An underwater bionic fishing device and method for sea cucumber

Abstract

The application discloses a kind of sea cucumber underwater bionic fishing device and method.The present application composition includes: bionic fish head clamping mechanism, the bionic fish head clamping mechanism is connected with driving mechanism, bionic fish head clamping mechanism includes two pieces of semicircular shape's capture clamp, two pieces of capture clamp are hinged with fish head main body by hinge structure, realize opening and closing action, capture clamp is connected with bionic flexible suction mechanism, bionic flexible suction mechanism includes flexible suction front edge, flexible suction front edge is connected with flexible suction cavity, flexible suction cavity is communicated with flexible suction pipe, flexible suction cavity is communicated with collection cabin by flexible suction pipe, collection cabin is connected with suction pump.The control unit based on sensor signal coordinates capture clamp opening and closing and suction pump start-stop, ensure accurate capture target organism in complex underwater environment, through the synergistic effect of bionic fish mouth clamping and flexible negative pressure suction, efficient operation in complex seabed topography, can reduce the damage to seabed environment and organism in capture process, especially suitable for capturing soft-bodied organisms such as sea cucumber which is easily damaged.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of underwater capture and underwater bionic mechanical equipment, and particularly relates to a sea cucumber underwater bionic fishing device and method. BACKGROUND

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

[0003] The purpose of the present application is to provide a sea cucumber underwater bionic fishing device and method, which realizes efficient and non-destructive underwater fishing operations.

[0004] The purpose of the present application is achieved by the following technical solutions:

[0005] A sea cucumber underwater bionic fishing device, comprising: a bionic fish head clamping mechanism connected to a driving mechanism, the bionic fish head clamping mechanism comprising two semicircular-shaped clamping claws, the two clamping claws being hingedly connected to a fish head body through a hinge structure to realize opening and closing actions, the clamping claws being connected to a bionic flexible suction mechanism, the bionic flexible suction mechanism comprising a flexible suction leading edge, the flexible suction leading edge being connected to a flexible suction chamber, the flexible suction chamber being connected to a collection tank, and the collection tank being connected to a suction pump.

[0006] Further, the driving mechanism comprises an upper connecting rod and a lower connecting rod, one end of each of the upper connecting rod and the lower connecting rod being connected to the two semicircular-shaped clamping claws, the other end of each of the upper connecting rod and the lower connecting rod being connected to a driving connecting rod, the driving connecting rod being connected to a motor to realize the opening and closing actions of the bionic fish head clamping mechanism.

[0007] Further, the rear end of the fish head body is fixedly connected to a main body of an underwater robot, and the main body of the underwater robot is internally provided with a control unit, a suction pump and a collection tank.

[0008] Further, the bionic flexible suction mechanism is fixedly connected to the clamping claws through the flexible suction leading edge to realize the connection between the bionic fish head clamping mechanism and the bionic flexible suction mechanism.

[0009] Further, the control unit coordinates the opening and closing of the capture clamp and the opening and closing of the suction pump, when the capture clamp is opened and closed, the suction pump generates suction, and when the capture clamp is fully closed, the suction pump is closed.

[0010] Further, the capture clamp is opened and closed to complete a complete capture process, and the sea cucumber is transported to the collection cabin by the flexible suction chamber under the driving of the suction pump.

[0011] Further, the opening and closing of the capture clamp drives the suction chamber to be retracted and extended, simulating the action of a fish mouth feeding.

[0012] Further, the capture clamp is opened and closed to complete a complete capture process, and the sea cucumber is transported to the collection cabin by the suction chamber under the driving of the suction pump.

[0013] The application can also include:

[0014] A sea cucumber underwater bionic fishing device as described above, the fishing method comprising: when a sea cucumber is found, starting the control unit of the underwater robot, controlling the starting of the bionic fish head clamp mechanism and the bionic flexible suction mechanism, and then driving the mechanism to start the motor, opening the two capture clamps, and sucking the sea cucumber into the flexible suction chamber by starting the suction pump, and then the sea cucumber enters the flexible suction pipe from the flexible suction chamber, the two capture clamps are closed, the motor is turned off, the sea cucumber enters the collection cabin, and the suction pump is turned off.

[0015] The application has the following advantages:

[0016] The device combines the opening and closing fish head structure of bionics and the bionic flexible suction mechanism, can be opened and closed flexibly in complex seabed environment, and can efficiently and non-destructively capture target sea cucumbers. Through the bionic design of the fish head structure, the damage to the sea cucumber and the surrounding environment during the capture process is reduced, and the capture efficiency and applicability of the equipment are improved through the bionic flexible suction mechanism.

