Flexible holding type grabbing mechanism for underwater aquatic products

Abstract

The invention discloses a flexible holding type grabbing mechanism for underwater aquatic products in the field of marine product culture. The flexible holding type grabbing mechanism comprises a device main body, a sliding limiting structure and a plurality of flexible grabbing assemblies, the device body comprises a base and a suction pipe connected to the top of the base, and a first suction hole is formed in the base in a penetrating mode. The sliding limiting structure is installed at the bottom of the base and comprises a sliding disc, and a second suction hole corresponding to the first suction hole and a plurality of arc-shaped sliding grooves annularly distributed around the second suction hole are formed in the sliding disc in a penetrating mode. The flexible grabbing assemblies are annularly distributed between the base and the sliding limiting structure around the first suction hole, each flexible grabbing assembly comprises a telescopic part and a flexible grabbing bag, one end of each telescopic part is rotatably connected to the base, the other end of each telescopic part is connected with the corresponding flexible grabbing bag, the telescopic parts are slidably connected with the sliding grooves, and the telescopic parts stretch out and draw back when sliding along the paths of the sliding grooves. By arranging the flexible grabbing assembly, trepang and other precious marine products can be rotationally moved, gathered, held and then sucked.

Description

Technical Field

[0001] The invention belongs to the field of fishery engineering equipment, and in particular relates to a flexible lifting and grabbing mechanism for underwater aquatic products. Background Art

[0002] The capture of underwater aquatic products is a key process in fishery production, and the related capture methods and technologies are innumerable. In recent years, various robotic grasping technologies have continued to emerge, making the capture of aquatic products, especially the capture and production of high-value benthic aquatic products, move towards an era of automation and intelligence, each with its own characteristics. For high-value aquatic products, there are usually requirements for appearance, that is, certain typical characteristics of these aquatic products cannot be destroyed during capture, otherwise the commercial value will drop sharply, such as the protruding spines on the surface of sea cucumbers, the integrity of shells, etc. However, new grasping and capturing technologies represented by various robotic arms usually find it difficult to take into account the requirements for the appearance integrity of aquatic products. Therefore, manual grasping is still the main method in actual production, which not only has high production costs, but also has great safety hazards and dangers.

[0003] The current aquatic product capture manipulator technology can be roughly divided into two categories: suction and grasping. Suction usually uses negative pressure to suck away aquatic products. The technology is relatively simple, but during the suction process, it also sucks non-target substances such as mud and sand, which need to be further removed. Impurities such as mud and sand are also likely to damage the appearance of aquatic products. The way to grasp aquatic products is usually to pick up the aquatic products by a certain clamping method. Compared with the suction method, it generally does not grab non-target substances such as mud and sand at the same time, but the technical difficulty is higher. In particular, there are still deficiencies in the precise control of the clamping force, clamping angle and range of the grasping. Under the influence of environmental conditions such as ocean currents, the grasping mechanism may cause the target aquatic product to fall off, or even destroy the appearance of the target aquatic product and reduce its value. Therefore, the current aquatic product grasping and capturing urgently needs a new grasping technology that is safe and effective and does not damage the appearance of aquatic products. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the present invention provides a flexible lifting and grasping mechanism for underwater aquatic products. The present invention simulates the way of holding objects by human hands to grasp, and the marine delicacies are fiddled with, gathered in the center, and then lifted up and sucked for harvest, thus forming a safer and more effective flexible and adaptive grasping process and technology for aquatic products.

[0005] In order to achieve the above-mentioned object of the invention, the technical solution adopted by the present invention is: A flexible lifting and grabbing mechanism for underwater aquatic products, comprising: a device body, a sliding limit structure and a plurality of flexible grabbing components; The device body includes a base and a suction tube connected to the top of the base, and a first suction hole corresponding to the suction tube is formed through the base; The sliding limit structure is installed at the bottom of the base, and includes a sliding disc. A second suction hole corresponding to the first suction hole and a plurality of sliding grooves are formed through the sliding disc. The plurality of sliding grooves are arranged in a circumferential array around the second suction hole. Each sliding groove is an arc-shaped sliding groove extending radially along the radius direction of the sliding disc from a position close to the second suction hole. A plurality of the flexible gripping components are arranged in a circumferential array around the first suction hole between the base and the sliding limit structure, and are correspondingly arranged with the plurality of sliding grooves one by one. Each flexible gripping component includes a telescopic part and a flexible gripping bladder. One end of the telescopic part is rotatably connected to the base, and the other end is connected to the flexible gripping bladder. The flexible gripping bladder can rotate horizontally around the first suction hole based on the rotational connection between the telescopic part and the base. The telescopic part is slidably connected to the sliding groove, and the telescopic part expands and contracts when sliding along the path of the sliding groove.

