Underwater flexible scooping mechanism for aquatic products

Abstract

The application discloses a kind of underwater aquatic product flexible scooping type grabbing mechanism in the field of marine product cultivation, comprising: device main body, sliding limit structure and several flexible grabbing components;Device main body includes base and the suction tube connected to the top of base, and first suction hole is opened through on base;Sliding limit structure is installed on the bottom of base, including sliding disc, and second suction hole corresponding with first suction hole and several arc-shaped sliding grooves around second suction hole are opened through on sliding disc;Flexible grabbing component is arranged around first suction hole between base and sliding limit structure, and each flexible grabbing component includes telescopic part and flexible grabbing bag, one end of telescopic part is rotatably connected to base, the other end is connected with flexible grabbing bag, telescopic part is slidably connected with sliding groove, and telescopic part is telescopic when sliding along sliding groove path.The present application can rotate and stir sea cucumber and other marine delicacies, and gather and scoop up for suction by setting flexible grabbing component.

Description

Technical Field

[0001] This invention belongs to the field of fishery engineering equipment, specifically relating to a flexible lifting and grasping mechanism for underwater aquatic products. Background Technology

[0002] The capture of aquatic products is a crucial process in fisheries production, with numerous methods and technologies employed. In recent years, various robotic arm technologies have emerged, propelling the capture of aquatic products, especially high-value benthic products, towards automation and intelligence, each with its own unique characteristics. For high-value aquatic products, there are often appearance requirements; certain characteristic features must not be damaged during capture, otherwise their commercial value will plummet. Examples include the prominent spines on the body of sea cucumbers and the integrity of their shells. However, new capture technologies, represented by various robotic arms, often struggle to meet these appearance requirements. Therefore, in practice, manual capture remains the primary method, resulting in high production costs and significant safety hazards and dangers.

[0003] Current aquatic product capture robotic technologies can be broadly categorized into two types: suction and gripping. Suction typically uses negative pressure to remove aquatic products, which is relatively simpler in technology. However, the suction process also picks up non-target substances such as mud and sand, requiring further removal of these impurities, which can potentially damage the appearance of the aquatic products. Gripping, on the other hand, usually uses a clamping mechanism to pick up and collect the aquatic products. Compared to suction, it generally does not simultaneously grab non-target substances like mud and sand, but it is technically more challenging. In particular, the precise control of the gripping force, angle, and range is currently insufficient. Under the influence of environmental conditions such as ocean currents, gripping mechanisms can cause the target aquatic products to fall off, or even damage their appearance and reduce their value. Therefore, there is an urgent need for safe, effective, and non-destructive gripping technologies for aquatic product capture. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides an underwater flexible lifting and grasping mechanism for aquatic products. This invention simulates the way a human hand lifts an object to grasp it, manipulating and gathering the seafood in the center before lifting it up for collection, thus forming a safer and more effective flexible adaptive grasping process and technology for aquatic products.

[0005] To achieve the above-mentioned objectives, the technical solution adopted by this invention is as follows: A flexible gripping mechanism for underwater aquatic products includes: a main body, a sliding limiting structure, and several flexible gripping components; The main body of the device 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 provided through the base. The sliding limiting structure is installed on the bottom of the base and includes a sliding disc. The sliding disc has a second suction hole corresponding to the first suction hole and a plurality of sliding grooves. The plurality of sliding grooves are arranged in a circumferential array around the second suction hole. Each sliding groove is an arc-shaped groove that extends radially from near the second suction hole along the radial direction of the sliding disc. A plurality of the aforementioned flexible gripping components are arranged in a circumferential array around the first suction hole between the base and the sliding limiting structure, and are respectively configured to correspond one-to-one with a plurality of the aforementioned sliding grooves. Each flexible gripping component includes a telescopic part and a flexible gripping bag. One end of the telescopic part is rotatably connected to the base, and the other end is connected to the flexible gripping bag. The flexible gripping bag can rotate horizontally around the first suction hole based on the rotatable connection between the telescopic part and the base. The telescopic part is slidably connected to the sliding groove, and the telescopic part extends and retracts when sliding along the path of the sliding groove.

