A suction-capture type underwater sea cucumber harvesting robot

Abstract

The present invention discloses a suction and capture type underwater sea cucumber harvesting robot, belonging to the technical field of underwater robots, which includes a framework, on which a plurality of vertical thrusters and a plurality of horizontal thrusters are arranged; a floating body is arranged at the top of the framework; a sea cucumber storage mechanism is slidably matched inside the framework, one end of the inlet of the sea cucumber storage mechanism is provided with a suction and capture pipe, and the end of the suction and capture pipe away from the sea cucumber storage mechanism is provided with a suction and capture port mechanism, the suction and capture port mechanism includes a suction and capture bell mouth and a rotating mechanism for controlling the rotation of the suction and capture bell mouth; a notch for the suction and capture port mechanism to extend or retract is arranged on the framework; a suction power mechanism is arranged on the sea cucumber storage mechanism. The rotating mechanism in the present invention can adjust the angle of the suction and capture bell mouth, wherein the rotating mechanism controls the suction and capture bell mouth to rotate between 0 and 90°, when it is 0 degree, the suction and capture bell mouth is in a horizontal state with the bottom of the water, and when it is 90°, the suction and capture bell mouth is perpendicular to the bottom of the water, so as to complete the transformation from horizontal suction and capture to vertical suction and capture.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater robots, and particularly relates to a suction-capture type underwater sea cucumber harvesting robot. Background Art

[0002] Currently, the harvesting of sea cucumbers in marine ranches mainly adopts manual methods, mechanical arm harvesting, or suction-capture methods. In order to reduce the labor intensity of operators, non-manual harvesting methods such as mechanical arm harvesting or suction-capture are gradually replacing manual harvesting methods.

[0003] However, non-manual harvesting methods have the following problems:

[0004] The mechanical arm harvesting method usually mounts a mechanical arm for grasping sea cucumbers on the underwater robot body. When grasping sea cucumbers, it is easy to cause damage to the sea cucumbers. The suction-capture method usually mounts a suction-capture port for sucking sea cucumbers on the underwater robot body. However, the suction-capture port cannot rotate relative to the robot body, so it can only suck sea cucumbers on the seabed. Currently, artificial fish reefs are commonly used in the cultivation of sea cucumbers in marine ranches or ponds, and sea cucumbers are generally distributed on reefs. The existing structure of the non-rotatable suction-capture port cannot capture 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 above-mentioned deficiencies of the prior art and provide a suction-capture type underwater sea cucumber harvesting robot.

[0006] To achieve the above purpose, the present invention adopts the following technical solutions:

[0007] A suction-capture type underwater sea cucumber harvesting robot includes a frame, and a plurality of vertical thrusters and a plurality of horizontal thrusters are arranged on the frame;

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

[0009] A sea cucumber storage mechanism is slidably fitted inside the frame. One end of the inlet of the sea cucumber storage mechanism is provided with a suction pipe, and the end of the suction pipe away from the sea cucumber storage mechanism is provided with a suction port mechanism. The suction port mechanism includes a suction bell mouth for sucking sea cucumbers and a rotating mechanism for controlling the rotation of the suction bell mouth;

[0010] A notch for the suction port mechanism to extend or retract is arranged on the frame;

[0011] A suction power mechanism for providing suction power is arranged on the sea cucumber storage mechanism.

[0012] Preferably, the sea cucumber storage mechanism includes an outer box with an open right end and a sea cucumber storage bin detachably and sealingly arranged inside the outer box;

[0013] The front and rear sides of the outer box are in sliding fit in the left - right direction with the linear guide rails on the frame, and a telescopic driving mechanism for driving the outer box to move along the linear guide rails is arranged on the frame;

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

[0015] Preferably, the telescopic driving mechanism includes a telescopic motor arranged on the frame. The output end of the telescopic motor is coaxially connected with one end of a lead screw, and the other end of the lead screw is adaptively connected with a lead screw bearing seat arranged on the frame;

[0016] A nut is fixedly arranged on the outer box;

[0017] The lead screw is in threaded fit with the nut.

[0018] Preferably, a magnet is arranged on the bottom plate of the outer box, and a Hall sensor for detecting the position of the outer box in cooperation with the magnet is arranged inside the frame.

[0019] Preferably, the storage parameter bin has a cuboid box structure. The upper side wall of the storage parameter bin includes a movable storage parameter cover, and a sealing gasket is arranged in a circle at the left end of the right side wall of the storage parameter bin;

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

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

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

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

[0024] The suction power mechanism includes 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. The first suction device is close to the suction and capture tube.