[0017] The application combines the clamp mechanism and the bionic flexible suction mechanism, can operate flexibly in complex seabed environment, and significantly improves the success rate and efficiency of target capture. Through the cooperative work of the bionic fish head clamp mechanism and the flexible suction mechanism, the damage to the target object is effectively reduced, and the damage to the surrounding environment is minimized, and it is especially suitable for the capture operation of soft and sensitive organisms such as sea cucumbers. It has significant advantages in fishing efficiency, environmental protection and applicability.

[0018] The bionic flexible trapping mechanism sucks the target organisms into the trapping cavity and conveys them to the collection cabin through the flexible trapping cavity by the flexible trapping front edge, the flexible trapping cavity, the flexible trapping pipe and the trapping pump, so that efficient underwater trapping is realized. The control unit controls the opening and closing mechanism and the trapping system intelligently through sensor feedback signals, so that the target organisms can be accurately trapped in complex underwater environment.

[0019] The device has simple structure, flexible and efficient trapping, can reduce damage to the seabed environment and organisms during trapping, and is particularly suitable for trapping soft-bodied organisms such as sea cucumbers which are easily damaged. BRIEF DESCRIPTION OF DRAWINGS

[0020] BRIEF DESCRIPTION OF DRAWINGS Figure 1 It is a structural schematic diagram of the present application.

[0021] BRIEF DESCRIPTION OF DRAWINGS Figure 2 It is a structural schematic diagram of the present application.

[0022] BRIEF DESCRIPTION OF DRAWINGS Figure 3 It is a structural schematic diagram of the present application when the fish head main body is closed.

[0023] BRIEF DESCRIPTION OF DRAWINGS Figure 4 It is a front view of the fish head main body in an open state.

[0024] BRIEF DESCRIPTION OF DRAWINGS Figure 5 It is a side view of the fish head main body in an open state.

[0025] BRIEF DESCRIPTION OF DRAWINGS Figure 6 It is a structural schematic diagram of the present application.

[0026] BRIEF DESCRIPTION OF DRAWINGS Figure 7 It is a connection schematic diagram of the present application.

[0027] BRIEF DESCRIPTION OF DRAWINGS Figure 8 It is a structural schematic diagram of the present application.

[0028] BRIEF DESCRIPTION OF DRAWINGS Figure 9 It is an installation position schematic diagram of the control unit of the present application.

[0029] BRIEF DESCRIPTION OF DRAWINGS Figure 10 It is an installation structure schematic diagram of the present application.

[0030] BRIEF DESCRIPTION OF DRAWINGS Figure 11 It is a work flow chart of the present application.

[0031] In the figure: 1, fish head shell; 2, trapping clamp; 3, trapping clamp connection port; 4, fish head main body; 5, connection port; 6, rotating shaft; 7, upper connecting rod; 8, lower connecting rod; 9, driving connecting rod; 10, motor; 11, flexible trapping pipe; 12, flexible trapping cavity; 13, flexible trapping front edge; 14, trapping pump; 15, control unit; 16, collection cabin. Detailed Implementation

[0032] The present invention will now be further described with reference to the accompanying drawings.

[0033] A biomimetic underwater sea cucumber harvesting device, as shown in the attached image. Figures 1-5 As shown, it includes: a biomimetic fish head clamping mechanism and a biomimetic flexible suction mechanism.

[0034] The biomimetic fish head clamping mechanism includes two semi-circular clamping clamps 2. The two clamping clamps 2 are hinged to the fish head body 4 via a pivot 6 and can rotate around the pivot 6 of the clamping clamp 2 to achieve opening and closing action. At the same time, they are flexibly attached to the flexible suction cavity. The clamping clamps are fixed to the front edge 13 of the flexible suction cavity, forming a movement similar to that of a fish mouth.

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

[0036] like Figure 7 As shown, the drive mechanism achieves the opening and closing action of the capture clamp via the upper connecting rod 7, the lower connecting rod 8, the drive 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 drive connecting rod 9. The drive connecting rod 9 is fixedly connected to the motor, and the motor 9 applies driving force to cause the upper connecting rod 7 and the lower connecting rod 8 to push the capture clamp 2 to move.

[0037] Through this biomimetic design, the gripping device of this invention can not only adapt to different working environments, but also complete object gripping tasks more efficiently, especially suitable for handling irregularly 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 the underwater robot body is equipped with a suction pump 14, a control unit 15, and a collection chamber 16.

[0039] In this embodiment, the biomimetic flexible suction mechanism is connected to the biomimetic fish head clamping mechanism and the biomimetic flexible suction mechanism by wrapping and fixing the flexible suction front edge 13 to the clamping clamp 2.

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

[0041] The opening and closing of the catch clamp 2 drives the suction cavity to retract and extend, simulating the action of a fish mouth preying.

[0042] The opening and closing of the catch clamp 2 drives the suction cavity to retract and extend, simulating the action of a fish mouth preying.