[0006] Further, a spraying device is further included. The spraying device includes a liquid pumping pump and a liquid spraying pipe. The liquid pumping pump is installed on the base. The liquid spraying pipe is embedded in the base. The liquid spraying pipe includes a liquid inlet pipe, an annular liquid distribution pipe and a plurality of liquid outlet pipes which are communicated with each other. One end of the liquid inlet pipe is connected to the liquid pumping pump, and the other end is connected to the annular liquid distribution pipe. A plurality of liquid outlet pipes are arranged below the annular liquid distribution pipe. The ends of the plurality of liquid outlet pipes sequentially penetrate through the base and the sliding disc and then converge towards the center.

[0007] Further, the liquid outlet pipes are arranged at intervals with the sliding grooves.

[0008] Further, a plurality of plugging grooves are formed at the bottom of the base. The plurality of plugging grooves are evenly arranged in a ring around the first suction hole. The telescopic part is accommodated in the plugging groove. The plugging groove is a fan-shaped groove, which is used to adapt to the rotation of the telescopic part relative to the first suction hole in the plugging groove based on the sliding of the limiting block in the sliding groove.

[0009] Further, the telescopic part includes an extension block and a push rod. A piston cavity is arranged in the extension block. One end of the push rod is rotatably connected to the base, and the other end extends into the piston cavity and is provided with a push plate which is in clearance fit with the cross section of the piston cavity at the end. A limiting block is fixedly connected to the bottom of the extension block, and the limiting block is slidably connected in the sliding groove.

[0010] Further, the flexible gripping bladder includes a bladder body, a closing plate and a connecting plate. A cavity is arranged in the bladder body. The top of the bladder body is sealed with the closing plate. Two connecting plates are arranged on the top of the closing plate, and the two connecting plates are respectively fixedly connected to both sides of the extension block.

[0011] Further, the flexible grasping assembly is configured with a hydraulic assembly, which includes a hydraulic housing, a follow-up hydraulic cover, a hydraulic pump, and a liquid conveying hose. The hydraulic housing is fixedly arranged at the outer top of the extension block. The follow-up hydraulic cover is slidably and sealingly connected inside the hydraulic housing to enclose the hydraulic housing. The hydraulic pump is installed inside the hydraulic housing. The hydraulic housing is filled with hydraulic oil. The oil outlet end of the hydraulic pump is connected to the piston chamber, and the piston chamber is connected to the flexible grasping bladder through the liquid conveying hose. The hydraulic assembly provides power for the flexible grasping assembly to open, close, and slide. When the hydraulic assembly fills the flexible grasping assembly with liquid, the telescopic part extends and the flexible grasping bladder opens. When the hydraulic assembly sucks the hydraulic oil of the flexible grasping assembly, the telescopic part retracts and the flexible grasping bladder gathers together.

[0012] Further, the bladder of the flexible grasping bladder is in a half-moon shape. The side facing the device main body is the convex side, and the opposite direction is the concave side. After being pressurized, the bladder expands and inclines towards the concave side, and after being depressurized, it contracts and gathers towards the convex side.

[0013] Further, a pressure sensor is embedded on the convex side surface of the bladder. By embedding a pressure sensor on the inner surface of the flexible grasping bladder, when the flexible grasping bladder grasps sea treasures such as sea cucumbers, the controller controls the hydraulic pump according to the received pressure data. The pressure tolerance limit of sea treasures such as sea cucumbers is measured through prior experiments and set as P Pascals. When grasping sea treasures such as sea cucumbers, due to the obstruction of the target object, the pressure in the flexible grasping bladder rises. When it exceeds the pressure tolerance limit of P Pascals, the controller controls the hydraulic pump to stop sucking oil according to the received pressure data, so as not to damage sea treasures such as sea cucumbers and ensure the appearance of the sea treasures. That is to say, the flexible grasping bladder of the present invention is an adaptive grasping bladder with a pressure sensor. After rotating and grasping the target object, it will not continuously contract with brute force, thus ensuring the appearance and integrity of the sea treasures.

