Tidal current energy sea urchin catching underwater robot and catching method thereof

Abstract

The invention discloses a tidal current energy sea urchin catching underwater robot and a catching method thereof, and relates to the technical field of special operation intelligent robots. The robot mainly comprises a robot body, a four-claw manipulator body, a water flow turbine body, a six-foot mechanical foot body, a spiral propeller body and a suspension air bag body, and the four-claw manipulator body is connected to the lower front portion of the robot body through a rotary joint mechanism and a movable connecting rod mechanism; a camera device and a sonar sensor are installed above the robot body, the six-foot mechanical foot body is installed below the robot body, the jet propulsion mechanism is installed below the rear portion of the robot body, the spiral propeller bodies are installed on the two sides of the robot body, and the water flow vortex machine body is installed right behind the robot body. The four corners of the suspension air bag body are symmetrically installed below the robot body. The sea urchin collecting device can facilitate water flow turbine power generation and energy storage and is suitable for automatic sea urchin collecting. The sea urchin catching efficiency is improved, and manual labor and potential risks are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of special operation intelligent robots, in particular to a tidal energy sea urchin catching underwater robot and a catching method thereof. Background Art

[0002] In the current development and utilization of marine resources, sea urchins are an important marine fishery resource, and their collection and capture methods are particularly important. Traditional sea urchin capture methods mainly rely on manual diving operations, which are not only inefficient, but also have certain safety hazards. When manually capturing sea urchins, divers need to work underwater for a long time, which not only consumes a lot of labor, but also faces the risk of diving accidents. In addition, the efficiency and accuracy of manual capture are difficult to guarantee, which is easy to cause damage to sea urchins and the seabed ecological environment. In the prior art, there are also some studies and applications of automated capture equipment, such as underwater robots. However, most of these devices have some technical deficiencies, such as: they can only move underwater and cannot capture sea urchins; the capture device is simple and cannot complete a process-based capture method, making it difficult to improve the capture efficiency; the movement method is single and difficult to adapt to the complex underwater environment; the energy consumption is large and the endurance time is short, which limits the scope and efficiency of its practical application. Summary of the invention

[0003] Based on the above background, the present invention proposes a tidal energy sea urchin harvesting underwater robot and its harvesting method, aiming to overcome the deficiencies in the prior art and provide an automated device that can move flexibly in underwater and terrestrial environments and has efficient harvesting capabilities. The robot of the present invention uses tidal energy generation as an energy supplement, is equipped with sensors and an intelligent control system, and can autonomously complete the harvesting of sea urchins, thereby improving the efficiency and safety of sea urchin harvesting and reducing the impact on the environment.

[0004] The technical problems to be solved by the present invention are: the efficiency, accuracy and safety of manual capture are difficult to ensure; the existing automated capture equipment is simple and cannot complete a process of capture, making it difficult to improve the capture efficiency; the existing underwater robots have a single movement mode; the existing underwater robots have high energy consumption and short battery life.

[0005] In order to solve the above technical problems, the present invention provides a tidal energy sea urchin harvesting underwater robot and a harvesting method thereof, comprising: a robot body, a four-claw manipulator body, a suspended airbag body, a six-legged mechanical foot body, a screw propeller body, a water flow turbine body, and a signal receiver body. The four-claw manipulator body is connected to the front and lower part of the robot body through a rotating joint mechanism and a movable connecting rod mechanism, a camera device and a sonar sensor are installed above the robot body, the six-legged mechanical foot body is installed below the robot body, a jet propulsion mechanism is installed at the rear lower part of the robot body and a signal receiver body is arranged at the rear upper part, the screw propeller bodies are installed on both sides of the robot body, the water flow vortex machine body is installed directly behind the robot body, and the four corners of the suspended airbag body are symmetrically installed below the robot body.

[0006] Preferably, the front portion of the shell of the robot body is in a fish head shape, and the body of the robot body is streamlined; the lighting devices are symmetrically rotatably connected in pairs and installed at the front lower part of the robot body; and the U-shaped auxiliary rod connection mechanism is fixedly installed below the lighting device.