[0006] Furthermore, it also includes a spraying device, which includes a liquid pump and a spray pipe. The liquid pump is mounted on a base, and the spray pipe is embedded in the base. The spray pipe includes an inlet pipe, a circular distribution pipe, and several outlet pipes that are interconnected. One end of the inlet pipe is connected to the liquid pump, and the other end is connected to the circular distribution pipe. Several outlet pipes are arranged below the circular distribution pipe, and the ends of the outlet pipes pass through the base and the sliding disc in sequence and converge towards the center.

[0007] Furthermore, the liquid outlet pipe is spaced apart from the chute.

[0008] Furthermore, the bottom of the base is provided with several insertion slots, which are evenly arranged in a ring around the first suction hole. The telescopic part is accommodated in the insertion slots, which are fan-shaped slots. These slots are designed to accommodate the telescopic part sliding within the groove based on the limiting block, and subsequently rotating relative to the first suction hole within the insertion slot.

[0009] Furthermore, the telescopic part includes an extension block and a push rod. The extension block has a piston chamber. One end of the push rod is rotatably connected to the base, and the other end extends into the piston chamber and has a push plate at the end that is in clearance fit with the cross section of the piston chamber. A limit block is fixedly connected to the bottom of the extension block, and the limit block is slidably connected in the slide groove.

[0010] Furthermore, the flexible gripper includes a gripper body, a sealing plate, and connecting plates. The gripper body has a cavity, the top of the gripper body is sealed with a sealing plate, and the top of the sealing plate is provided with two connecting plates, which are respectively fixed to both sides of the extension block.

[0011] Furthermore, the flexible gripping assembly is equipped with a hydraulic component, which includes a hydraulic housing, a follow-up hydraulic cover, a hydraulic pump, and a fluid-conducting hose. The hydraulic housing is fixedly mounted on the outer top of the extension block. The follow-up hydraulic cover is slidably and sealingly connected to the hydraulic housing, thus sealing the hydraulic housing. The hydraulic pump is installed inside the hydraulic housing, which is filled with hydraulic oil. The oil outlet of the hydraulic pump is connected to the piston chamber, and the piston chamber is connected to the flexible gripping bladder via the fluid-conducting hose. The hydraulic component provides power for the opening, closing, and sliding of the flexible gripping assembly. When the hydraulic component fills the flexible gripping assembly with hydraulic oil, the telescopic part extends and the flexible gripping bladder opens. When the hydraulic component draws hydraulic oil from the flexible gripping assembly, the telescopic part retracts and the flexible gripping bladder closes.

[0012] Furthermore, the flexible gripper is crescent-shaped, with the side facing the main body of the device being the convex side and the opposite side being the concave side. After being inflated, the gripper expands and tilts towards the concave side, and after being depressurized, it contracts and gathers towards the convex side.

[0013] Furthermore, a pressure sensor is embedded in the convex surface of the capsule. By embedding a pressure sensor in the inner surface of the flexible grasping capsule, when the flexible grasping capsule grasps sea cucumbers or other seafood, the controller controls the hydraulic pump based on the received pressure data. The pressure tolerance limit of sea cucumbers and other seafood is pre-tested and set as P Pascals. When grasping sea cucumbers or other seafood, the pressure in the flexible grasping capsule rises due to the obstruction of the target object. When the pressure exceeds the pressure tolerance limit P Pascals, the controller controls the hydraulic pump to stop sucking oil based on the received pressure data, thereby preventing damage to the sea cucumbers and other seafood and ensuring the quality of the seafood. In other words, the flexible grasping capsule of the present invention is an adaptive grasping capsule with a pressure sensor. After rotating and gripping the target object, it does not brute force continuously contract, thereby ensuring the quality and integrity of the seafood.

[0014] Furthermore, the convex surface of the capsule is provided with anti-slip texture.

[0015] The present invention has the following beneficial effects: 1. The gripping process of this invention is a petal-shaped rotating tightening gripping method. By setting up a flexible gripping component and driving the flexible gripping component through a hydraulic component, the gripping is performed by tightening and gathering, which effectively prevents the target object from escaping and falling off, and the gripping efficiency is higher.