[0014] Further, anti-slip textures are provided on the convex side surface of the bladder.

[0015] The present invention has the following beneficial effects: 1. The grasping process of the present invention is a petal-like rotational tightening grasping method. By setting a flexible grasping assembly and driving the flexible grasping assembly through a hydraulic assembly, it grasps in a rotational tightening manner, effectively preventing the escape and falling off of the target object, and having a higher grasping efficiency.

[0016] 2. The grasping mechanism of the present invention is an adaptive flexible grasping method. By automatically adjusting the grasping pressure through the pressure sensor of the flexible grasping bladder, it can grasp under the pressure tolerated by the sea treasures, ensuring that the appearance of the sea treasures is not damaged and guaranteeing its commercial value.

[0017] 3. The gathering and grasping method of the rotating and tightening of the grasping mechanism of the present invention captures the marine treasures in a manner similar to "lifting" by human hands. That is, after the flexible petal-shaped grasping mechanism tightens and gathers, the marine treasures are "held" in the center and then sucked and collected, rather than being completely grasped and clamped. It can be grasped in a gentler way, causing less damage to the target object. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is the front view of the device main body and the sliding limit structure; Figure 2 is the bottom view of the sliding limit structure; Figure 3 is the assembly schematic diagram of the flexible grasping component and the base; Figure 4 is the assembly schematic diagram of the flexible grasping component, the base and the sliding limit structure; Figure 5 is the partial cross-sectional view of the flexible grasping component and the hydraulic component in the semi-extended state from the front view; Figure 6 is the structural schematic diagram of the liquid spraying pipe; Figure 7 is the electrical component connection diagram.

[0019] The symbols of each component are as follows: Device main body 1, base 11, first suction hole 111, insertion slot 112, suction pipe 12, liquid extraction pump 13, liquid spraying pipe 14, liquid inlet pipe 141, liquid distribution pipe 142, liquid outlet pipe 143, sliding limit structure 2, connection ring 21, sliding disc 22, rotating chute 23, second suction hole 222, flexible grasping component 3, flexible grasping bladder 30, bladder body 31, pressure sensor 311, closing plate 32, connecting plate 33, extension block 34, piston chamber 341, limiting block 35, push rod 36, push plate 361, hydraulic component 4, hydraulic housing 41, anti-detachment block 411, follower hydraulic seal cover 42, hydraulic pump 43, liquid passing hose 44, first hose 441, second hose 442, controller 5. DETAILED DESCRIPTION OF THE INVENTION

[0020] In the present invention, unless otherwise clearly defined and limited, terms such as "installation" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be directly connected, or indirectly connected through an intermediate medium, and can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] In the description of the present invention, it should be understood that the orientation or positional relationships indicated by the terms "upper", "lower", "inner", "outer", "top", "bottom", etc. are all based on the orientation or positional relationships shown in the drawings. These are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the invention. Embodiment 1

[0022] As Figures 1 - 7 shown, an underwater aquatic product flexible lifting and grasping mechanism includes: a device main body 1, a sliding limit structure 2, a plurality of flexible grasping components 3, and a spraying device. It can be understood that the number of the flexible grasping components 3 is set according to needs. In the specific embodiment of the present invention, 6 are taken as an example for illustration.

[0023] The device main body 1 includes a base 11 and a suction pipe 12 connected to the top of the base 11. A first suction hole 111 corresponding to the suction pipe 12 and for sea cucumbers and other marine delicacies to pass through is formed through the base 11. The suction pipe 12 is externally connected to a suction device.

