Underwater fishing manipulator and fishing method thereof

Abstract

The invention belongs to the technical field of mechanical arms, and particularly relates to an underwater fishing mechanical arm and a fishing method.The underwater fishing mechanical arm comprises a fishing box, two fishing plates are rotationally connected into the fishing box, a guide structure is connected to the fishing box, two vertical plates are slidably connected to the fishing box, and a moving frame is fixedly connected to each vertical plate; a contact rod is fixedly connected to each moving frame, a torsional spring is fixedly connected between each fishing plate and the fishing box, the fishing device further comprises a vertical rod connected to the fishing box in a sliding mode, a pressing strip is fixedly connected to the vertical rod, a first pressing spring is fixedly connected between the vertical rod and the fishing box, a connecting sleeve is connected to each moving frame, a rotating roller is rotationally connected to each connecting sleeve, and the rotating rollers are fixedly connected to the rotating rollers. The fishing method of the underwater fishing manipulator for fishing aquatic products comprises the following steps: step 1, feeding the fishing box into a calm water area; and aquatic products in a calm water area can be efficiently caught.

Description

Technical Field

[0001] The present invention belongs to the technical field of manipulators, and in particular relates to an underwater fishing manipulator and a fishing method thereof. Background Art

[0002] Underwater fishing refers to the process of obtaining aquatic resources from waters using mechanical equipment. Its technical essence is "realizing spatial displacement of aquatic resources through physical constraints or behavioral induction." It mainly includes two basic technical approaches: passive fishing and active fishing. Passive fishing, while simple in structure and low in cost, has a lower fishing effect. Therefore, to improve fishing efficiency, existing technologies use active fishing operations by connecting trawl nets or cages to vehicles and performing dynamic fishing as the vehicle moves. However, this fishing method requires the continuous movement of the vehicle, and when fishing in a static water environment, it is impossible to fish the aquatic products in a certain area separately, and can only be carried out in a large range of fishing operations. Therefore, there are still shortcomings, that is, the existing trawl nets, cages and other equipment rely on the aquatic products to actively swim in or be passively brought in by the water flow, and lack an effective attracting mechanism in a static water environment. Summary of the Invention

[0003] In view of this, the technical problem to be solved by the present invention is to provide an underwater fishing manipulator and a fishing method thereof, which can efficiently fish aquatic products in calm waters within a predetermined area.

[0004] An underwater fishing manipulator includes a fishing box, two fishing plates rotatably connected inside the fishing box, a guide structure connected to the fishing box, two vertical plates slidably connected to the fishing box, each vertical plate is fixedly connected to a moving frame, each moving frame is fixedly connected to a contact rod, and a torsion spring is fixedly connected between each fishing plate and the fishing box.

[0005] It also includes a vertical rod slidably connected to the fishing box, a pressure strip is fixed on the vertical rod, and a first compression spring is fixed between the vertical rod and the fishing box.

[0006] Each of the movable frames is connected with a connecting sleeve, and each of the connecting sleeves is rotatably connected with a rotating roller.

[0007] Each connecting sleeve is fixedly connected with a slider, and the two sliders are respectively slidably connected to the two moving frames.

[0008] Each of the rotating rollers is fixed with a convex strip.

[0009] The underwater fishing manipulator is used in a fishing method for catching aquatic products, and the method comprises the following steps: Step 1: Place the fishing box into calm waters; Step 2: Adjust the positions of the two vertical plates to control the opening sizes of the two fishing plates; Step 3: Drive the guide impeller forward to generate an upward water flow, and the fish enter the fishing box along the fishing board; Step 4: Adjust the positions of the two vertical plates again to close the two fishing plates; Step 5: Switch the guide impeller to reverse rotation and unlock the bait spreading roller to spread the bait; Step 6: Repeat steps 2 to 5 to complete the processing; Step 7: After closing the two fishing boards, lift the fishing box, then remove the cover blocking the slot and take out the caught aquatic products.