[0016] 2. The gripping mechanism of this invention is an adaptive flexible gripping method. By automatically adjusting the gripping pressure through a flexible gripping bladder pressure sensor, it can grip seafood under pressure that it can withstand, ensuring that the appearance of the seafood is not damaged and its commercial value is preserved.

[0017] 3. The gripping mechanism of this invention uses a rotating and tightening method to grasp seafood in a way similar to a human hand "holding" it up. That is, after the flexible petal-shaped gripping mechanism tightens and gathers, it "holds" the seafood in the center and then sucks it up, rather than completely gripping and clamping it. This allows for a gentler gripping method and less damage to the target object. Attached Figure Description

[0018] Figure 1 This is a front view of the main body of the device and the sliding limit structure; Figure 2 This is a bottom view of the sliding limit structure; Figure 3 This is a schematic diagram of the flexible gripping component and the base assembly; Figure 4 This is an assembly diagram of the flexible gripping component, base, and sliding limit structure; Figure 5 This is a partial cross-sectional view of the flexible gripping component and the hydraulic component in their semi-extended state, viewed from the front. Figure 6 This is a schematic diagram of the spray pipe structure; Figure 7 It is a diagram showing the connection relationships of electrical components.

[0019] The symbols for each component are as follows: The device consists of: main body 1, base 11, first suction hole 111, insertion groove 112, suction pipe 12, liquid pump 13, spray pipe 14, inlet pipe 141, dispensing pipe 142, outlet pipe 143, sliding limiting structure 2, connecting ring 21, sliding disc 22, rotating slide 23, second suction hole 222, flexible gripping assembly 3, flexible gripping bag 30, bag body 31, pressure sensor 311, sealing plate 32, connecting plate 33, extension block 34, piston chamber 341, limiting block 35, push rod 36, push plate 361, hydraulic assembly 4, hydraulic housing 41, anti-detachment block 411, follow-up hydraulic cover 42, hydraulic pump 43, liquid flow hose 44, first hose 441, second hose 442, and controller 5. Detailed Implementation

[0020] In this invention, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0021] In the description of this invention, it should be understood that the terms "upper", "lower", "inner", "outer", "top", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Example 1

[0022] like Figures 1-7 As shown, an underwater aquatic product flexible grasping mechanism includes: a device body 1, a sliding limiting structure 2, several flexible grasping components 3, and a spraying device. It can be understood that the number of flexible grasping components 3 can be set as needed. In this specific embodiment of the invention, six are used as an example for illustration.

[0023] The main body 1 of the device includes a base 11 and a suction tube 12 connected to the top of the base 11. The base 11 has a first suction hole 111 through which sea cucumbers and other seafood pass, corresponding to the suction tube 12. The suction tube 12 is externally connected to the suction device.

[0024] The sliding limiting 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 and is used to fix 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 provided through the sliding disc 22. A plurality of sliding grooves 23 are provided 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 groove that extends radially from near the second suction hole 222 along the radial direction of the sliding disc 22. A plurality of flexible gripping components 3 are arranged in a circumferential array around the first suction hole 111 between the base 11 and the sliding limiting structure 2, and are corresponding one-to-one with a plurality of sliding grooves 23. Each flexible gripping component 3 includes a telescopic part and a flexible gripping pouch 30. A plurality of insertion slots 112 are provided on the bottom of the base 11. The plurality of insertion slots 112 are evenly arranged in a circumferential array around the first suction hole 111. The insertion slots 112 are fan-shaped slots that extend radially from near the first suction hole 111 along the radial direction of the base 11. The telescopic part is accommodated in the insertion slot 112.

[0025] The telescopic part includes an extension block 34 and a push rod 36. The extension block 34 has a piston chamber 341. One end of the push rod 36 is rotatably connected to the end of the insertion groove 112 near the suction hole, and the other end extends into the piston chamber 341, with a push plate 361 at the end that is clearance-fitted 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 a flexible gripper 30. The flexible gripper 30 can rotate horizontally around the first suction hole 111 based on the rotatable connection between the telescopic part and the base 11. A limiting block 35 is fixedly connected to the bottom of the extension block 34, and the limiting block 35 is slidably connected within a sliding groove 23. The telescopic part extends and retracts based on the limiting block 35 sliding along the path of the sliding groove 23.