[0024] The sliding limit structure 2 is installed at the bottom of the base 11 and includes a sliding disc 22 and a connecting ring 21. The connecting ring 21 is sleeved on the outer circumferential surface of the sliding disc 22 for fixedly connecting the sliding disc 22 to the bottom surface of the base 11. A second suction hole 222 corresponding to the first suction hole 111 is formed through the sliding disc 22. A plurality of sliding grooves 23 are formed through the sliding disc 22. The plurality of sliding grooves 23 are arranged in a circumferential array around the second suction hole 222. Each sliding groove 23 is an arc-shaped sliding groove radially extending along the radius direction of the sliding disc 22 from a position close to the second suction hole 222. A plurality of the flexible grasping components 3 are arranged in a circumferential array around the first suction hole 111 between the base 11 and the sliding limit structure 2 and are arranged in one-to-one correspondence with the plurality of sliding grooves 23. Each flexible grasping component 3 includes a telescopic part and a flexible grasping bladder 30. A plurality of plug-in slots 112 are formed at the bottom of the base 11. The plurality of plug-in slots 112 are arranged in a circular and uniform array around the first suction hole 111. The plug-in slot 112 is a fan-shaped slot radially expanding and extending along the radius direction of the base 11 from a position close to the first suction hole 111. The telescopic part is accommodated in the plug-in slot 112.

[0025] The telescopic part includes an extension block 34 and a push rod 36. A piston chamber 341 is provided in the extension block 34. One end of the push rod 36 is rotatably connected to the end of the insertion slot 112 close to the suction hole, and the other end extends into the piston chamber 341 and is provided with a push plate 361 that is in clearance fit with the cross-section of the piston chamber 341. The end of the extension block 34 away from the push rod 36 is connected to the flexible grasping bladder 30. The flexible grasping bladder 30 can rotate horizontally around the first suction hole 111 based on the rotational connection between the telescopic part and the base 11. A limiting block 35 is fixedly connected to the bottom of the extension block 34. The limiting block 35 is slidably connected in the sliding groove 23. The telescopic part realizes telescoping when the limiting block 35 slides along the path of the sliding groove 23.

[0026] The flexible grasping bladder 30 includes a bladder body 31, a closing plate 32 and a connecting plate 33. A cavity is provided in the bladder body 31. The top of the bladder body 31 is sealed with a closing plate 32. Two connecting plates 33 are provided on the top of the closing plate 32. The two connecting plates 33 are respectively fixedly connected to both sides of the extension block 34.

[0027] The flexible grasping assembly 3 is configured with a hydraulic assembly 4, and the hydraulic assembly 4 includes a hydraulic housing 41, a follow-up hydraulic cover 42, a hydraulic pump 43, and a liquid conveying hose 44. The hydraulic housing 41 is fixedly arranged on the outer top of the extension block 34. The follow-up hydraulic cover 42 is slidably and sealingly connected within the hydraulic housing 41, acting as a piston, which can cause the follow-up hydraulic cover 42 to rise or fall when the hydraulic pump 43 pumps hydraulic oil out of the hydraulic housing 41, that is, the volume of the hydraulic oil in the hydraulic housing 41 can be flexibly changed, thereby balancing the internal and external pressures and achieving the closure of the hydraulic housing 41. A retaining block 411 for preventing the follow-up hydraulic cover 42 from disengaging is provided at the top of the hydraulic housing 41. The hydraulic pump 43 is installed within the hydraulic housing 41. The hydraulic pump 43 is a two-way type and can realize oil suction and oil pressure. The hydraulic housing 41 is filled with hydraulic oil. The oil outlet end of the hydraulic pump 43 is connected to the piston chamber 341 through the liquid conveying hose 44, and the piston chamber 341 is connected to the flexible grasping bladder 30 through the liquid conveying hose 44. The liquid conveying hose 44 includes a first hose 441 and a second hose 442. An oil inlet hole is formed on the top surface of the extension block 34, and an oil outlet hole is formed on the bottom surface. An oil through hole is formed on the closing plate 32 of the flexible grasping bladder. The two ends of the first hose 441 are respectively connected to the oil outlet end of the hydraulic pump 43 and the oil inlet hole on the top surface of the extension block 34, and the two ends of the second hose 442 are respectively connected to the oil outlet hole on the bottom surface of the extension block 34 and the oil through hole of the closing plate 32 of the flexible grasping bladder. The connecting ends of the first hose 441 and the second hose 442 are both sealingly connected. The hydraulic assembly 4 provides power for the opening and closing and sliding of the flexible grasping assembly 3. When the hydraulic assembly 4 fills the flexible grasping assembly 3 with hydraulic oil, through the first hose 441, the hydraulic pump 43 pumps the hydraulic oil into the piston chamber 341 within the extension block 34. The hydraulic oil pushes the push plate 361 to make the extension block 34 extend. At the same time, through the second hose 442, the hydraulic oil in the piston chamber 341 is introduced into the flexible grasping bladder 30 to make the flexible grasping bladder 30 open. When the hydraulic assembly 4 sucks the hydraulic oil from the flexible grasping assembly 3, the extension block 34 of the flexible grasping assembly 3 retracts, and the flexible grasping bladder 30 gathers and tightens to achieve the grasping of marine delicacies such as sea cucumbers.