[0010] It can efficiently catch aquatic products in calm waters. The two inclined fishing plates form an eight-shaped entrance. Combined with the rising water flow, it greatly improves the efficiency of aquatic products entering the fishing box. At the same time, with the continuous upward effect of the water flow, it makes it difficult for aquatic products that enter the fishing box to escape. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The present invention will be further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0012] Figure 1 and Figure 2 The figure is a schematic diagram of the overall structure of an underwater fishing manipulator; Figure 3 It is a structural diagram of the mobile frame; Figure 4 It is a structural diagram of the roller; Figure 5 It is a structural diagram of the fishing board; Figure 6 Schematic diagram of the structure of the storage box; Figure 7 It is a structural diagram of the bait roller; Figure 8 Schematic diagram of the structure of the I-shaped rod; Figure 9 It is a structural diagram of the vertical plate; Figure 10 Schematic diagram of the structure of the vertical rod. DETAILED DESCRIPTION

[0013] An underwater fishing manipulator, comprising a fishing box 501, two fishing plates 301 are rotatably connected inside the fishing box 501, a guiding structure is connected to the fishing box 501, a plurality of rectangular rods are fixedly connected to the fishing box 501, and two vertical plates 103 are slidably connected to the fishing box 501 by cooperating with the plurality of rectangular rods. A moving frame 101 is fixedly connected to each vertical plate 103, a contact rod 102 is fixedly connected to each moving frame 101, and a torsion spring is fixedly connected between each fishing plate 301 and the fishing box 501. The torsional forces provided by the two torsion springs will press the two fishing plates 301 against the contact rods 102. The guiding structure includes an I-shaped rod 601 detachably connected to the fishing box 501 by bolts. Two guiding impellers 602 are rotatably connected to the I-shaped rod 601. A first motor is fixedly connected to the fishing box 501, a first lead screw is fixedly connected to the output shaft of the first motor, and the two first lead screws are in screw drive with the two vertical plates 103 respectively. A second motor capable of driving the two guiding impellers 602 to rotate is fixedly connected to the I-shaped rod 601. A plurality of through holes are provided on both the fishing box 501 and the two fishing plates 301.

[0014] The fishing box 501 is fixed on a robotic arm that can carry the fishing box 501 to move or other power sources that can carry the fishing box 501 by screwing bolts into the fishing box 501, and the robotic arm or power source is fixed to the vehicle or the water bank position by tightening the bolts. Then, the fishing box 501 is sent into calm water. After reaching the fishing height, two second motors are started, so that the two second motors drive the two guiding impellers 602 to rotate, and the two guiding impellers 602 perform a guiding operation on the water from bottom to top. During this process, there is a space between the two fishing plates 301 and they do not abut against each other. Therefore, aquatic products such as fish and shrimp in the water are easily carried by the upward water flow and enter the space between the two inclined fishing plates 301 along the two inclined fishing plates 301. Subsequently, as the water flow continues to move upward, the aquatic products will enter the interior of the fishing box 501. Since the two fishing plates 301 are inclined upward at this time, the fishing box 501 and the two fishing plates 301 form a rectangular structure with an eight-shaped opening at the bottom, and at the same time, in cooperation with the continuous upward movement of the water flow, it is difficult for the aquatic products to move out of the space between the two fishing plates 301 after entering the fishing box 501, realizing an efficient fishing effect on aquatic products in calm water. That is, the two inclined fishing plates 301 form an eight-shaped entrance. Combined with the rising water flow, the efficiency of aquatic products entering the fishing box 501 is greatly improved. The fish and shrimp are carried by the water flow and naturally slide or swim into the fishing box 501 along the inclined fishing plates 301. The fishing box 501 and the inclined fishing plates 301 form a structure similar to a "rectangle" with an "eight" at the bottom. Coupled with the continuous upward action of the water flow, it is difficult for the aquatic products that enter the fishing box 501 to escape. After a single fishing operation is completed, the two vertical plates 103 can be operated to slide toward each other, thereby driving the two moving frames 101 to move synchronously. When the two moving frames 101 move toward each other, the contact rods 102 on the two moving frames 101 will also move toward each other. At this time, since the two fishing plates 301 are always pressed against the two contact rods 102 by the torsion force of the torsion spring, the two fishing plates 301 will gradually move toward each other as the two contact rods 102 move, until the two fishing plates 301 are locked together and closed, thereby sealing the interior of the fishing box 501, thereby preventing the caught fish from escaping from the fishing box 501. The rising water flow helps to flush fish and shrimp attached to the waterweed debris into the net. At the same time, the water flow and the opening and closing action reduce the probability of the fishing plate 301 itself being entangled by waterweed and debris. At the same time, when the two fishing plates 301 are completely closed, the fishing box 501 is slightly shaken or coordinated with the flowing water to use the through holes to help remove loose debris or attachments that have fallen into the structure. During the fishing process, the position of the two contact rods 102 can be adjusted by adjusting the sliding position of the two vertical plates 103, so that the size of the opening between the two fishing plates 301 can be changed, thereby fishing aquatic products of different sizes according to fishing needs. The through holes on the two fishing plates 301 and the fishing box 501 are arranged to facilitate the flow of water from bottom to top, and can also enable smaller fish and shrimp fry to naturally swim out from the multiple through holes after being fished, thereby avoiding overfishing; According to actual use requirements, an appropriate number of guide structures can be connected to the fishing box 501 to increase or decrease the guiding force, which brings convenience to actual use. The number and power of the impellers can be flexibly increased or decreased according to the water depth, water flow conditions, and the habits of the target aquatic species, and the intensity of the water flow can be adjusted. For example, in shallower or easier-to-fish waters, the number of impellers can be reduced to reduce overall power consumption. The guide impeller 602 creates a strong directional water flow from bottom to top, which "sucks" the target fish and shrimp into the fishing area with the figure-eight opening, rather than traditional pursuit or seine nets. This can bring high efficiency in calm waters such as ponds, reservoirs, shallow sea still waters and other areas, and is also effective for bottom-dwelling, slow-moving aquatic products that are attracted or passively caught by the water flow.