[0025] Preferably, the rotating mechanism includes an elbow and a rubber hose. 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 hose, and the other end of the rubber hose is connected to the small - end of the suction and capture horn.

[0027] Fixed plates are symmetrically arranged on the front and rear sides of the elbow.

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

[0029] The front and rear sides of the suction and capture horn are rotationally matched with the corresponding fixed plates through rotating shafts, and one of the rotating shafts passes through the corresponding fixed plate and is connected to the driven pulley.

[0030] The main pulley and the driven pulley are drivingly connected by a belt.

[0031] Preferably, a guide sleeve is fixedly arranged outside the left side wall of the outer box, and the suction pipe is slidably matched with the guide sleeve.

[0032] A plurality of buffer rods are evenly arranged between the guide sleeve and the elbow in 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 as follows:

[0035] (1) The present invention adopts the method of sucking to capture sea cucumbers, thus avoiding the fragmentation 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 and capture bell mouth. The rotating mechanism controls the suction and capture bell mouth to rotate between 0 and 90°. When it is 0°, the suction and capture bell mouth is horizontal with the bottom, and when it is 90°, the suction and capture bell mouth is perpendicular to the bottom, so as to complete the transformation from horizontal suction to vertical suction.

[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 designed to be movable. When the sea cucumber storage mechanism moves to the rightmost end, it is convenient to take the sea cucumbers. And at this time, the suction port mechanism enters the frame under the drive of the sea cucumber storage mechanism to form a transportation mode, playing a role in protecting the suction port mechanism.

[0037] (3) When the present invention captures sea cucumbers, the suction pipe is inserted into the inside of the sea cucumber storage bin and pushes the cover plate open; when it is necessary to take out the sea cucumber storage bin, when the sea cucumber storage bin is pulled out horizontally to the right, during the process of the suction pipe withdrawing from the jack, under the action of the counterweight, the cover plate rotates downward to cover the jack, preventing the sea cucumbers from falling out of the jack.

[0038] (4) When it is found that sea cucumbers need to be captured, two first suction devices and two second suction devices are started simultaneously. At this time, the formed suction force is the largest, and the sea cucumbers can be quickly sucked in. When the sea cucumbers pass through the elbow, the two first suction devices are closed, and the sea cucumbers enter the right part of the sea cucumber storage bin under the suction force of the two second suction devices, 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 a role in supporting the suction and capture pipe, facilitating the left - right movement of the suction and capture pipe within the guide sleeve; there are 4 buffer rods installed between the guide sleeve and the elbow. When the suction and capture bell mouth on the left hits a reef or an obstacle, the buffer rods contract, and the suction and capture pipe moves to the right within the guide sleeve, forming a buffering effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings forming a part of this application are used to provide a further understanding of this application. The schematic embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation to this application.

[0041] Figure 1 is a schematic three - dimensional view of the structure of the suction - type underwater sea cucumber harvesting robot of the present invention;

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

[0043] Figure 3 is a schematic three - dimensional view of the structure of the storage bin mechanism and the suction port mechanism in the present invention;

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

[0045] Figure 5 is a schematic three - dimensional Figure 1 ;

[0046] Figure 6 is a schematic three - dimensional Figure 2 ;

[0047] Figure 7 is a schematic top view of the storage sea cucumber bin in the present invention;

[0048] Figure 8 is Figure 7 the sectional view taken along the A - A direction;

[0049] Figure 9 is a schematic diagram of the structure when the suction and capture bell mouth is parallel to the bottom of the water in the present invention;

[0050] Figure 10 is a schematic diagram of the structure when the suction and capture bell mouth is perpendicular to the bottom of the water in the present invention;

[0051] Figure 11 is a schematic diagram of the structure when the suction port mechanism retracts into the frame in the present invention;

[0052] Wherein:

[0053] 1 - Frame, 11 - Vertical thruster, 12 - Horizontal thruster, 13 - Linear guide rail, 14 - Telescopic motor, 15 - Lead screw, 151 - Lead screw bearing block, 16 - 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 gasket, 33 - Lock, 34 - Jack, 35 - Cover plate, 351 - Counterweight, 36 - Guide sleeve, 37 - Underwater camera, 38 - Parameter storage floating body;

[0056] 4 - Suction capture pipe;

[0057] 5 - Suction capture bell mouth, 51 - Rotating shaft;

[0058] 6 - Rotating mechanism, 61 - Elbow, 62 - Rubber hose, 63 - Fixed plate, 64 - Rotating motor, 65 - Main pulley, 66 - Driven pulley, 67 - Belt, 68 - Underwater optoelectronic sensor;

[0059] 7 - First suction device, 8 - Second suction device, 9 - Buffer rod. Detailed implementation mode

[0060] It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present application belongs.

