Sea cucumber underwater bionic fishing device and method

Abstract

The invention discloses a sea cucumber underwater bionic fishing device and method. The device comprises a bionic fish head clamping and catching mechanism, the bionic fish head clamping and catching mechanism is connected with a driving mechanism, the bionic fish head clamping and catching mechanism comprises an upper semicircular catching clamp and a lower semicircular catching clamp, the two catching clamps are hinged to a fish head body through hinge structures to achieve opening and closing actions, the catching clamps are connected with a bionic flexible suction and catching mechanism, and the bionic flexible suction and catching mechanism is connected with the driving mechanism. The bionic flexible suction-catching mechanism comprises a flexible suction-catching front edge, the flexible suction-catching front edge is connected with a flexible suction-catching cavity, the flexible suction-catching cavity is communicated with a hose, the flexible suction-catching cavity is communicated with a collecting cabin through a flexible suction-catching pipe, and the collecting cabin is connected with a suction-catching pump. The control unit coordinates opening and closing of the capturing clamp and starting and stopping of the suction capturing pump based on sensor signals, it is ensured that target organisms are accurately captured in the complex underwater environment, efficient operation is conducted in the complex submarine topography through the synergistic effect of bionic fish mouth clamping capturing and flexible negative pressure suction capturing, damage to the submarine environment and the organisms in the capturing process can be reduced, and the capturing efficiency is improved. The device is especially suitable for capturing easily damaged soft organisms such as sea cucumbers and the like.

Description

Technical Field

[0001] The invention belongs to the field of underwater capture and underwater bionic mechanical equipment, and specifically relates to an underwater bionic sea cucumber fishing device and method. Background Art

[0002] With the continuous development of marine resources, the demand for catching high-value marine organisms such as sea cucumbers is gradually increasing. However, existing fishing equipment (such as mechanical claws or nets) often causes damage to the fishing target due to uneven clamping force and insufficient control accuracy, affecting the fishing effect. In addition, sea cucumbers mostly grow in complex seabed environments, and existing equipment is difficult to operate efficiently on uneven seabed terrain and easily damages the marine ecological environment. Therefore, there is an urgent need for a bionic capture device that can achieve flexible capture, efficient suction capture, and reduce target damage. Summary of the invention

[0003] The purpose of the present invention is to provide a sea cucumber underwater bionic fishing device and method to achieve efficient and lossless underwater fishing operations.

[0004] The purpose of the present invention is achieved through the following technical solutions:

[0005] A sea cucumber underwater bionic fishing device comprises: a bionic fish head clamping mechanism, which is connected to a driving mechanism, and comprises two upper and lower semicircular catching clamps, which are hinged to a fish head body through a hinge structure to achieve an opening and closing action, and the catching clamp is connected to a bionic flexible suction catching mechanism, which comprises a flexible suction catching leading edge, which is connected to a flexible suction catching chamber, which is connected to a collecting chamber, and which is connected to a suction catching pump.

[0006] Furthermore, the driving mechanism includes an upper connecting rod and a lower connecting rod, one end of the upper connecting rod and the lower connecting rod are respectively connected to the two semicircular catching clamps, the other end of the upper connecting rod and the lower connecting rod are connected to the driving connecting rod, and the driving connecting rod is connected to the motor to realize the opening and closing action of the bionic fish head clamping mechanism.

[0007] Furthermore, the rear end of the fish head body is fixedly connected to the underwater robot body, and a control unit, a suction pump and a collection chamber are installed in the underwater robot body.

[0008] Furthermore, the bionic flexible suction capture mechanism is fixedly connected to the capture clamp through the flexible suction capture front edge, thereby realizing the connection between the bionic fish head clamp capture mechanism and the bionic flexible suction capture mechanism.

[0009] Furthermore, the control unit coordinates and controls the opening and closing of the capture clamp and the switch of the suction pump. When the capture clamp opens and closes to capture, the suction pump generates suction. When the capture clamp is completely closed, the suction pump is turned off.

[0010] Furthermore, the capture clamp comprises a complete capture process from opening and closing to completely closing, and the sea cucumber is transported from the flexible suction chamber to the collection chamber driven by the suction force of the suction pump.

[0011] Furthermore, the opening and closing of the catching clamp drives the suction chamber to expand and contract, simulating the action of a fish mouth catching food.