[0015] It also includes a vertical rod 701 slidably connected to the fishing box 501, a pressure strip 702 is fixed to the vertical rod 701, a first compression spring is fixed between the vertical rod 701 and the fishing box 501, and the vertical rod 701 can contact the upper sides of the two fishing plates 301.

[0016] The arrangement of the first compression spring and the vertical rod 701 can further provide downward pressure to the two fishing plates 301, so that the two fishing plates 301 can be more closely pressed against the two contact rods 102, thereby ensuring the subsequent adjustment and sealing effect, and avoiding the situation where the subsequent adjustment and sealing effect cannot be guaranteed by relying solely on the torsion spring; The constant downward pressure applied by the first compression spring is superimposed on the rotational rebound force provided by the torsion spring, forming a composite force. This composite force ensures that the fishing plate 301 can be tightly and stably attached to the contact rod 102 at any opening and closing angle. Therefore, in the process of adjusting the opening size, even if there is impact from water flow or collision from aquatic products, the possible slight gap or shaking between the fishing plate and the contact rod can be minimized to the greatest extent.

[0017] Each of the movable frames 101 is connected to a connecting sleeve 201 , each of the connecting sleeves 201 is rotatably connected to a rotating roller 203 , and each of the connecting sleeves 201 is fixedly connected to a third motor capable of driving the rotating roller 203 to rotate.

[0018] Before performing the fishing operation, the roller 203 can be rotated continuously on the connecting sleeve 201, so that the roller 203 can wind up the water plants or other long impurities on the lower side of the equipment, thereby clearing the space under the fishing box 501 in advance, providing more space for subsequent fishing operations. At the same time, since the two movable frames 101 can slide, the larger space under the fishing box 501 can be cleared, further facilitating subsequent fishing operations. That is, it can remove long filamentous and ribbon-like entanglements, such as seaweed, algae, fishing net fragments, ropes, etc., from the operation area by winding them up. This is difficult to completely solve by passive filtering holes or water scouring, thereby significantly reducing the risk of blockage or entanglement of the guide impeller 602 and the through hole. At the same time, it can partially clean or push away slender debris or loose sediments in the silt, preventing them from being muddied by rising water, affecting subsequent fishing visibility or causing the manipulator to sink. After cleaning up the bottom debris, the guide impeller 602 can more effectively establish a bottom-up, stable, and undisturbed rising water flow channel, that is, the reduction of bottom debris means reduced water flow resistance, and a higher and more uniform flow rate, so that the energy of the guide impeller 602 can be more effectively converted into power to propel the aquatic products upward, rather than being wasted on overcoming the resistance of bottom obstacles, thereby improving the attractiveness and propulsion efficiency of the induced water flow to the target aquatic products.

[0019] Each connecting sleeve 201 is fixed with a slider 202, and the two sliders 202 are slidably connected to the two moving frames 101 respectively. The moving frame 101 is fixed with a fourth motor, and the output shaft of the fourth motor is fixed with a second screw. The second screw and the slider 202 are screw-driven.

[0020] When the rollers 203 are rotated to perform the winding operation, the two sliders 202 can be operated to slide on the movable frame 101, thereby adjusting the positions of the two rollers 203, further expanding the winding range of the two rollers 203, so that the aquatic plants in the subsequent fishing range are completely cleared, facilitating the subsequent fishing operation; Furthermore, a shell with multiple protrusions can be set on the roller 203, so as to further increase the winding effect of the roller 203 on the water plants. At the same time, different protrusions can be set on the roller 203 according to different applicable environments to improve the winding function, for example: When there are a lot of soft algae and microplastic fibers in the water, the small densely toothed raised shell is used to comb and wind the soft algae and microplastic fibers to achieve effective removal; When the water contains a lot of thick aquatic plants, kelp, partially buried ropes and cable fragments, use a large hook or blunt tooth protrusion shell to pull the above items forcefully to complete the removal effect; The shell with flat or spiral protrusions is used to moderately stir the mud and make it easier for small debris to be rolled up by the water flow or adsorbed by the roller.