[0061] It should be noted that the terms used herein are only for describing specific implementation modes and are not intended to limit the exemplary implementation modes of 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, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0062] In the present invention, terms such as "upper", "lower", "bottom", "top", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. They are only relationship terms determined for the convenience of describing the structural relationship of each component or element of the present invention and do not specifically refer to any component or element of the present invention. They should not be construed as limiting the present invention.

[0063] In the present invention, terms such as "connected" and "coupled" should be understood in a broad sense, which may mean a fixed connection, an integral connection or a detachable connection; it may be directly connected or indirectly connected through an intermediate medium. For those skilled in relevant scientific research or technology in this field, the specific meanings of the above terms in the present invention can be determined according to specific circumstances, and should not be construed as a limitation to the present invention.

[0064] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0065] As Figures 1 - 2 shown, a suction and capture type underwater sea cucumber harvesting robot includes a frame 1, and a plurality of vertical thrusters 11 and a plurality of horizontal thrusters 12 are arranged on the frame 1. Specifically, four vertical thrusters 11 are provided, which are respectively located at the four corners of the upper part of the frame 1; four horizontal thrusters 12 are provided, 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 at the top of the frame 1;

[0067] A sea cucumber storage mechanism 3 is slidably fitted inside the frame 1. An inlet end of the sea cucumber storage mechanism 3 is provided with a suction and capture pipe 4. A suction and capture port mechanism is arranged at one end of the suction and capture pipe 4 away from the sea cucumber storage mechanism 3. The suction and capture port mechanism includes a suction and capture bell mouth 5 for sucking sea cucumbers and a rotation mechanism 6 for controlling the rotation of the suction and capture bell mouth 5;

[0068] A notch 18 for the suction and capture port mechanism to extend or retract is arranged on the frame 1. The suction and capture port mechanism moves into the frame 1 following the sea cucumber storage mechanism 3 to form a transportation mode, and the suction and capture port mechanism moves out of the frame 1 following the sea cucumber storage mechanism 3 to form a harvesting mode;

[0069] A suction power mechanism for providing suction power is arranged on the sea cucumber storage mechanism 3.

[0070] Preferably, as Figures 3 - 4 shown, the sea cucumber storage mechanism 3 includes an outer box 31 with an open right end and a sea cucumber storage bin 32 detachably and sealingly arranged inside the outer box 31;

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

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

[0073] Preferably, as Figures 3 - 4As shown, the telescopic drive mechanism includes a telescopic motor 14 disposed on the frame 1. The output end of the telescopic motor 14 is coaxially connected to one end of a lead screw 15, and the other end of the lead screw 15 is adaptively connected to a lead screw bearing block 151 disposed on the frame 1;

[0074] A nut 16 is fixedly disposed on the outer box 31;

[0075] The lead screw 15 is in threaded engagement with the nut 16.

[0076] Through the threaded engagement of the lead screw 15 and the nut 16, and the linear sliding limit engagement of the outer box 31 and the linear guide rail 13, the outer box 31 realizes left and right movement driven by the telescopic motor 14; when transportation is required, the suction and capture port mechanism retracts into the frame 1 along with the storage parameter mechanism 3 to play a protective role, and 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 for detecting the position of the outer box 31 in cooperation with the magnet is disposed inside the frame 1.

[0078] Preferably, as Figures 5 - 8 shown, the storage parameter bin 32 has a cuboid box structure. The upper side wall of the storage parameter bin 32 includes a movable storage parameter cover 321. Specifically, the storage parameter cover 321 is movably connected through a hinge 322. A sealing gasket 34 is disposed in a circle at the left end of the right side wall of the storage parameter bin 32. In addition, a handle 323 is disposed outside the right side wall of the storage parameter bin 32;

[0079] After the storage parameter bin 32 is placed in the outer box 31, the right side wall of the storage parameter bin 32 presses the sealing gasket 34 against the open end of the outer box 31 through a buckle 33 between the front and rear side walls of the outer box 31 and the right side wall of the storage parameter bin 32 to achieve detachable sealing connection. The buckle 33 is a prior art, and its specific structure will not be elaborated here.

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

[0081] The hinged connection of the cover plate 35 and the storage parameter bin 32 is located above the jack 34, and a counterweight 351 is fixedly disposed at the lower part of the cover plate 35 facing away from the jack 34.

