole 34.

[0083] Preferably, a plurality of through holes are evenly arranged on the left side wall, front side wall, rear side wall, upper side wall and lower side wall of the parameter storage bin 32;

[0084] The suction power mechanism includes two first suckers 7 symmetrically arranged on the front and rear side walls of the outer box 31 and two second suckers 8 symmetrically arranged on the front and rear side walls of the outer box 31 . The first suckers 7 are close to the suction pipe 4 .

[0085] In the present application, the structures of the first suction device 7 and the second suction device 8 are the same and are prior art, and their specific structures will not be described in detail here.

[0086] When it is found that the sea cucumber needs to be sucked, the two first suckers 7 and the two second suckers 8 are started at the same time. The suction force formed at this time is the largest, and the sea cucumber can be quickly sucked in. When the sea cucumber passes through the elbow 61, the two first suckers 7 are closed, and the sea cucumber enters the right part of the sea cucumber storage bin 32 under the suction force of the two second suckers 8, so as to avoid a large number of sea cucumbers from gathering on the left side of the sea cucumber storage bin 32.

[0087] Preferably, the rotating mechanism comprises an elbow 61 and a rubber tube 62, and the elbow 61 is a 45° elbow;

[0088] One end of the elbow 61 is connected to the suction and capture tube 4, the other end of the elbow 61 is connected to one end of the rubber tube 62, and the other end of the rubber tube 62 is connected to the small end of the suction and capture horn head 5;

[0089] The fixing plates 63 are symmetrically arranged on the front and rear sides of the elbow 61;

[0090] The elbow 61 is provided with a rotating motor 64, and the output shaft of the rotating motor 64 passes through one of the fixing plates 63 and is connected to the main pulley 65;

[0091] The front and rear sides of the suction horn head 5 are rotatably matched with the corresponding fixing plate 63 through the rotating shaft 51, and one of the rotating shafts 51 passes through the corresponding fixing plate 63 and is connected to the secondary pulley 66;

[0092] The main pulley 65 and the secondary pulley 66 are connected in transmission via a belt 67 .

[0093] Specifically, in the present application, the rotating mechanism 6 controls the suction bell mouth 5 to rotate between 0 and 90 degrees. When the suction bell mouth 5 is 0 degrees, it is horizontal with the bottom of the water. Fig. 9 As shown, at 90°, the suction bell mouth 5 is perpendicular to the water bottom. Fig.10 shown.

[0094] Preferably, a guide sleeve 36 is fixedly disposed on the outside of the left side wall of the outer box 31, and the suction and capture tube 4 is slidably matched with the guide sleeve 36;

[0095] A plurality of buffer rods 9 are evenly arranged between the guide sleeve 36 and the elbow 61 along the circumferential direction.

[0096] The guide sleeve 36 supports the suction and capture tube 4, making it convenient for the suction and capture tube 4 to move left and right in the guide sleeve 36; four buffer rods 9 are installed between the guide sleeve 36 and the elbow 61. When the left suction and capture bell mouth 5 hits a reef or obstacle, the buffer rod 9 contracts and the suction and capture tube 4 moves rightward in the guide sleeve 36, forming a buffering effect.

[0097] Preferably, an underwater camera 37 is arranged on the left wall of the outer box 31 below the guide sleeve 36, and an underwater photoelectric sensor 68 is arranged on the elbow 61. The underwater camera 37 is used to observe whether the sea cucumber enters the suction horn 5, and the underwater photoelectric sensor 68 detects whether the sea cucumber passes through the elbow 61.

[0098] Specifically, a parameter storage float 38 is provided at the top of the outer box 31 to adjust the buoyancy of the entire parameter storage mechanism 3, ensuring that the center of gravity and center of buoyancy of the entire robot are not affected when the parameter storage mechanism 3 moves left and right in the frame 1, and remains stable.