[0021] A convex strip 204 is fixedly connected to each of the rotating rollers 203 .

[0022] The setting of the convex strip 204 can provide a raised portion for the roller 203, and the raised portion can lift the aquatic plants during the rotation process, further enabling the roller 203 to naturally wind the aquatic plants during the rotation, thereby improving the subsequent winding function.

[0023] Each fishing plate 301 is rotatably connected to a bait spreading roller 302, each bait spreading roller 302 is provided with a plurality of spreading troughs 307, each fishing plate 301 is fixedly connected to a storage box 401, each storage box 401 is detachably connected to a top cover 402 by bolts, each storage box 401 is filled with bait, and a notch of the same shape as the spreading trough 307 is provided on the lower side of the storage box 401.

[0024] During the fishing process, after the two fishing plates 301 are closed to each other, the two bait spreading rollers 302 can be rotated inside the fishing plates 301, so that the bait in the two storage boxes 401 can fall into the multiple spreading troughs 307 inside the two bait spreading rollers 302. Subsequently, during the rotation of the two bait spreading rollers 302, when the spreading troughs 307 filled with bait rotate to face the lower side of the spreading troughs 307, the bait will naturally fall down and then fall on the lower side of the fishing box 501, thereby attracting aquatic products in the nearby area, further achieving efficient fishing effect for aquatic products in calm waters. The falling position of the bait forms a synergistic effect with the rising water flow generated by the guide impeller 602, and the bait particles are carried and diffused by the water flow, forming a three-dimensional feeding area below the equipment, guiding the fish to actively swim into the opening area of the fishing plate 301; By changing the type of bait in the storage tank 401, specific aquatic species can be attracted in a targeted manner, such as shrimp preferring fishy bait and herbivorous fish preferring plant bait. At the same time, in protected areas, non-nutritional attractants can be used to drive away non-target species, such as juvenile fish, thereby retaining only target adult individuals entering the fishing area. The upper cover 402 can close the storage box 401, making it easy to close the storage box 401 after adding bait into the storage box 401, thereby providing convenience for subsequent spilling operations.

[0025] Each bait spreading roller 302 is fixedly connected to a driving wheel 304 , and each driving wheel 304 is fixedly connected to a plurality of paddle rods 305 .

[0026] The arrangement of multiple paddle rods 305 enables that when the water flow impacts the driving wheel 304, the water flow will push the driving wheel 304 to rotate through the multiple paddle rods 305, thereby causing the bait spreading roller 302 to rotate, thereby completing the subsequent automatic bait spreading operation, providing stable protection for subsequent efficient fishing operations.

[0027] Each bait spreading roller 302 is fixed with a one-way wheel 303, each one-way wheel 303 is fixed with a plurality of matching strips 306, each storage box 401 is slidably connected with a cylindrical rod 403, both cylindrical rods 403 can contact the one-way wheel 303, a second compression spring is fixed between each storage box 401 and the cylindrical rod 403, and each fishing plate 301 is fixed with a baffle shell, the two baffle shells can cover the two one-way wheels 303, so that only the half part of each driving wheel 304 close to the vertical rod 701 can be exposed.

[0028] When the guide impeller 602 rotates forward and then guides the water flow upward, the water flow will pass through the multiple paddle rods 305 on the two driving wheels 304, thereby having a tendency to push the two bait spreading rollers 302 to rotate. At this time, due to the arrangement of the two baffles, the left driving wheel 304 will have a tendency to rotate counterclockwise, while the right driving wheel 304 will have a tendency to rotate clockwise. However, at this time, the two cylindrical rods 403 will be stuck at two positions of the multiple matching strips 306, thereby blocking the two cylindrical rods 403, making it impossible for the two bait spreading rollers 302 to rotate normally, thereby preventing the bait from falling during the fishing process. On the contrary, when it is necessary to drop bait and then gather aquatic products, the guide impeller 602 can be rotated in the opposite direction first, thereby directing the water flow downward. At this time, the water flow will push the left driving wheel 304 to rotate clockwise, while the right driving wheel 304 will be pushed to rotate counterclockwise. At this time, the multiple matching bars 306 will gradually push the two cylindrical rods 403 to overcome the elastic force of the second compression spring and slide, so that the two bait rollers 302 can rotate smoothly at this time, completing the subsequent smooth discharge of bait, thereby bringing convenience to efficient fishing or multiple fishing operations; That is, when the guide impeller 602 reverses and drives the downward water flow, the downward flowing water can create a sinking water flow field, thereby suppressing the fish directly below the fishing box 501 to prevent escape. At the same time, it can also drive the bait roller 302 to rotate and feed bait, so as to attract new fish into the fishing area directly below the fishing box 501 and complete efficient fishing operations.