[0012] Furthermore, the capture clamp comprises a complete capture process from opening and closing to completely closing, and the sea cucumber is transported from the suction chamber to the collection chamber via the suction pipe driven by the suction force of the suction pump.

[0013] The present invention may also include:

[0014] A fishing method for the above-mentioned sea cucumber underwater bionic fishing device, the method comprising: when a sea cucumber is found, starting the control unit of the underwater robot, controlling the start of a bionic fish head clamping mechanism and a bionic flexible suction mechanism, then driving the mechanism to start the motor, opening two capture clamps, and starting a suction pump to suck the sea cucumber into a flexible suction chamber, after which the sea cucumber enters the flexible suction tube from the flexible suction chamber, closing the two capture clamps, turning off the motor, allowing the sea cucumber to enter a collection chamber, and turning off the suction pump.

[0015] The beneficial effects of the present invention are:

[0016] The device of the present invention combines the bionic opening and closing fish head structure with the bionic flexible suction capture mechanism, and can be flexibly opened and closed in a complex seabed environment, thereby efficiently and non-destructively capturing the target sea cucumber. The bionic design of the fish head structure reduces the damage to the sea cucumber and the surrounding environment during the capture process, and the bionic flexible suction capture mechanism improves the capture efficiency and applicability of the device.

[0017] The present invention combines a clamping mechanism and a bionic flexible suction mechanism, and can operate flexibly in a complex seabed environment, significantly improving the success rate and efficiency of target capture. Through the coordinated work of the bionic fish head clamping mechanism and the flexible suction mechanism, damage to the target object is effectively reduced, and damage to the surrounding environment is minimized, which is particularly suitable for fishing soft and sensitive organisms such as sea cucumbers. It has significant advantages in fishing efficiency, environmental protection and applicability.

[0018] The bionic flexible suction capture mechanism of the present invention sucks the target organism into the capture chamber through the flexible suction capture front edge, the flexible suction capture chamber, the flexible suction capture tube, and the suction capture pump, and transmits the target organism to the collection chamber through the flexible suction capture chamber, thereby realizing efficient underwater capture. The control unit intelligently controls the opening and closing mechanism and the suction capture system through the sensor feedback signal, thereby ensuring accurate capture of the target organism in a complex underwater environment.

[0019] The device of the present invention has a simple structure, flexible and efficient capture, can reduce damage to the seabed environment and organisms during the capture process, and is particularly suitable for capturing soft-bodied organisms such as sea cucumbers that are easily damaged. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Attached Figure 1 It is a structural schematic diagram of the present invention.

[0021] Attached Figure 2 It is a structural schematic diagram of the capture clamp of the present invention.

[0022] Attached Figure 3 It is a schematic structural diagram of the fish head body of the present invention when it is closed.

[0023] Attached Figure 4 It is a front view of the fish head main body of the present invention when it is in an open state.

[0024] Attached Figure 5 It is a side view of the fish head body of the present invention when it is in an open state.

[0025] Attached Figure 6 It is a schematic structural diagram of the driving device of the present invention.

[0026] Attached Figure 7 It is a connection schematic diagram of the flexible suction and capture front edge, the flexible suction and capture cavity, and the flexible suction and capture tube of the present invention.

[0027] Attached Figure 8 It is a structural schematic diagram of the suction and capture pump of the present invention.

[0028] Attached Fig. 9 It is a schematic diagram of the installation position of the control unit of the present invention.

[0029] Attached Fig.10 It is a schematic diagram of the overall installation structure of the present invention.

[0030] Attached Fig.11 It is a work flow chart of the present invention.

[0031] In the figure: 1. fish head shell; 2. catching clamp; 3. catching clamp connection port; 4. fish head body; 5. connection port; 6. rotating shaft; 7. upper connecting rod; 8. lower connecting rod; 9. driving connecting rod; 10. motor; 11. flexible suction and capture tube; 12. flexible suction and capture chamber; 13. flexible suction and capture front edge; 14. suction and capture pump; 15. control unit; 16. collection cabin. DETAILED DESCRIPTION

[0032] The present invention is further described below in conjunction with the accompanying drawings.

[0033] A sea cucumber underwater bionic fishing device, as shown in the attached Figure 1-5 As shown, it includes: a bionic fish head clamping and catching mechanism and a bionic flexible suction and catching mechanism.

