Rotary opening and closing type seaweed transplanting cultivation device and control method

Abstract

This invention provides a rotating, opening and closing seagrass transplanting and cultivation device and its control method, belonging to the field of aquatic plant cultivation equipment technology. The device includes an above-water component and an underwater component equipped with a dual transfer assembly. The dual transfer assembly includes a ball screw, a screw slider, a synchronous toothed belt, a synchronous pulley, and a telescopic mechanical claw. The control method includes transporting seedlings from a lifting storage assembly to the dual transfer assembly. After the dual transfer assembly completes positioning and gripping, the sliding door opens, and the seedling is transferred to the storage rotating assembly. The mechanical claw of the gripping assembly grabs the seedling and places it in the telescopic chamber of the rotating planting assembly. The drill bit of the loosening assembly loosens the soil, while the sand flushing assembly performs secondary cleaning. Finally, the lower shovel of the rotating planting assembly cuts into the substrate, the digging claw plants the seedling into the soil, and the drill bit of the loosening assembly covers the planting point with soil. This invention improves integration and realizes integrated operation of transportation, planting, and transplanting.

Description

Technical Field

[0001] This invention relates to the field of aquatic plant cultivation equipment technology, specifically to a rotating and opening seaweed transplanting and cultivation device and its control method. Background Technology

[0002] This invention relates to seagrass planting equipment technology. Current seagrass planting operations face multiple bottlenecks: at the tool level, existing equipment has fragmented functions, and its separate design leads to poor process integration. Furthermore, its mechanical structure is poorly adaptable to complex seabeds, easily damaging seedlings and reducing survival rates. At the operational process level, seedling cultivation, transportation, and planting are independent of each other, relying on manual transfer and secondary operations. This fragmented process makes coordination difficult and prevents large-scale continuous operations. At the system level, existing equipment relies on manual searching, digging, and planting of seagrass, making it difficult to adjust according to seabed soil conditions and seagrass distribution, thus hindering the guarantee of seagrass coverage.

[0003] The aforementioned problems result in low efficiency in seagrass cultivation, making it difficult to meet the demands for efficient and precise large-scale cultivation. Therefore, there is an urgent need for a seagrass transplantation and cultivation device and its control method based on a rotating, opening and closing mechanism. Summary of the Invention

[0004] To address the shortcomings of the existing technology, the present invention aims to provide a seagrass transplantation and cultivation device and control method based on a rotating and opening mechanism. Seagrass seedlings are transported to a dual-transfer assembly via a lifting and storing component. After sorting and positioning, they are transferred through a sliding hatch to a storage and rotating assembly in the underwater component. Under the transfer of the mechanical claw in the grasping component, they are placed in a telescopic chamber within the rotating planting assembly to await planting. Based on water and soil quality information fed back by an environmental sensing module, a soil loosening component and a sand flushing component loosen the soil. The rotating planting assembly completes the implantation and soil covering of the seagrass seedlings, integrating excavation and planting, achieving continuous operation of seedling cultivation, transportation, and planting, reducing redundancy in processes. The detection by the environmental sensing module further reduces root damage to the seedlings and improves positioning accuracy.

[0005] Specifically, on the one hand, the present invention provides a seagrass transplantation and cultivation device based on a rotating opening and closing mechanism, which includes an above-water component and an underwater component equipped with dual transfer components; The dual transfer assembly includes a ball screw, a screw slider, a synchronous toothed belt, a synchronous pulley, a slider, and a telescopic mechanical gripper. The output end of the synchronous pulley is connected to the first end of the synchronous toothed belt. The second end of the synchronous toothed belt is connected to the first end of the ball screw via the slider. The second end of the ball screw is connected to the first end of the screw slider, and the second end of the screw slider is connected to the telescopic mechanical gripper. The underwater components include a storage rotation assembly, a rotary planting assembly, and a sand flushing assembly. The storage rotation assembly includes a right gear, a DC motor, a left gear, a cultivation chamber, a slot, and a chain. The output end of the right DC motor is connected to the input end of the right gear, and the output end of the left DC motor is connected to the input end of the left gear. The right gear and left gear are... Do not engage with the chain; the fixed end of the chain is connected to the cultivation chamber via a slot. The rotary planting assembly includes a rotating wheel, a guard plate, a lower shovel, a digging claw, a telescopic chamber, a telescopic chamber door, a hydraulic push rod, and a screw slide rail. The fixed end of the rotating wheel is connected to the first mounting end of the guard plate. The lower shovel and digging claw are connected to the second and third mounting ends of the guard plate, respectively. The fourth mounting end of the guard plate is connected to the first mounting end of the telescopic chamber via the screw slide rail. The second mounting end of the telescopic chamber is connected to the telescopic chamber door via the hydraulic push rod. The sand flushing assembly includes a nozzle, a water collector, a rotating platform, and a spherical camera. The water collector is located on the upper part of the rotating platform, and its output end is connected to the nozzle. The spherical camera is connected to the mounting end of the rotating platform.