[0007] Preferably, the movable link mechanism is rotationally connected and installed on the U-shaped auxiliary rod connecting mechanism, and the inner side of the movable link mechanism is fixed by a hexagonal rod; one end of the rotary joint mechanism is rotationally connected to the movable link mechanism, and the claw head part of the four-claw manipulator body is fixedly connected to the other end of the rotary joint mechanism, and the claw core part of the four-claw manipulator body is installed with a pneumatic valve control switch.

[0008] Preferably, an arc-shaped collection bin is installed on the back of the claw of the four-claw manipulator body; the claws are installed on the four-claw manipulator body in a four-sided symmetrical manner and are rotatably connected through a long cylindrical structure; a free loading and unloading rubber bag is installed on the inner side of the claw, and two protrusions are provided at both ends of the inner side of the claw, the two protrusions are fixedly connected by a long round strip, and the shift plate is slidably connected between the two protrusions through the long round strip.

[0009] Preferably, the outer side of the robot body shell is provided with a straight groove type vent, the surface of the screw propeller body shell is provided with a straight groove type heat sink, and the shell adopts an airfoil top hollow structure, and the inner side of the screw propeller body is rotatably connected with a screw propeller wheel at the front and back respectively; the triangular leaky structure engine is tightly attached to both sides of the middle part of the robot body, and the upper side of the triangular leaky structure engine is provided with a limited heat dissipation elongated round bar, the front and rear leaky surfaces are in the shape of elongated strips, and the airfoil top hollow structure is rotatably connected through the circular groove clamping hole on the triangular leaky structure engine.

[0010] Preferably, an infrared sensor and an anti-reflection film are installed inside the camera device and the infrared sensor is fixed by a serrated clip; the short wing panels are symmetrically arranged on both sides behind the robot body, and the long wing panels are fixed above the short wing panels and at a 45-degree angle in the horizontal position; the suspension airbag body is composed of a circular airbag and a guardrail mechanism, and the guardrail mechanism is rotatably connected to the bottom of the robot body through a long clip slot.

[0011] Preferably, the feet of the hexapod mechanical foot body are pointed blade structures, and the feet, the second joint, and the first joint are connected in sequence through a rotating joint to form a single foot, the first joint is connected to the second joint through a hydraulic device, and the six single feet are connected to the rotating base; a trapezoidal guardrail structure is installed on the upper side of the signal receiver body and an antenna is arranged on the upper part; the jet propulsion mechanism is horn-shaped and deviates from the vertical plane by 35 degrees; the water flow turbine body generates electricity through tidal energy, and is composed of turbine blades, a rotor, a generator, and a supporting mechanism, and the turbine blades, the rotor, and the generator are rotationally connected in this sequence and fixed on the supporting mechanism.

[0012] On the other hand, the present invention provides a tidal current energy sea urchin harvesting underwater robot and a harvesting method thereof, characterized in that it is applied to the above-mentioned tidal current energy sea urchin harvesting underwater robot. The specific steps include the following:

[0013] The movable link mechanism is controlled to rotate downward to make the four-claw manipulator body fall; then the rotary joint mechanism is controlled to make the mechanical claw of the four-claw manipulator body rotate to the lower part, and the arc-shaped collecting bin is rotated to the upper part, and then the mechanical claw is rotated by controlling the long cylindrical structure, and finally parallel to the sea urchin.

[0014] The movable link mechanism is controlled to make the four-claw manipulator body fall again, so that the free loading and unloading rubber bag inside the mechanical claw contacts and pierces the sea urchin; then the rotary joint mechanism is controlled again to make the claw head of the four-claw manipulator body rotate 180 degrees, the mechanical claw rotates to the upper part, and the arc-shaped collection bin rotates to the lower part.

[0015] The long cylindrical structure is controlled to rotate the mechanical claw to a vertical position, the pneumatic valve control switch is opened, and the paddle is controlled to slide back and forth between the two protrusions, and the sea urchin stuck on the free loading and unloading rubber bag is pushed down to make the sea urchin fall into the arc-shaped collection bin, and the pneumatic valve control switch is closed, and the rotary joint mechanism is controlled again to reset the four-claw manipulator body and complete a capture.

[0016] Beneficial effects of the invention: The invention of the tidal energy sea urchin harvesting underwater robot is helpful to improve harvesting efficiency, reduce harvesting costs, protect the marine ecology, improve product quality and promote industry development. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the three-dimensional structure of the patented machine of this invention

[0018] Figure 2 This is a schematic diagram of the partial structure of the four-claw robot body of the present invention.