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

[0044] The bionic fish head clamp capture mechanism and the bionic flexible suction mechanism are controlled by the control unit 15 of the underwater robot. Figure 11 When a sea cucumber is found, the control unit 15 of the underwater robot is started, the bionic fish head clamp capture mechanism and the bionic flexible suction mechanism are controlled, then the motor 10 of the drive mechanism is started, the two catch clamps 2 are opened, the sea cucumber is sucked into the suction cavity by starting the suction pump 14, then the sea cucumber enters the flexible suction pipe 11 from the suction cavity, the two catch clamps 2 are closed, the motor 10 is turned off, the sea cucumber enters the collection tank 16, and the suction pump is turned off.

[0045] When the motor 10 is started, the drive link 9 drives the upper and lower links 7 and 8 to control the opening and closing of the catch clamps 2. When the catch clamps 2 are opened, the suction pump 14 is started to suck the target organism into the flexible suction cavity 12; after the catch clamps are closed, the suction pump is turned off, and the target organism is transported to the collection tank 16 through the flexible suction pipe 11. Through this bionic design, the grabbing device not only can adapt to different working environments, but also can complete the object grabbing task more efficiently, especially suitable for handling irregular shaped and fragile objects.

[0046] The bionic flexible suction mechanism sucks the target organism into the capture cavity and transports it to the collection tank 16 through the flexible suction cavity, realizing efficient underwater capture. The control unit 15 controls the opening and closing mechanism and the suction system intelligently through sensor feedback signals, ensuring accurate capture of the target organism in complex underwater environments. 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, especially suitable for capturing soft-bodied organisms such as sea cucumbers which are easily damaged.

[0047] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A sea cucumber underwater bionic fishing device, characterized in that , including: The bionic fish head clamping mechanism is connected with a driving mechanism, and the bionic fish head clamping mechanism comprises two half-circular clamping jaws (2) which are hinged to a fish head body (4) through a rotating shaft (6) to realize opening and closing actions, and the clamping jaws (2) are connected with a bionic flexible suction mechanism, the bionic flexible suction mechanism comprises a flexible suction front edge (13), the flexible suction front edge (13) is connected with a flexible suction cavity (12), the flexible suction cavity (12) is communicated with a flexible suction pipe (11), the flexible suction pipe (11) is connected with a collection cabin (16), and the collection cabin (16) is connected with a suction pump (14); The driving mechanism comprises an upper connecting rod (7) and a lower connecting rod (8), one end of the upper connecting rod (7) and one end of the lower connecting rod (8) are connected with the two half-circular clamping jaws (2) respectively, the other end of the upper connecting rod (7) and the other end of the lower connecting rod (8) are connected with a driving connecting rod (9), the driving connecting rod (9) is connected with a motor (10), and the opening and closing actions of the bionic fish head clamping mechanism are realized. The clamping jaws (2) realize a complete fishing process from opening and closing to complete closing, and sea cucumbers are conveyed to the collection cabin by the flexible suction cavity (12) through the flexible suction pipe (11) under the driving of the suction force of the suction pump (14).

2. The device according to claim 1, wherein The fish head body (4) is fixedly connected with a main body of an underwater robot, and a control unit (15), the suction pump (14) and the collection cabin (16) are arranged in the main body of the underwater robot.

3. The device according to claim 1, wherein The bionic flexible suction mechanism is fixedly connected with the clamping jaws (2) through the flexible suction front edge (13), so that the bionic fish head clamping mechanism and the bionic flexible suction mechanism are connected.

4. The device according to claim 2, wherein The control unit (15) coordinately controls the opening and closing of the clamping jaws (2) and the opening and closing of the suction pump (14), the suction pump (14) generates suction force when the clamping jaws (2) are opened and closed, and the suction pump (14) is closed after the clamping jaws are completely closed.

5. The device according to any one of claims 1-4, wherein, The opening and closing of the clamping jaws (2) drives the suction cavity to be retracted and extended, and the action of simulating fish mouth predation is realized.

6. The device according to any one of claims 1-4, wherein, The clamping jaws (2) realize a complete fishing process from opening and closing to complete closing, and sea cucumbers are conveyed to the collection cabin by the flexible suction cavity (12) through the flexible suction pipe (11) under the driving of the suction force of the suction pump (14).

7. A method of fishing with the sea cucumber underwater bionic fishing device according to any one of claims 1-6, characterized in that, The method comprises the following steps: When sea cucumbers are found, the control unit (15) of the underwater robot is started to control the bionic fish head clamping mechanism and the bionic flexible suction mechanism to be started, then the motor (10) of the driving mechanism is started to open the two clamping jaws (2), the suction pump (14) is started to suck the sea cucumbers into the flexible suction cavity (12), then the sea cucumbers enter the flexible suction pipe (11) from the flexible suction cavity (12), the two clamping jaws (2) are closed, the motor (10) is stopped, the sea cucumbers enter the collection cabin (16), the suction pump (14) is stopped, and the collection of the sea cucumbers is completed.

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