[0026] The flexible gripping bag 30 includes a bag body 31, a sealing plate 32, and a connecting plate 33. The bag body 31 has a cavity inside, and the top of the bag body 31 is sealed with the sealing plate 32. The top of the sealing plate 32 is provided with two connecting plates 33, and the two connecting plates 33 are respectively fixed to both sides of the extension block 34.

[0027] The flexible gripping component 3 is equipped with a hydraulic component 4, which includes a hydraulic housing 41, a follow-up hydraulic cover 42, a hydraulic pump 43, and a fluid hose 44. The hydraulic housing 41 is fixedly mounted on the outer top of the extension block 34. The follow-up hydraulic cover 42 is slidably and sealingly connected to the hydraulic housing 41, acting as a piston. This allows the hydraulic pump 43 to pump hydraulic oil out of the hydraulic housing 41, causing the cover to rise or fall accordingly. This means the volume of hydraulic oil inside the hydraulic housing 41 can flexibly change, thereby balancing the internal and external pressures and sealing the hydraulic housing 41. The top of the hydraulic housing 41 is provided with a stop block 411 to prevent the follow-up hydraulic cover 42 from detaching. The hydraulic pump 43 is installed inside the hydraulic housing 41 and is bidirectional, capable of both suction and pressure. The hydraulic housing 41 is filled with hydraulic oil. The hydraulic pump 43 is connected to the piston chamber 341 via a hydraulic hose 44, and the piston chamber 341 is connected to the flexible gripper 30 via a hydraulic hose 44. The hydraulic hose 44 includes a first hose 441 and a second hose 442. The extension block 34 has an oil inlet on its top surface and an oil outlet on its bottom surface. The flexible gripper 30 has an oil passage hole on its sealing plate 32. The two ends of the first hose 441 are connected to the hydraulic pump 43 and the oil inlet on the top surface of the extension block 34, respectively. The two ends of the second hose 442 are connected to the oil outlet on the bottom surface of the extension block 34 and the oil passage hole on the sealing plate 32 of the flexible gripper, respectively. The connection ends of the first hose 441 and the second hose 442 are sealed together. The hydraulic component 4 provides power for the opening, closing, and sliding of the flexible gripping component 3. When the hydraulic component 4 fills the flexible gripping component 3 with hydraulic oil, the hydraulic pump 43 pumps the hydraulic oil into the piston chamber 341 inside the extension block 34 through the first hose 441. The hydraulic oil pushes the push plate 361 to extend the extension block 34. At the same time, the hydraulic oil in the piston chamber 341 is introduced into the flexible gripping bladder 30 through the second hose 442, causing the flexible gripping bladder 30 to open. When the hydraulic component 4 draws hydraulic oil from the flexible gripping component 3, the extension block 34 of the flexible gripping component 3 retracts and the flexible gripping bladder 30 closes and tightens, thus achieving the gripping of sea cucumbers and other seafood delicacies.

[0028] The flexible gripping bladder 30 has a crescent-shaped bladder body 31, with the side facing the main body 1 being the convex side and the opposite side being the concave side. After being pressurized, the bladder body 31 expands and tilts 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 capsule 31. When the flexible gripping capsule 30 grabs sea cucumbers and other seafood, the controller 5 controls the hydraulic pump 43 according to the received pressure data to prevent the hydraulic pump 43 from continuously sucking oil and causing excessive pressure on the flexible gripping capsule 30, which could damage the sea cucumbers and other seafood, thus further ensuring the quality of grabbing the sea cucumbers and other seafood.

[0030] The convex surface of the capsule 31 is provided with anti-slip texture, which further enhances the friction between the flexible gripping capsule 30 and sea cucumbers and other seafood, preventing the sea cucumbers and other seafood from falling off.

[0031] The spraying device includes a liquid pump 13 and a spray pipe 14. The liquid pump 13 is mounted on a base 11, and the spray pipe 14 is embedded within the base 11. The spray pipe 14 includes an inlet pipe 141, a circular distribution pipe 142, and several outlet pipes 143 that are interconnected. One end of the inlet pipe 141 is connected to the liquid pump 13, and the other end is connected to the circular distribution pipe 142. Several outlet pipes 143 are arranged below the circular distribution pipe 142. The ends of the outlet pipes 143 pass through the base 11 and the sliding disc 22 in sequence and converge towards the center. The number of outlet pipes 143 corresponds one-to-one with the number of troughs 23, and the outlet pipes 143 and troughs 23 are spaced apart on the sliding disc 22.