[0099] A suction-capturing underwater sea cucumber catching robot, the specific implementation of which is as follows:

[0100] Insert the empty parameter storage bin 32 into the inner side of the outer box 31. After it is in place, extend the suction tube 4 into the insertion hole 34 to push open the cover 35. Through the lock buckle 33 between the front and rear side walls of the outer box 31 and the right side wall of the parameter storage bin 32, the right side wall of the parameter storage bin 32 presses the sealing gasket 34 against the open end of the outer box 31 to achieve a detachable sealed connection. The above completes the cooperation between the parameter storage bin 32 and the outer box 31.

[0101] Then, the telescopic motor 14 is used to control the parameter storage mechanism 3 to drive the suction and capture port mechanism to move to the inside of the frame 1, forming a transportation mode. Fig.11 shown.

[0102] Under the cooperation of the vertical propeller 11 and the horizontal propeller 12, the robot reaches the underwater area where sea cucumbers need to be harvested, and then controls the storage mechanism 3 to drive the suction and capture mechanism to move to the outside of the frame 1 through the telescopic motor 14, forming a harvesting mode. When it is necessary to harvest sea cucumbers on the bottom of the water, the rotating mechanism 6 controls the suction and capture port of the suction and capture trumpet 5 to be level with the bottom of the water, and when it is necessary to harvest sea cucumbers on reefs, the rotating mechanism 6 controls the suction and capture port of the suction and capture trumpet 5 to be level with the surface of the corresponding reef; then the vertical propeller 11 and the horizontal propeller 12 drive the frame 1 to move, so that the suction and capture port of the suction and capture trumpet 5 is aimed at the sea cucumber, and then the two first suction devices 7 and the two second suction devices 8 are started at the same time. At this time, the suction force formed is the largest, and the sea cucumber can be quickly sucked in. When the underwater photoelectric sensor 68 detects that the sea cucumber passes through the elbow 61, the two first suction devices 7 are closed, and the sea cucumber enters the right part of the storage bin 32 under the suction of the two second suction devices 8, avoiding a large number of sea cucumbers from gathering on the left side of the storage bin 32.

[0103] When the sea cucumbers are harvested, the telescopic motor 14 is used to control the storage mechanism 3 to drive the suction and capture mechanism to move to the inside of the frame 1, forming a transport mode. Afterwards, with the cooperation of the vertical propeller 11 and the horizontal propeller 12, the robot reaches the sea cucumber collection area and stops. The sea cucumber collector opens the lock 33 and pulls the storage bin 32 to the right through the handle 323. When the suction and capture tube 4 exits the socket 34, the cover 35 rotates downward under the action of the counterweight 351 to cover the socket 34 to prevent the sea cucumber from falling from the socket 34. After the storage bin 32 is pulled out, the storage cover 321 is opened to take out the sea cucumber inside.

[0104] After all the sea cucumbers are taken out, the empty sea cucumber storage bin 32 is installed again in the outer box 31 to be used for the next sea cucumber harvesting.

[0105] Although the above describes the specific implementation mode of the present invention in conjunction with the accompanying drawings, it is not a limitation of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art on the basis of the technical solution of the present invention without creative work are still within the protection scope of the present invention.

Claims

1. A suction-capturing underwater sea cucumber catching robot, comprising a frame, on which a plurality of vertical thrusters and a plurality of horizontal thrusters are arranged; characterized in that: A floating body is arranged on the top of the frame; The frame is internally slidably matched with a sea cucumber storage mechanism, a suction and capture tube is arranged at one end of the entrance of the sea cucumber storage mechanism, a suction and capture port mechanism is arranged at one end of the suction and capture tube away from the sea cucumber storage mechanism, and the suction and capture port mechanism includes a suction and capture bell mouth for sucking and capturing sea cucumbers and a rotating mechanism for controlling the rotation of the suction and capture bell mouth; The frame is provided with a notch for the suction and capture mechanism to extend or retract; The parameter storage mechanism is provided with a suction power mechanism for providing suction power.