[0029] The fishing box 501 is provided with a through slot 502 , and a cover plate capable of covering the through slot 502 is detachably connected to the fishing box 501 by means of bolts.

[0030] After fishing, the cover can be removed, and the caught aquatic products can be collected and taken out to complete the fishing work.

[0031] The underwater fishing manipulator is used in a fishing method for catching aquatic products, and the method comprises the following steps: Step 1: Place the fishing box 501 into calm waters; Step 2: Adjust the positions of the two vertical plates 103 to control the opening size of the two fishing plates 301; Step 3: Drive the guide impeller 602 forward to generate an upward water flow, and the fish enter the fishing box 501 along the fishing plate 301; Step 4: Adjust the positions of the two vertical plates 103 again to close the two fishing plates 301; Step 5: Switch the guide impeller 602 to rotate in the reverse direction, unlock the bait spreading roller 302 to spread the bait; Step 6: Repeat steps 2 to 5 to complete the processing; Step 7: After closing the two fishing boards 301, lift the fishing box 501, then remove the cover that blocks the through slot 502 and take out the caught aquatic products.

Claims

1. An underwater fishing manipulator, characterized in that: It includes a fishing box, which has two fishing plates rotatably connected inside the fishing box, a guide structure connected to the fishing box, two vertical plates slidably connected to the fishing box, each vertical plate is fixedly connected to a moving frame, each moving frame is fixedly connected to a contact rod, and a torsion spring is fixedly connected between each fishing plate and the fishing box.

2. The underwater fishing manipulator according to claim 1, characterized in that: It also includes a vertical rod slidably connected to the fishing box, a pressure strip is fixed on the vertical rod, and a first compression spring is fixed between the vertical rod and the fishing box.

3. The underwater fishing manipulator according to claim 2, characterized in that: Each of the movable frames is connected with a connecting sleeve, and each of the connecting sleeves is rotatably connected with a roller.

4. The underwater fishing manipulator according to claim 3, characterized in that: Each connecting sleeve is fixed with a slider, and the two sliders are respectively slidably connected to the two moving frames.

5. The underwater fishing manipulator according to claim 4, characterized in that: Each of the rotating rollers is fixed with a convex strip.

6. The underwater fishing manipulator according to claim 5, characterized in that: Each fishing board is rotatably connected to a bait spreading roller, each bait spreading roller is provided with a plurality of spreading slots, each fishing board is fixed with a storage box, and each storage box is detachably connected to a top cover by bolts.

7. The underwater fishing manipulator according to claim 6, characterized in that: Each bait spreading roller is fixedly connected to a driving wheel, and each driving wheel is fixedly connected to a plurality of paddle rods.

8. The underwater fishing manipulator according to claim 5, characterized in that: Each bait spreading roller is fixed with a one-way wheel, each one-way wheel is fixed with a plurality of matching strips, each storage box is slidably connected with a cylindrical rod, both cylindrical rods can contact the one-way wheel, and a second compression spring is fixed between each storage box and the cylindrical rod.

9. The underwater fishing manipulator according to claim 8, characterized in that: A through slot is provided on the fishing box.

10. The method for catching aquatic products using an underwater fishing manipulator according to claim 9, characterized in that: The method comprises the following steps: Step 1: Place the fishing box into calm waters; Step 2: Adjust the positions of the two vertical plates to control the opening sizes of the two fishing plates; Step 3: Drive the guide impeller forward to generate an upward water flow, and the fish enter the fishing box along the fishing board; Step 4: Adjust the positions of the two vertical plates again to close the two fishing plates; Step 5: Switch the guide impeller to reverse rotation and unlock the bait spreading roller to spread the bait; Step 6: Repeat steps 2 to 5 to complete the processing; Step 7: After closing the two fishing boards, lift the fishing box, then remove the cover blocking the slot and take out the caught aquatic products.

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