[0032] By setting up a spray device, the captured sea cucumbers and other seafood can be rinsed. When the hydraulic pump 43 stops sucking oil during the grabbing action, the controller 5 controls the liquid pump 13 to work, and the extracted liquid is sprayed out from the liquid outlet pipe 143 to rinse the captured sea cucumbers and other seafood. After rinsing, the sea cucumbers and other seafood are sucked out by an external suction device, making the captured sea cucumbers and other seafood easier to process.

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

[0034] In summary, by incorporating a flexible gripping component 3 and driving it via a hydraulic component 4, a method is employed that, compared to existing gripping devices that directly suck up sea cucumbers and other seafood, first gathers the sea cucumbers and other seafood using the adaptive flexible gripping component 3, and then sucks them up through the suction tube 12 at the center of the main body 1. This reduces the impact force between the sea cucumbers and other seafood and the gripping device, ensuring the integrity of the gripping process and resulting in higher quality gripped sea cucumbers and other seafood. Furthermore, the hydraulic component 4 allows for adjustment of the gripping range, accommodating the gathering and gripping of sea cucumbers and other seafood of different quantities and sizes. The arc-shaped groove 23 allows several flexible gripping components 3 to "rotate and retract," which improves the gathering effect of sea cucumbers and other seafood delicacies. It further reduces the direct impact force between the flexible gripping components 3 and the sea cucumbers and other seafood delicacies. By gathering the sea cucumbers and other seafood delicacies through manipulation, it "lifts" them up, further ensuring the quality of the sea cucumbers and other seafood delicacies during the gripping process. Example 2

[0035] The flexible underwater aquatic product grasping mechanism from Example 1 is installed on an underwater fishing robot for harvesting benthic sea cucumbers. The pressure P1 required to prevent damage to the sea cucumber's appearance is pre-measured. Therefore, the pressure limit for the flexible grasping pouch 30 is set to P1 in the grasping mechanism control 5. That is, when the pressure applied by the flexible grasping pouch 30 exceeds P1, it automatically stops contracting and pressurizing. The application process for grasping sea cucumbers is as follows: After the underwater fishing robot identifies the sea cucumber, it moves the flexible underwater aquatic product grasping mechanism of this invention and covers it directly above the sea cucumber. The six flexible grasping pouches form a cage, preventing escape. The controller activates the flexible components, gradually rotating and contracting the six flexible grasping pouches until the sea cucumber is lifted and held in the center. After removing mud and sand through a rinsing device, it is collected. Example 3

[0036] The underwater aquatic product flexible lifting and grasping mechanism from Example 1 is installed on an underwater fishing robot for harvesting benthic scallops. The pressure P2 is pre-measured to prevent damage to the scallop's appearance. Therefore, the pressure limit for the flexible grasping bladder 30 is set to P2 in the grasping mechanism control 5. That is, when the pressure applied by the flexible grasping bladder 30 exceeds P2, it automatically stops contracting and pressurizing. The application process for grasping scallops is as follows: After the underwater fishing robot identifies a scallop, it moves the underwater aquatic product flexible lifting and grasping mechanism of this invention and covers it directly above the scallop. The six flexible grasping bladders form a cage, preventing escape. The controller activates the flexible components, gradually rotating and contracting the six flexible grasping bladders until the scallop is lifted and held in the center. After removing mud and sand through a rinsing device, it is collected.

[0037] The specific embodiments of the present invention are described below to enable those skilled in the art to understand the present invention. However, it should be understood that the present invention is not limited to the scope of the specific embodiments. For those skilled in the art, various changes are obvious as long as they are within the spirit and scope of the present invention as defined and determined by the appended claims. All inventions utilizing the concept of the present invention are protected.