[0034] The bionic fish head clamping mechanism comprises two upper and lower semicircular catching clamps 2. The two catching clamps 2 are hinged to the fish head body 4 through a rotating shaft 6, and can rotate around the rotating shaft 6 of the catching clamps 2 to achieve an opening and closing action, and are also fixedly connected to the flexible suction chamber in a flexible wrapping type, and the catching clamps are fixedly connected to the flexible suction front edge 13, forming a movement form similar to that of a fish mouth.

[0035] As attached Figure 6-7 As shown, the capture clamp 2 is connected to a bionic flexible suction mechanism, and the bionic flexible suction mechanism includes a flexible suction leading edge 13, and the flexible suction leading edge 13 is connected to a flexible suction chamber 12, and the flexible suction chamber 12 is connected to a flexible suction tube 11, and the flexible suction tube 11 is connected to a collection cabin 16, and the collection cabin 16 is connected to a suction pump 14.

[0036] like Figure 7 As shown, the driving mechanism realizes the opening and closing action of the capture clamp through the upper connecting rod 7, the lower connecting rod 8, the driving connecting rod 9, and the motor 10. One end of the upper connecting rod 7 is connected to the capture clamp connection port 3, one end of the lower connecting rod 8 is connected to the capture clamp connection port 3, and the other end is connected to the driving connecting rod 9. The driving connecting rod 9 is fixedly connected to the motor, and the motor 9 applies a driving force to make the upper connecting rod 7 and the lower connecting rod 8 push the capture clamp 2 to move.

[0037] Through the bionic design, the grasping device of the present invention can not only adapt to different working environments, but also complete the object grasping task more efficiently, and is particularly suitable for processing irregular-shaped and fragile objects.

[0038] In this embodiment, the rear end of the fish head body 4 is fixedly connected to the underwater robot body, and a suction pump 14, a control unit 15 and a collection chamber 16 are installed in the underwater robot body.

[0039] The bionic flexible suction capture mechanism in this embodiment is wrapped and fixedly connected with the capture clamp 2 through the flexible suction capture front edge 13, so as to realize the connection between the bionic fish head clamp capture mechanism and the bionic flexible suction capture mechanism.

[0040] In this embodiment, the control unit 15 coordinates and controls the opening and closing of the capture clamp 2 and the switch of the suction pump 14. When the capture clamp 2 opens and closes to capture, the suction pump 14 generates suction, and when the capture clamp is completely closed, the suction pump is turned off.

[0041] In this embodiment, the capture clamp 2 is a complete capture process from opening and closing to completely closing. The sea cucumber is transported from the flexible suction chamber 12 to the collection chamber 16 through the flexible suction tube 11 driven by the suction force of the suction pump 14.

[0042] The opening and closing of the catching clamp 2 in this embodiment drives the suction chamber to expand and contract, simulating the action of a fish mouth catching food.

[0043] In this embodiment, the fish head body 4 can be connected to the mechanical bionic fish body through the connecting port 5.

[0044] The catching method of the sea cucumber underwater bionic catching device of the present invention is as follows: Fig.11 As shown, the method includes: when a sea cucumber is found, the control unit 15 of the underwater robot is started, the bionic fish head clamping mechanism and the bionic flexible suction mechanism are controlled to start, and then the driving mechanism starts the motor 10, opens the two capture clamps 2, and starts the suction pump 14 to put the sea cucumber into the suction chamber. After that, the sea cucumber enters the flexible suction tube 11 from the suction chamber, closes the two capture clamps 2, turns off the motor 10, and the sea cucumber enters the collection chamber 16, and turns off the suction pump.

[0045] When the motor 10 is started, the driving connecting rod 9 drives the upper and lower connecting rods 7 and 8 to control the opening and closing of the capture clamp 2. When the capture clamp 2 is opened, the suction pump 14 is started to suck the target organism into the flexible suction chamber 12; after the capture clamp is closed, the suction pump is turned off, and the target organism is transported to the collection chamber 16 through the flexible suction pipe 11. Through this bionic design, the grasping device can not only adapt to different working environments, but also complete the object grasping task more efficiently, especially suitable for the processing of irregular shapes and fragile objects.