[0028] The bladder 31 of the flexible grasping bladder 30 is in a semi-crescent shape. The side facing the device main body 1 is the convex side, and the opposite direction is the concave side. After being pressurized, the bladder 31 expands and inclines towards the concave side, and after being depressurized, it contracts and gathers towards the convex side.

[0029] A pressure sensor 311 is embedded on the convex side of the bladder 31. When the flexible grasping bladder 30 grasps marine delicacies such as sea cucumbers, the controller 5 controls the hydraulic pump 43 according to the received pressure data to prevent the hydraulic pump 43 from continuously sucking oil, which may cause excessive pressure on the flexible grasping bladder 30 and damage to marine delicacies such as sea cucumbers, and further ensure the quality of grasping marine delicacies such as sea cucumbers.

[0030] The convex side surface of the bladder 31 is provided with anti-slip textures, which further enhances the friction between the flexible grasping bladder 30 and sea treasures such as sea cucumbers, preventing sea treasures such as sea cucumbers from falling off.

[0031] The spraying device includes a liquid extraction pump 13 and a liquid spraying pipe 14. The liquid extraction pump 13 is installed on the base 11. The liquid spraying pipe 14 is embedded in the base 11. The liquid spraying pipe 14 includes a liquid inlet pipe 141, an annular liquid distribution pipe 142 and a plurality of liquid outlet pipes 143 that are interconnected. One end of the liquid inlet pipe 141 is connected to the liquid extraction pump 13, and the other end is connected to the annular liquid distribution pipe 142. A plurality of liquid outlet pipes 143 are arranged below the annular liquid distribution pipe 142. The ends of the plurality of liquid outlet pipes 143 sequentially pass through the base 11 and the sliding disc 22 and then converge towards the center. The number of the liquid outlet pipes 143 corresponds to the number of the sliding grooves 23 one by one, and the liquid outlet pipes 143 and the sliding grooves 23 are arranged at intervals on the sliding disc 22.

[0032] By setting the spraying device, the captured sea treasures such as sea cucumbers can be rinsed. When the hydraulic pump 43 in the grasping action stops sucking oil, the controller 5 controls the liquid extraction pump 13 to work, extracts liquid and sprays it from the liquid outlet pipes 143 to rinse the captured sea treasures such as sea cucumbers. After rinsing, the captured sea treasures such as sea cucumbers are sucked out through an external suction device, and the captured sea treasures such as sea cucumbers are easier to process.

[0033] The pressure sensor 311, the hydraulic pump 43 and the liquid extraction pump 13 are all electrically connected to the controller 5.

[0034] In summary, by setting the flexible grasping assembly 3 and driving the flexible grasping assembly 3 through the hydraulic assembly 4. Compared with the existing grasping device that directly sucks sea treasures such as sea cucumbers, first, the adaptive flexible grasping assembly 3 gathers the sea treasures such as sea cucumbers, and then the suction pipe 12 in the center of the device body 1 sucks the sea treasures such as sea cucumbers, reducing the impact force between the sea treasures such as sea cucumbers and the grasping device, ensuring the integrity of the grasping of the sea treasures such as sea cucumbers, and making the quality of the grasped sea treasures such as sea cucumbers higher. And the grasping range can be adjusted through the hydraulic assembly 4 to adapt to the gathering and grasping of different quantities and sizes of sea treasures such as sea cucumbers. By setting the arc-shaped sliding grooves 23, the plurality of flexible grasping assemblies 3 can achieve "rotary closing", which can make the gathering effect of the sea treasures such as sea cucumbers better, further reducing the direct impact force between the flexible grasping assembly 3 and the sea treasures such as sea cucumbers, and "lifting" the sea treasures such as sea cucumbers after gathering them by means of prodding, further ensuring the quality of the sea treasures such as sea cucumbers during the grasping process. Embodiment 2