[0082] When capturing sea cucumbers, the suction capture tube 4 is inserted into the interior of the storage parameter bin 32 to push open the cover plate 35; when the storage parameter bin 32 needs to be taken out, when the storage parameter bin 32 is pulled out horizontally to the right, during the process of the suction capture tube 4 withdrawing from the jack 34, under the action of the counterweight 351, the cover plate 35 rotates downward to cover the jack 34 to prevent sea cucumbers from falling out of the jack 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. Figure 9 As shown, at 90°, the suction bell mouth 5 is perpendicular to the water bottom. Figure 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 number of buffer rods 9 are evenly arranged between the guide sleeve 36 and the elbow 61 in the circumferential direction.

[0096] The guide sleeve 36 plays a role in supporting the suction and capture pipe 4, facilitating the left - right movement of the suction and capture pipe 4 within 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 an obstacle, the buffer rods 9 contract, and the suction and capture pipe 4 moves to the right within the guide sleeve 36, forming a buffering effect.

[0097] Preferably, an underwater camera 37 is provided on the left side wall of the outer box 31 below the guide sleeve 36, and an underwater optoelectronic sensor 68 is provided on the elbow 61. The underwater camera 37 is used to observe whether sea cucumbers enter the suction and capture bell mouth 5, and the underwater optoelectronic sensor 68 detects whether sea cucumbers pass through the elbow 61.

[0098] Specifically, a sea cucumber storage float 38 is provided at the top of the outer box 31, which is used to adjust the buoyancy of the entire sea cucumber storage mechanism 3, ensuring that when the sea cucumber storage mechanism 3 moves left and right within the frame 1, it does not affect the position of the center of gravity and the center of buoyancy of the entire robot, and maintaining stability.

[0099] A suction - type underwater sea cucumber harvesting robot has the following specific implementation method:

[0100] Insert the empty sea cucumber storage bin 32 into the inside of the outer box 31. After insertion in place, the suction and capture pipe 4 extends into the insertion hole 34 to push open the cover plate 35. The right side wall of the sea cucumber storage bin 32 presses the sealing gasket 34 against the open end of the outer box 31 through the locking buckle 33 between the front and rear side walls of the outer box 31 and the right side wall of the sea cucumber storage bin 32, realizing a detachable sealing connection. The above completes the cooperation between the sea cucumber storage bin 32 and the outer box 31.

[0101] Subsequently, through the telescopic motor 14, control the sea cucumber storage mechanism 3 to drive the suction port mechanism to move inside the frame 1, forming a transportation mode, as Figure 11 shown.

[0102] With the combined action of the vertical thruster 11 and the horizontal thruster 12, the robot reaches the underwater area where sea cucumbers need to be captured. Then, through the telescopic motor 14, the storage mechanism 3 is controlled to drive the suction capture port mechanism to move outside the frame 1, forming a capture mode. When it is necessary to capture sea cucumbers on the bottom, the rotating mechanism 6 controls the suction capture port of the suction capture bell mouth 5 to be horizontal with the bottom. When it is necessary to capture sea cucumbers on the reef, the rotating mechanism 6 controls the suction capture port of the suction capture bell mouth 5 to be horizontal with the surface of the corresponding reef. Subsequently, the vertical thruster 11 and the horizontal thruster 12 drive the frame 1 to move, aligning the suction capture port of the suction capture bell mouth 5 with the sea cucumber. Then, the two first suction devices 7 and the two second suction devices 8 are started simultaneously. At this time, the maximum suction force is formed, and the sea cucumber can be quickly sucked in. When the underwater photoelectric sensor 68 detects that the sea cucumber has passed 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 force of the two second suction devices 8, preventing a large number of sea cucumbers from gathering on the left side of the storage bin 32.

[0103] After the sea cucumber capture is completed, through the telescopic motor 14, the storage mechanism 3 is controlled to drive the suction capture port mechanism to move inside the frame 1, forming a transportation mode. Then, with the combined action of the vertical thruster 11 and the horizontal thruster 12, the robot reaches the sea cucumber collection area and stops stably. The sea cucumber collector opens the lock 33 and pulls out the storage bin 32 to the right through the handle 323. During the process of the suction pipe 4 withdrawing from the socket 34, under the action of the counterweight 351, the cover plate 35 rotates downward to cover the socket 34, preventing the sea cucumber from falling from the socket 34. After the storage bin 32 is pulled out, the storage cover 321 is opened, and the sea cucumbers inside are taken out.

[0104] After all the sea cucumbers are taken out, the empty storage bin 32 is installed back into the outer box 31 for use in the next sea cucumber capture.