[0046] The bionic flexible suction capture mechanism of the present invention sucks the target organism into the capture chamber through the flexible suction capture front edge, the flexible suction capture chamber, the flexible suction capture tube, and the suction capture pump, and transmits the target organism to the collection chamber 16 through the flexible suction capture chamber, thereby realizing efficient underwater capture. The control unit 15 intelligently controls the opening and closing mechanism and the suction capture system through the sensor feedback signal, ensuring accurate capture of the target organism in a complex underwater environment. The structure is simple, the capture is flexible and efficient, and the damage to the seabed environment and organisms during the capture process can be reduced, and it is particularly suitable for capturing soft organisms such as sea cucumbers that are easily damaged.

[0047] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A sea cucumber underwater bionic fishing device, characterized in that ,include: A bionic fish head clamping mechanism, the bionic fish head clamping mechanism is connected to a driving mechanism, the bionic fish head clamping mechanism comprises two upper and lower semicircular catching clamps (2), the two catching clamps (2) are hinged to a fish head body (4) via a rotating shaft (6) to achieve an opening and closing action, the catching clamp (2) is connected to a bionic flexible suction catching mechanism, the bionic flexible suction catching mechanism comprises a flexible suction catching front edge (13), the flexible suction catching front edge (13) is connected to a flexible suction catching chamber (12), the flexible suction catching chamber (12) is connected to a flexible suction catching tube (11), the flexible suction catching tube (11) is connected to a collecting chamber (11), and the collecting chamber (16) is connected to a suction catching pump (14).

2. The sea cucumber underwater bionic fishing device according to claim 1, characterized in that The driving mechanism comprises an upper connecting rod (7) and a lower connecting rod (8), one end of the upper connecting rod (7) and the lower connecting rod (8) are respectively connected to the two semicircular catching clamps (2), and the other end of the upper connecting rod (7) and the lower connecting rod (8) are connected to a driving connecting rod (9), and the driving connecting rod (9) is connected to a motor (10) to realize the opening and closing action of the bionic fish head catching mechanism.

3. The sea cucumber underwater bionic fishing device according to claim 2 is characterized in that The rear end of the fish head body (4) is fixedly connected to the underwater robot body, and a control unit (15), a suction pump (14) and a collection chamber (16) are installed in the underwater robot body.

4. The sea cucumber underwater bionic fishing device according to claim 1, characterized in that The bionic flexible suction capture mechanism is wrapped and fixedly connected with the capture clamp (2) through the flexible suction capture front edge (13), thereby realizing the connection between the bionic fish head clamp capture mechanism and the bionic flexible suction capture mechanism.

5. The sea cucumber underwater bionic fishing device according to claim 3 is characterized in that The control unit (15) coordinates and controls the opening and closing of the capture clamp (2) and the switch of the suction pump (14). When the capture clamp (2) is opened and closed for capture, the suction pump (14) generates suction. When the capture clamp is completely closed, the suction pump (14) is turned off.

6. The sea cucumber underwater bionic fishing device according to any one of claims 1 to 5, characterized in that: The capture clamp (2) is a complete capture process from opening and closing to completely closing, and the sea cucumber is transported from the flexible suction chamber (12) to the collection chamber via the flexible suction pipe (11) driven by the suction force of the suction pump (14).

7. The sea cucumber underwater bionic fishing device according to any one of claims 1 to 5, characterized in that: The opening and closing of the catching clamp (2) drives the suction chamber to expand and contract, simulating the action of a fish mouth catching food.

8. The sea cucumber underwater bionic fishing device according to any one of claims 1 to 5, characterized in that: The capture clamp (2) is a complete fishing process from opening and closing to completely closing, and the sea cucumber is transported from the suction chamber to the collection chamber through the suction pipe driven by the suction of the suction pump.

9. A fishing method using the sea cucumber underwater bionic fishing device according to any one of claims 1 to 8, characterized in that: The method includes: When a sea cucumber is found, the control unit (15) of the underwater robot is started to control the start of the bionic fish head clamping mechanism and the bionic flexible suction capture mechanism, and then the driving mechanism starts the motor (10), opens the two capture clamps (2), and starts the suction capture pump (14). The sea cucumber is sucked into the flexible suction chamber (12), and then the sea cucumber enters the flexible suction tube (11) from the flexible suction chamber (12). The two capture clamps (2) are closed, the motor (10) is turned off, the sea cucumber enters the collection chamber (16), and the suction pump (14) is turned off.

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