[0035] Take the underwater aquatic product flexible lifting type grasping mechanism in Embodiment 1, and set it on an underwater fishing robot for fishing benthic sea cucumbers. The pressure at which the appearance of the sea cucumber is not damaged is measured in advance as P1, then the pressure limit value of the flexible grasping bag 30 is set to P1 in the grasping mechanism control 5, that is, when the pressure applied by the flexible grasping bag 30 is greater than P1, the continuous contraction and pressurization are automatically stopped. The process of applying it to grasp sea cucumbers is as follows. When the underwater fishing robot identifies a sea cucumber, move the underwater aquatic product flexible lifting type grasping mechanism of the present invention and cover it directly above the sea cucumber. The 6 flexible grasping bags form a cage to prevent it from escaping. The controller starts the flexible component, and gradually rotates and contracts the 6 flexible grasping bags until the sea cucumber is fiddled and lifted to the central position; after removing the sediment through the rinsing device, suck and collect it. Embodiment 3

[0036] Take the underwater aquatic product flexible lifting type grasping mechanism in Embodiment 1, and set it on an underwater fishing robot for fishing benthic scallops. The pressure at which the appearance of the scallop is not damaged is measured in advance as P2, then the pressure limit value of the flexible grasping bag 30 is set to P2 in the grasping mechanism control 5, that is, when the pressure applied by the flexible grasping bag 30 is greater than P2, the continuous contraction and pressurization are automatically stopped. The process of applying it to grasp scallops is as follows. When the underwater fishing robot identifies a scallop, move the underwater aquatic product flexible lifting type grasping mechanism of the present invention and cover it directly above the scallop. The 6 flexible grasping bags form a cage to prevent it from escaping. The controller starts the flexible component, and gradually rotates and contracts the 6 flexible grasping bags until the scallop is fiddled and lifted to the central position; after removing the sediment through the rinsing device, suck and collect it.

[0037] The specific embodiments of the present invention will be described below to facilitate those skilled in the art of the present technology to understand the present invention. However, it should be clear that the present invention is not limited to the scope of the specific embodiments. For those of ordinary skill in the art of the present technology, as long as various changes are within the spirit and scope of the present invention defined and determined by the appended claims, these changes are obvious, and all inventions and creations using the concept of the present invention are within the scope of protection.

Claims

1. A flexible lifting and grabbing mechanism for underwater aquatic products, characterized in that: include: A device body (1), a sliding limit structure (2), and a plurality of flexible grasping components (3); The device body (1) comprises a base (11) and a suction tube (12) connected to the top of the base (11); a first suction hole (111) corresponding to the suction tube (12) is formed through the base (11); The sliding limit structure (2) is installed at the bottom of the base (11), and comprises a sliding disc (22). A second suction hole (222) corresponding to the first suction hole (111) and a plurality of sliding grooves (23) are formed through the sliding disc (22). The plurality of sliding grooves (23) are arranged in a circular array around the second suction hole (222). Each of the sliding grooves (23) is an arc-shaped sliding groove extending radially from a position close to the second suction hole (222) along the radial direction of the sliding disc (22). A plurality of the flexible grab assemblies (3) are arranged in an annular array around the first suction hole (111) between the base (11) and the sliding limit structure (2), and are arranged one-to-one with the plurality of the slide grooves (23). Each flexible grab assembly (3) comprises a telescopic portion and a flexible grab bag (30). One end of the telescopic portion is rotatably connected to the base (11), and the other end is connected to the flexible grab bag (30). The flexible grab bag (30) can rotate in a horizontal direction around the first suction hole (111) based on the rotational connection between the telescopic portion and the base (11). The telescopic portion is slidably connected to the slide groove (23), and the telescopic portion is telescopic when sliding along the path of the slide groove (23).