[0019] Figure 3 This is a schematic diagram of the partial explosion structure of the whole machine of the present invention

[0020] Figure 4 Schematic diagram of the partial structure of the six-legged mechanical foot of the present invention

[0021] Figure 5 This is a schematic diagram of the power generation principle of the water flow turbine body of the present invention.

[0022] Figure 6 This is a top-view three-dimensional structural diagram of the patented machine of the present invention.

[0023] Figure 7 This is a schematic diagram of the rear-view stereoscopic structure of the entire machine of the present invention

[0024] Figure 8 Schematic diagram of the explosion structure of the four-claw manipulator body of the present invention

[0025] Fig. 9 This is a schematic diagram of the partial structure of the whole machine from top view of the patent of this invention

[0026] Fig.10 This is the flow chart of the capture control method of the present invention

[0027] Fig.11 This is the flow chart of the power generation principle of the water turbine body of the present invention

[0028] Description of Figure Numbers:

[0029] 1- robot body, 2- four-claw manipulator body, 3- suspended airbag body, 4- six-legged mechanical foot body, 5- screw propeller body, 6- water flow turbine body, 7- signal receiver body, 11- U-type auxiliary rod connection mechanism, 12- lighting device, 13- jet propulsion mechanism, 14- long wing plate, 15- triangular leaky structure engine, 16- sonar sensor, 17- camera device, 18- straight slot type vent, 19- short wing plate, 21- rotating joint mechanism, 22- arc collection bin, 23- mechanical claw, 24- pneumatic valve control switch, 25- movable connecting rod mechanism, 26 long cylinder structure, 31- circular airbag, 32 guardrail mechanism, 4 1-foot, 42-second joint, 43-first joint, 44-hydraulic device, 45-rotary joint, 46-rotating base, 51-airfoil top hollow structure, 52-screw propulsion wheel, 61-rotor, 62-vortex blade, 63-support mechanism, 64-generator, 71-antenna, 72 trapezoidal guardrail mechanism, 151-heat dissipation long round bar, 152-circular groove card hole, 153-leakage surface, 171-serrated card bar, 172-infrared sensor, 173-antireflection film, 231-push plate, 232-free loading and unloading rubber bag, 233-circular long bar, 234-bump, 251-hexagonal rod, 321-long strip card slot, 511-straight groove heat sink. DETAILED DESCRIPTION

[0030] The present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. However, this does not serve as any basis for limiting the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative operations are within the scope of protection of the present invention.

[0031] Embodiment 1, refer to Figure 1 , a tidal energy sea urchin catching underwater robot and its catching method, characterized in that it mainly includes a robot body 1, a four-claw manipulator body 2, a suspension airbag body 3, a six-legged mechanical foot body 4, a screw propeller body 5, a water flow turbine body 6, and a signal receiver body 7. The four-claw manipulator body 2 is connected to the front and lower part of the robot body 1 through a rotating joint mechanism 21 and a movable connecting rod mechanism 25, and is the main device for catching sea urchins; a camera device 17 and a sonar sensor 16 are installed above the robot body 1 for obstacle avoidance in the water, and the six-legged mechanical foot body 4 is installed below the robot body 1 so that the machine can operate in both land and water environments; a jet propulsion mechanism 13 is installed at the rear lower part of the robot body 1 and a signal receiver body 7 is arranged at the rear upper part, the screw propeller body 5 is installed on both sides of the robot body 1, the water flow vortex machine body 6 is installed directly behind the robot body 1, and the four corners of the suspension airbag body 3 are symmetrically installed below the robot body 1.

[0032] Reference Figure 3 and Figure 6 The front part of the shell of the robot body 1 is in the shape of a fish head, and the body of the robot body 1 is in a streamlined design, which can not only make the machine camouflage, but also increase the moving speed of the machine; the lighting devices 12 are symmetrically connected and installed in pairs at the front and bottom of the robot body 1 to provide a bright field of view; the U-shaped auxiliary rod connection mechanism 11 is fixedly installed below the lighting device 12.