Claims

1. A flexible lifting and grasping mechanism for underwater aquatic products, characterized in that, include: The device consists of a main body (1), a sliding limiting structure (2), and several flexible gripping components (3). The main body (1) of the device includes 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 provided on the base (11). The sliding limiting structure (2) is installed on the bottom of the base (11) and includes a sliding disc (22). The sliding disc (22) has a second suction hole (222) corresponding to the first suction hole (111) and a plurality of sliding grooves (23). 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 groove that extends radially from near the second suction hole (222) along the radial direction of the sliding disc (22). Several flexible gripping components (3) are arranged in a circumferential array around the first suction hole (111) between the base (11) and the sliding limiting structure (2), and are corresponding to several sliding grooves (23). Each flexible gripping component (3) includes a telescopic part and a flexible gripping bag (30). One end of the telescopic part is rotatably connected to the base (11), and the other end is connected to the flexible gripping bag (30). The flexible gripping bag (30) can rotate horizontally around the first suction hole (111) based on the rotational connection between the telescopic part and the base (11). The telescopic part is slidably connected to the sliding groove (23). The telescopic part extends and retracts when sliding along the path of the sliding groove (23). The telescopic part includes an extension block (34) and a push rod (36). The extension block (34) is provided with a piston cavity (341). One end of the push rod (36) is rotatably connected to the base (11), and the other end extends into the piston cavity (341) and is provided with a push plate (361) that is in clearance fit with the cross section 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 in the slide groove (23). The flexible gripping bag (30) includes a bag body (31), a sealing plate (32) and a connecting plate (33). The bag body (31) has a cavity inside. The top of the bag body (31) is sealed with a sealing plate (32). The top of the sealing plate (32) is provided with two connecting plates (33). The two connecting plates (33) are respectively fixed to both sides of the extension block (34). The flexible gripping component (3) is equipped with a hydraulic component (4). The hydraulic component (4) includes a hydraulic housing (41), a follow-up hydraulic cover (42), a hydraulic pump (43), and a fluid-conducting hose (44). The hydraulic housing (41) is fixedly installed on the outer top of the extension block (34). The follow-up hydraulic cover (42) is slidably sealed inside the hydraulic housing (41) to seal the hydraulic housing (41). The hydraulic pump (43) is installed inside the hydraulic housing (41). The hydraulic housing (41) is filled with hydraulic oil. The oil outlet of the hydraulic pump (43) is connected to the piston chamber (341), and the piston chamber (341) is connected to the flexible gripping bladder (30) through the fluid-conducting hose (44). The flexible gripping bladder (30) has a crescent-shaped bladder body (31). The side facing the main body (1) of the device is a convex side, and the opposite direction is a concave side. After being filled with pressure, the bladder body (31) expands and tilts towards the concave side, and after being depressurized, it contracts and gathers towards the convex side.

2. The underwater aquatic product flexible lifting and grasping mechanism according to claim 1, characterized in that: It also includes a spraying device, which includes a liquid pump (13) and a spray pipe (14). The liquid pump (13) is installed on the base (11), and the spray pipe (14) is embedded in the base (11). The spray pipe (14) includes an inlet pipe (141), a circular distribution pipe (142), and several outlet pipes (143) that are connected to each other. One end of the inlet pipe (141) is connected to the liquid pump (13), and the other end is connected to the circular distribution pipe (142). Several outlet pipes (143) are arranged below the circular distribution pipe (142). The ends of the several outlet pipes (143) pass through the base (11) and the sliding disc (22) in sequence and then converge towards the center.

3. The flexible lifting and grasping mechanism for underwater aquatic products according to claim 2, characterized in that: The liquid outlet pipe (143) and the chute (23) are spaced apart.

4. The underwater aquatic product flexible lifting and grasping mechanism according to claim 1, characterized in that: The bottom of the base (11) is provided with a plurality of insertion slots (112), and the plurality of insertion slots (112) are evenly arranged in a ring around the first suction hole (111). The telescopic part is accommodated in the insertion slots (112), and the insertion slots (112) are fan-shaped slots.

5. The flexible lifting and grasping mechanism for underwater aquatic products according to claim 1, characterized in that: A pressure sensor (311) is embedded on the convex surface of the capsule (31).

6. The underwater aquatic product flexible lifting and grasping mechanism according to claim 1, characterized in that: The convex surface of the capsule (31) is provided with anti-slip texture.

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