2. The flexible lifting and grabbing mechanism for underwater aquatic products according to claim 1 is characterized in that: The invention also comprises a spray device, the spray device comprising a liquid extraction pump (13) and a liquid spray pipe (14), the liquid extraction pump (13) being mounted on the base (11), the liquid spray pipe (14) being embedded in the base (11), the liquid spray pipe (14) comprising a liquid inlet pipe (141), a circular liquid separation pipe (142) and a plurality of liquid outlet pipes (143) which are interconnected, one end of the liquid inlet pipe (141) being connected to the liquid extraction pump (13), and the other end being connected to the circular liquid separation pipe (142), a plurality of liquid outlet pipes (143) being arranged below the circular liquid separation pipe (142), the ends of the plurality of liquid outlet pipes (143) passing through the base (11) and the sliding disc (22) in sequence and then converging towards the center.

3. The flexible lifting and grabbing mechanism for underwater aquatic products according to claim 2 is characterized in that: The liquid outlet pipe (143) and the slide groove (23) are arranged at intervals.

4. The flexible lifting and grabbing mechanism for underwater aquatic products according to claim 1, characterized in that: The bottom of the base (11) is provided with a plurality of plug-in grooves (112), the plurality of plug-in grooves (112) being evenly arranged in a ring around the first suction hole (111), the telescopic portion being accommodated in the plug-in grooves (112), and the plug-in grooves (112) being fan-shaped grooves.

5. The flexible lifting and grabbing mechanism for underwater aquatic products according to any one of claims 1 to 4, characterized in that: The telescopic portion comprises an extension block (34) and a push rod (36); a piston cavity (341) is provided in the extension block (34); one end of the push rod (36) is rotatably connected to the base (11); the other end extends into the piston cavity (341) and the end is provided with a push plate (361) that matches the cross-sectional clearance of the piston cavity (341); a limit block (35) is fixedly connected to the bottom of the extension block (34); and the limit block (35) is slidably connected to the slide groove (23).

6. The flexible lifting and grabbing mechanism for underwater aquatic products according to claim 5, characterized in that: The flexible grab bag (30) comprises a bag body (31), a closing plate (32) and a connecting plate (33); a cavity is provided in the bag body (31); the closing plate (32) is sealed on the top of the bag body (31); two connecting plates (33) are provided on the top of the closing plate (32); the two connecting plates (33) are respectively fixed to two sides of the extension block (34).

7. The flexible lifting and grabbing mechanism for underwater aquatic products according to claim 6 is characterized by: The flexible grab assembly (3) is provided with a hydraulic assembly (4), the hydraulic assembly (4) comprising a hydraulic housing (41), a follower hydraulic cover (42), a hydraulic pump (43) and a fluid hose (44); the hydraulic housing (41) is fixedly arranged on the outer top of the extension block (34); the follower hydraulic cover (42) is slidably sealed and connected to the hydraulic housing (41) to seal the hydraulic housing (41); the hydraulic pump (43) is installed in the hydraulic housing (41); the hydraulic housing (41) is filled with hydraulic oil; the oil outlet end of the hydraulic pump (43) and the piston chamber (341), as well as the piston chamber (341) and the flexible grab bag (30) are connected via the fluid hose (44).

8. The flexible lifting and grabbing mechanism for underwater aquatic products according to claim 7 is characterized in that: The capsule body (31) of the flexible grab bag (30) is in the shape of a half-moon, with the side facing the device body (1) being a convex side and the opposite side being a concave side. The capsule body (31) expands and tilts toward the concave side after being pressurized, and contracts and gathers toward the convex side after being depressurized.

9. The flexible lifting and grabbing mechanism for underwater aquatic products according to claim 8, characterized in that: A pressure sensor (311) is embedded on the convex side surface of the capsule (31).

10. The flexible lifting and grabbing mechanism for underwater aquatic products according to claim 8, characterized in that: The convex side surface of the capsule (31) is provided with an anti-slip texture.

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