[0006] Preferably, the water-based component further includes a thruster, a feed hatch, a housing, a bionic detector, a docking connector, and a lifting and storage assembly. The first mounting end inside the housing is connected to the fixed bracket of the dual transfer assembly, and the second mounting end inside the housing is connected to the frame of the lifting and storage assembly. The upper end of the housing is provided with a feed hatch, the rear end of the housing is symmetrically provided with thrusters, the lower end of the housing is provided with a docking connector, and the lower end of the housing near the front end is provided with a storage compartment. The bionic detector is located inside the storage compartment.

[0007] Preferably, the lifting and storage assembly in the water-based component includes a lead screw, a support rod, a fixed plate, a seedling tray, an electric push rod, and a motor. The fixed end of the support rod is connected to the first end of the frame, the fixed end of the lead screw is connected to the second end of the frame, the input end of the lead screw is connected to the output end of the motor, the first and second connecting ends of the fixed plate are respectively connected to the sliding end of the lead screw and the sliding end of the support rod, the third connecting end of the fixed plate is connected to the fixed end of the electric push rod, and the telescopic end of the electric push rod is connected to the seedling tray.

[0008] Preferably, the dual transfer assembly in the water component further includes a fixed bracket and a first stepper motor, with the input end of the synchronous pulley connected to the output end of the first stepper motor, and the fixed end of the first stepper motor connected to the first end of the fixed bracket.

[0009] Preferably, the underwater component further includes a drive assembly, a gripping assembly, an electric ballast tank assembly, a docking interface, a sliding door, a shaftless thruster, an environmental sensing module, and a soil loosening assembly. The upper end of the underwater component is provided with a sliding door and a docking interface, which is connected to the docking joint of the surface component. The first end and the second end of the first mounting part inside the underwater component are respectively connected to the first linear guide rail and the rack in the gripping assembly. The second mounting end inside the underwater component is connected to the storage and rotation assembly. The drive assembly, the electric ballast tank assembly, and the shaftless thruster are symmetrically distributed on both sides of the underwater component. The environmental sensing module, the sand flushing assembly, and the rotary planting assembly are distributed sequentially from top to bottom at the front end of the underwater component.

[0010] Preferably, the gripping assembly in the underwater component includes a linear guide slider, a linear guide, a rack, a gear, a mechanical claw, a drive arm, a mounting base, and a multi-stage telescopic arm. The input end of the gear is connected to the output end of the first motor, the fixed end of the first motor is connected to the first fixed end of the mounting base, the second fixed end of the mounting base is connected to the fixed end of the first linear guide slider, the fourth mounting end of the mounting base is connected to the fixed end of the multi-stage telescopic arm, the output end of the multi-stage telescopic arm is connected to the second linear guide, the fixed end of the second linear guide slider is connected to the first end of the mechanical claw, and the second end of the mechanical claw is connected to the first end of the drive arm.

[0011] Preferably, the electric ballast tank assembly in the underwater component includes a ballast tank, a submersible motor, an air compressor, a sea valve, and an air valve. The submersible motor and the air compressor are located inside the ballast tank. The output end of the submersible motor is connected to the first end of the air compressor, and the second end of the air compressor is connected to the sea valve. The sea valve and the air valve are located at the first mounting end and the second mounting end on the side of the ballast tank, respectively.