[0033] Reference Figure 2 and Figure 6 and Figure 8 The movable link mechanism 25 is rotatably connected and installed on the U-shaped auxiliary rod connecting mechanism 11, and the inner side of the movable link mechanism 25 is fixed by a hexagonal rod 251; one end of the rotary joint mechanism 21 is rotatably connected to the movable link mechanism, and the claw head part of the four-claw manipulator body 2 is fixedly connected to the other end of the rotary joint mechanism 21, and the claw core part of the four-claw manipulator body 2 is installed with a pneumatic valve control switch 24. The back of the claw of the body 2 of the four-claw manipulator is equipped with an arc-shaped collecting bin 22 to collect the captured sea urchins; the mechanical claws 23 are symmetrically installed on the four-claw manipulator body 2 and are rotatably connected through a long cylindrical structure 26; a free loading and unloading rubber bag 232 is installed on the inner side of the mechanical claw 23, so that the sea urchin can pierce the free loading and unloading rubber bag 232 to play a piercing role, and two protrusions 234 are arranged at both ends of the inner side of the mechanical claw 23, and the two protrusions 234 are fixedly connected by a round strip 233, and the paddle 231 is slidably connected between the two protrusions 234 through the round strip 233.

[0034] Reference Figure 3 and Figure 7 and Fig. 9The outer side of the shell of the robot body 1 is provided with a straight groove type vent 18, and the surface of the shell of the screw propeller body 5 is provided with a straight groove type heat sink 511 to ensure the stability of the machine operation, and the shell adopts an airfoil top hollow structure 51 to reduce the weight of the machine, and the inner side of the screw propeller body 5 is respectively rotatably connected with a screw propulsion wheel 52 installed at the front and rear, which is the main power device for the machine to move forward and reverse; the triangular leaky structure engine 15 is tightly attached to both sides of the middle part of the robot body 1, and the leaky structure reduces the weight of the machine, and the upper side of the triangular leaky structure engine 15 is provided with a limited heat dissipation long round bar 151, and the front and rear leaky surfaces 153 are long strips, and the airfoil top hollow structure 51 is rotatably connected through the circular groove clamping hole 152 on the triangular leaky structure engine 15. An infrared sensor 172 and an anti-reflection film 173 are installed inside the camera device 17, and the infrared sensor is fixed by a serrated clip 171; the short wing panels 19 are symmetrically arranged on both sides behind the robot body 1, and the long wing panels 14 are fixed above the short wing panels 19 and at a 45-degree angle in the horizontal position; the suspended airbag body 3 is composed of a circular airbag 31 and a guardrail mechanism 32, and the guardrail mechanism 32 is rotatably connected to the bottom of the robot body 1 through a long clip slot 321, and the short wing panel 19 suspended airbag body 3 can ensure the stability of the machine when it moves.

[0035] Reference Figure 3 and Figure 4 and Figure 6 The foot 41 of the hexapod mechanical foot body 4 is a pointed blade structure, and the foot 41, the second joint 42, and the first joint 43 are connected in sequence through a rotating joint 45 to form a single foot, and the first joint 43 is connected to the second joint 42 through a hydraulic device 44, and the six single feet are connected to a rotating base 46; a trapezoidal guardrail structure 72 is installed on the upper side of the signal receiver body 7 and an antenna 71 is arranged on the upper part; the jet propulsion mechanism 13 is horn-shaped and deviates from the vertical plane by 35 degrees, thereby playing a power-assisted propulsion role; the water turbine body 6 is composed of turbine blades 62, a rotor 61, a generator 64, and a support mechanism 63, and the turbine blades 62, the rotor 61, and the generator 64 are rotationally connected in this order and fixed on the support mechanism 63.

[0036] refer to Figure 5 and Fig. 9 and Fig.11 The water turbine body 6 uses tidal energy to generate turbine power to supplement energy. The water flows through the water turbine body 6 in the directions of A, B, and D in sequence. The hydrodynamic forces F1 and F2 act on the turbine blades 62 to make them rotate in the clockwise direction C.