2. The suction-capturing underwater sea cucumber catching robot according to claim 1, characterized in that: The parameter storage mechanism comprises an outer box with an open right end and a detachable parameter storage bin sealed and arranged inside the outer box; The front and rear sides of the outer box are slidably matched with the linear guide rails on the frame in the left and right directions, and the frame is provided with a telescopic driving mechanism for driving the outer box to move along the linear guide rails; The suction and capture tube extends into the ginseng storage bin from the left side wall of the outer box and the left side wall of the ginseng storage bin.

3. The suction-capturing underwater sea cucumber catching robot according to claim 2, characterized in that: The telescopic drive mechanism comprises a telescopic motor arranged on the frame, the output end of the telescopic motor is coaxially connected to one end of the screw rod, and the other end of the screw rod is adaptively connected to a screw rod bearing seat arranged on the frame; The outer box is fixedly provided with a nut; The screw rod is threadably matched with the nut.

4. The suction-capturing underwater sea cucumber catching robot according to claim 2, characterized in that: A magnet is arranged on the bottom plate of the outer box, and a Hall sensor is arranged in the frame and is used in conjunction with the magnet to detect the position of the outer box.

5. The suction-capturing underwater sea cucumber catching robot according to claim 2, characterized in that: The parameter storage bin is a rectangular box structure, the upper side wall of the parameter storage bin includes a movable parameter storage cover, and a circle of sealing rubber pad is arranged at the left end of the right side wall of the parameter storage bin; After the parameter storage bin is placed in the outer box, the right side wall of the parameter storage bin is locked between the front and rear side walls of the outer box and the right side wall of the parameter storage bin to press the sealing rubber pad against the open end of the outer box to achieve a detachable sealed connection.

6. The suction-capturing underwater sea cucumber catching robot according to claim 2, characterized in that: The left side wall of the parameter storage bin is provided with a plug hole adapted for the suction and capture tube to extend into, and the left side wall of the parameter storage bin is hingedly provided with a cover plate capable of covering the plug hole; The hinged connection between the cover plate and the parameter storage bin is located at the upper part of the socket, and a counterweight block is fixedly arranged at the lower part of the cover plate facing away from the socket.

7. The suction-capturing underwater sea cucumber catching robot according to claim 2, characterized in that: A plurality of through holes are evenly arranged on the left side wall, front side wall, rear side wall, upper side wall and lower side wall of the parameter storage bin; The suction power mechanism comprises two first suction devices symmetrically arranged on the front and rear side walls of the outer box and two second suction devices symmetrically arranged on the front and rear side walls of the outer box, wherein the first suction devices are close to the suction and capture pipe.

8. The suction-capturing underwater sea cucumber catching robot according to claim 2, characterized in that: The rotating mechanism comprises an elbow and a rubber tube, and the elbow is a 45° elbow; One end of the elbow is connected to the suction and capture tube, the other end of the elbow is connected to one end of the rubber tube, and the other end of the rubber tube is connected to the small end of the suction and capture horn head; The fixing plates are symmetrically arranged on the front and rear sides of the elbow; A rotating motor is arranged on the elbow, and an output shaft of the rotating motor passes through one of the fixing plates and is connected to the main pulley; The front and rear sides of the suction horn head are rotatably matched with the corresponding fixed plates through a rotating shaft, and one of the rotating shafts passes through the corresponding fixed plate and is connected to the secondary pulley; The main pulley and the slave pulley are connected in transmission via a belt.

9. The suction-capturing underwater sea cucumber catching robot according to claim 8, characterized in that: A guide sleeve is fixedly arranged on the outside of the left side wall of the outer box, and the suction and capture tube is slidably matched with the guide sleeve; A plurality of buffer rods are evenly arranged between the guide sleeve and the elbow along the circumferential direction.

10. The suction-capturing underwater sea cucumber catching robot according to claim 9, characterized in that: An underwater camera is arranged on the left side wall of the outer box below the guide sleeve, and an underwater photoelectric sensor is arranged on the elbow.

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