[0105] Although the specific embodiments of the present invention are described above in conjunction with the drawings, it is not a limitation of the present invention. Those skilled in the art should understand that based on the technical solutions of the present invention, various modifications or deformations that can be made without creative labor by those skilled in the art are still within the protection scope of the present invention.

Claims

1. A suction-capture type underwater sea cucumber harvesting 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; A sea cucumber storage mechanism is slidably fitted inside the frame. One end of the inlet of the sea cucumber storage mechanism is provided with a suction tube, and one end of the suction tube far away from the sea cucumber storage mechanism is provided with a suction port mechanism. The suction port mechanism includes a suction capture bell mouth for capturing sea cucumbers and a rotating mechanism for controlling the rotation of the suction capture bell mouth; A notch for the suction port mechanism to extend or retract is arranged on the frame; A suction power mechanism for providing suction power is arranged on the sea cucumber storage mechanism; The sea cucumber storage mechanism includes an outer box with an open right end and a sea cucumber storage bin detachably and sealingly arranged inside the outer box; The front and rear sides of the outer box are slidably fitted with the linear guide rails on the frame in the left-right direction, and a telescopic drive mechanism for driving the outer box to move along the linear guide rails is arranged on the frame; The suction tube extends into the sea cucumber storage bin from the left side wall of the outer box and the left side wall of the sea cucumber storage bin; A jack for the suction tube to extend into is arranged on the left side wall of the sea cucumber storage bin, and a cover plate capable of covering the jack is hinged inside the left side wall of the sea cucumber storage bin; The hinged connection of the cover plate and the sea cucumber storage bin is located above the jack, and a counterweight block is fixedly arranged on the lower part of the cover plate facing away from the jack; A plurality of through holes are uniformly arranged on the left side wall, front side wall, rear side wall, upper side wall and lower side wall of the sea cucumber storage bin; The suction power mechanism includes 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. The first suction device is close to the suction tube; The rotating mechanism includes an elbow and a rubber hose. The elbow is a 45° elbow; One end of the elbow is connected to the suction tube, the other end of the elbow is connected to one end of the rubber hose, and the other end of the rubber hose is connected to the small end of the suction capture bell head; Fixed plates are symmetrically arranged on the front and rear sides of the elbow; A rotating motor is arranged on the elbow, and the output shaft of the rotating motor passes through one of the fixed plates and is connected to the main pulley; The front and rear sides of the suction capture bell head are rotatably fitted with the corresponding fixed plates through rotating shafts. One of the rotating shafts passes through the corresponding fixed plate and is connected to the driven pulley; The main pulley and the driven pulley are connected by a belt for transmission; When harvesting sea cucumbers, two first suction devices and two second suction devices are started simultaneously; when the sea cucumbers enter the rotating mechanism and pass through the elbow, the two first suction devices are closed, and the sea cucumbers enter the right part of the sea cucumber storage bin under the suction of the two second suction devices.

2. The suction and capture type underwater sea cucumber harvesting robot according to claim 1, wherein The telescopic drive mechanism includes a telescopic motor arranged on the frame. The output end of the telescopic motor is coaxially connected to one end of a lead screw, and the other end of the lead screw is adaptively connected to a lead screw bearing seat arranged on the frame; A nut is fixedly arranged on the outer box; The lead screw is in threaded cooperation with the nut; 3. The capture type underwater sea cucumber capture robot according to claim 1, characterized in that, A magnet is arranged on the bottom plate of the outer box, and a Hall sensor for detecting the position of the outer box in cooperation with the magnet is arranged inside the frame; 4. The suction-capture type underwater sea cucumber harvesting robot according to claim 1, wherein The sea cucumber storage bin has a cuboid box structure. The upper side wall of the sea cucumber storage bin includes a movable sea cucumber storage cover, and a sealing gasket is arranged at the left end of the right side wall of the sea cucumber storage bin; After the parameter storage bin is placed into the outer box, the right side wall of the parameter storage bin presses the sealing gasket tightly against the open end of the outer box through the locking buckle between the front and rear side walls of the outer box and the right side wall of the parameter storage bin, realizing a detachable sealed connection.

5. The suction-capture type underwater sea cucumber capture robot according to claim 1, characterized in that, A guide sleeve is fixedly arranged outside the left side wall of the outer box, and the suction pipe is in sliding fit with the guide sleeve; A plurality of buffer rods are evenly arranged between the guide sleeve and the elbow in the circumferential direction.

6. The suction-capture type underwater sea cucumber harvesting robot according to claim 5, 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.

Images