[0037] In the second embodiment, the present invention provides a tidal energy sea urchin harvesting underwater robot and a harvesting method thereof, characterized in that it is applied to the above-mentioned tidal energy sea urchin harvesting underwater robot. Figure 2 and Fig.10 , the specific steps include:

[0038] 1) Remotely control the movable link mechanism 25 to rotate downward, so that the four-claw manipulator body 2 falls; then control the rotary joint mechanism 21 to rotate the mechanical claw 23 of the four-claw manipulator body 2 to the lower part, and the arc-shaped collecting bin 22 to the upper part, and then control the long cylindrical structure 26 to rotate the mechanical claw 23, and finally parallel to the sea urchin.

[0039] 2). Control the movable link mechanism 25 to make the four-claw manipulator body 2 fall again, so that the free loading and unloading rubber bag 232 inside the mechanical claw 23 contacts and pierces the sea urchin; then control the rotary joint mechanism 21 again to make the claw head of the four-claw manipulator body 2 rotate 180 degrees, the mechanical claw 23 rotates to the upper part, and the arc-shaped collection bin 22 rotates to the lower part.

[0040] 3). Control the long cylindrical structure 26 to rotate the mechanical claw 23 to a vertical position, open the pneumatic valve control switch 24, and control the paddle 231 to slide back and forth between the two protrusions 234, pry down the sea urchins stuck on the free loading and unloading rubber bag 232, so that the sea urchins fall into the arc-shaped collection bin 22, close the pneumatic valve control switch 24, and control the rotary joint mechanism 21 again to reset the four-claw manipulator body 2 and complete a capture.

[0041] The above shows and describes the basic structure, main features and advantages of the present disclosure. The present disclosure is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present disclosure. Without departing from the spirit and scope of the present disclosure, the present disclosure may have various changes and improvements, which fall within the scope of the present disclosure to be protected.

Claims

1. A tidal energy sea urchin catching underwater robot and catching method thereof, characterized in that: The invention mainly comprises a robot body (1), a four-claw manipulator body (2), a suspension airbag body (3), a six-legged manipulator body (4), a screw propeller body (5), a water turbine body (6), and a signal receiver body (7). The four-claw manipulator body (2) is connected to the front and lower part of the robot body (1) through a rotating joint mechanism (21) and a movable connecting rod mechanism (25). A camera device (17) and a sonar sensor (16) are installed above the robot body (1). The six-legged manipulator body (4) is installed below the robot body (1). A jet propulsion mechanism (13) is installed at the rear lower part of the robot body (1) and a signal receiver body (7) is arranged at the rear upper part. The screw propeller bodies (5) are installed on both sides of the robot body (1). The water vortex machine body (6) is installed directly behind the robot body (1). The four corners of the suspension airbag body (3) are symmetrically installed below the robot body (1).

2. The tidal energy sea urchin catching underwater robot and catching method thereof according to claim 1, characterized in that: The front portion of the outer shell of the robot body (1) is in the shape of a fish head, and the body of the robot body (1) is in a streamlined design; the lighting devices (12) are symmetrically connected and rotatably mounted in pairs at the front lower part of the robot body (1); and the U-shaped auxiliary rod connection mechanism (11) is fixedly mounted below the lighting device (12).

3. The tidal energy sea urchin catching underwater robot and catching method thereof according to claim 2, characterized in that: The movable link mechanism (25) is rotationally connected and installed on the U-shaped auxiliary rod connection mechanism (11), and the inner side of the movable link mechanism (25) is fixed by a hexagonal rod (251); one end of the rotary joint mechanism (21) is rotationally connected to the movable link mechanism, and the claw head part of the four-claw manipulator body (2) is fixedly connected to the other end of the rotary joint mechanism (21), and the claw core part of the four-claw manipulator body (2) is installed with a pneumatic valve control switch (24).

4. The tidal energy sea urchin catching underwater robot and catching method thereof according to claim 3, characterized in that: The claw back portion of the body (2) of the four-claw manipulator is provided with an arc-shaped collecting bin (22); the mechanical claw (23) is symmetrically installed on the four-claw manipulator body (2) and is rotatably connected via a long cylindrical structure (26); a free loading and unloading rubber bag (232) is installed inside the mechanical claw (23), and two protrusions (234) are provided at both ends of the inner side of the mechanical claw (23), the two protrusions (234) are fixedly connected via a round strip (233), and a shift plate (231) is slidably connected between the two protrusions (234) via the round strip (233).

5. The tidal energy sea urchin catching underwater robot and catching method thereof according to claim 1, characterized in that: The outer side of the shell of the robot body (1) is provided with a straight groove type vent (18); the surface of the shell of the propeller body (5) is provided with a straight groove type heat sink (511); and the shell adopts an airfoil top hollow structure (51); the inner side of the propeller body (5) is respectively rotatably connected with a propeller wheel (52); the triangular leaky structure engine (15) is tightly attached to both sides of the middle part of the robot body (1); and the upper side of the triangular leaky structure engine (15) is provided with a limited heat dissipation long round bar (151); the front and rear leaky surfaces (153) are in the shape of a long strip; and the airfoil top hollow structure (51) is rotatably connected through a round groove clamping hole (152) on the triangular leaky structure engine (15).

6. The tidal energy sea urchin catching underwater robot and catching method thereof according to claim 1, characterized in that: The camera device (17) is internally installed with an infrared sensor (172) and an anti-reflection film (173), and the infrared sensor is fixed by a sawtooth clamping strip (171); the short wing plates (19) are symmetrically arranged on both sides behind the robot body (1), and the long wing plates (14) are fixedly arranged above the short wing plates (19) and at a 45-degree angle in the horizontal position; the suspension airbag body (3) is composed of a circular airbag (31) and a guardrail mechanism (32), and the guardrail mechanism (32) is rotatably connected to the bottom of the robot body (1) through a long clamping slot (321).

7. The tidal energy sea urchin catching underwater robot and catching method according to claim 1, characterized in that: The foot (41) of the hexapod mechanical foot body (4) is a pointed blade structure. The foot (41), the second joint (42), and the first joint (43) are connected in sequence through a rotating joint (45) to form a single foot. The first joint (43) is connected to the second joint (42) through a hydraulic device (44). The six single feet are connected to a rotating base (46). A trapezoidal guardrail structure (72) is installed on the upper side of the signal receiver body (7) and an antenna (71) is installed on the upper part. The jet propulsion mechanism (13) is horn-shaped and deviates from the vertical plane by 35 degrees. The water turbine body (6) is composed of turbine blades (62), a rotor (61), a generator (64), and a supporting mechanism (63). The turbine blades (62), the rotor (61), and the generator (64) are connected in rotation in this order and fixed on the supporting mechanism (63).

8. The tidal energy sea urchin catching underwater robot and catching method thereof according to claim 7, characterized in that: The water flow turbine body (6) is conducive to turbine power generation by utilizing tidal energy. Water flows through the water flow turbine body (6) in the directions (A), (B), and (D) in sequence. The hydrodynamic forces F1 and F2 act on the turbine blades (62) to cause them to rotate in a clockwise direction (C).

9. The tidal energy sea urchin catching underwater robot and catching method thereof according to claim 7, characterized in that: Applied to the above-mentioned new energy sea urchin catching robot, remote control for sea urchin catching includes the following steps: 1). Remotely control the movable link mechanism (25) to rotate downward, so that the four-claw manipulator body (2) falls; then control the rotary joint mechanism (21) to rotate the mechanical claw (23) of the four-claw manipulator body (2) to the lower part, and the arc-shaped collecting bin (22) to the upper part; then control the long cylindrical structure (26) to rotate the mechanical claw (23) and finally make it parallel to the sea urchin. 2). Control the movable link mechanism (25) to make the four-claw manipulator body (2) fall again, so that the free loading and unloading rubber bag (232) inside the mechanical claw (23) contacts and pierces the sea urchin; then control the rotary joint mechanism (21) again to make the claw head of the four-claw manipulator body (2) rotate 180 degrees, the mechanical claw (23) rotates to the upper part, and the arc-shaped collection bin (22) rotates to the lower part. 3) Control the long cylindrical structure (26) to rotate the mechanical claw (23) to a vertical position, open the pneumatic valve control switch (24), and control the paddle (231) to slide back and forth between the two protrusions (234), pry down the sea urchin stuck on the free loading and unloading rubber bag (232), so that the sea urchin falls into the arc-shaped collection bin (22), close the pneumatic valve control switch (24), and control the rotary joint mechanism (21) again to reset the four-claw manipulator body (2) and complete a capture.

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