[0012] Preferably, the rotary planting assembly in the underwater component further includes a second stepper motor and a servo motor, with the input end of the rotary wheel connected to the output end of the second stepper motor, and the control end of the digging claw connected to the servo motor.

[0013] Preferably, the soil loosening component in the underwater part includes a motor, a primary telescopic arm, an electric actuator, a secondary telescopic arm, and a drill bit. The drive end of the fourth motor is connected to the drive end of the inner plate of the primary telescopic arm. The inner plate, middle plate, and outer plate of the primary telescopic arm are sequentially connected to form the primary telescopic arm. The fixed end of the electric actuator is connected to the mounting end of the outer plate of the primary telescopic arm. The extended end of the electric actuator is connected to the first mounting end of the secondary telescopic arm. The fixed end of the fifth motor is connected to the third mounting end of the secondary telescopic arm. The output end of the fifth motor is connected to the drill bit.

[0014] On the other hand, the present invention provides a control method for a rotating and opening seagrass transplantation and cultivation device, the specific steps of which include: S1, after the above-water and underwater components perform self-check and initialization operations, the propeller adjusts the spatial position of the above-water component according to the preset operating coordinates, so that the whole component moves to the upper part of the target sea area; the drive component of the underwater component cooperates with the shaftless propeller to adjust the depth and horizontal position of the underwater component, so that it moves precisely to the target planting point and completes docking with the docking joint of the above-water component through the docking interface; S2. The dual transfer assembly and the lifting storage assembly work together. The telescopic mechanical claw in the dual transfer assembly accurately grabs seedlings from the seedling tray and completes sorting and positioning under the combination of ball screw and synchronous belt. At the same time, the telescopic mechanical claw transports the seedlings through the sliding hatch to the cultivation chamber of the underwater component's storage rotating assembly. S3. The storage rotating component transports the cultivation chamber containing seedlings to the picking station of the mechanical claw in the gripping component via chain drive. The seedlings are then sent into the telescopic chamber of the rotary planting component through the linear guide rail combination, gear combination and multi-stage telescopic arm in the gripping component. S4. Start the drill bit of the loosening component to loosen the seabed sediment, and at the same time start the sand flushing component to remove surface gravel and attached materials. S5. Based on step S4, the lower shovel of the rotary planting component cuts into the seabed sediment, and the digging claw precisely plants the seedlings into the loosened soil. The hydraulic push rod provides a stable gripping force to ensure that the seedling planting depth and posture meet the requirements. Then, the soil loosening component reverses the drill bit to achieve natural soil covering of the planting point, completing the planting operation of a single seedling. Repeat the above steps to complete the planting operation of all seedlings.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The above-water component of this invention uses a propeller to power the seagrass seedlings, which are then transported to the dual-transfer component via a lifting and storage assembly. After sorting and positioning, the seedlings are transferred to the storage and rotation assembly of the underwater component via a sliding hatch. The underwater component, based on water and soil quality information from an environmental sensing module, loosens the soil, and then precisely plants the seagrass seedlings using a rotating planting assembly. This invention achieves functional integration through a docking mechanism between the above-water and underwater components, combining the underwater component's functions of water and soil quality detection, soil loosening, and seedling planting. This replaces traditional single-tool systems and eliminates the defects of existing technologies such as "separation of excavation and planting, and redundant procedures." Simultaneously, by utilizing the underwater component's drive assembly and shaftless propeller, it adapts to complex seabed environments such as reefs and silt, reducing the risk of seedling root damage and solving the problems of "inaccurate positioning and low survival rate."

[0016] 2. After the seedling pretreatment is completed by the lifting and storage component of the above-water component of the present invention, the seedlings are accurately transferred to the storage and rotation component of the underwater component by the dual transfer component, realizing continuous operation of seedling cultivation, transportation and planting, and alleviating the shortcomings of "manual transfer and process fragmentation" in the prior art; and the underwater component can move and dock autonomously and automatically replenish seedlings, without the need for manual intervention in the whole process, reducing coordination costs and supporting large-scale planting.

[0017] 3. The environmental sensing module of the underwater component of the present invention can complete the water quality and soil quality assessment before planting, and start the operation only when the environment is qualified, avoiding the waste of resources from blind operation; at the same time, the rotating planting component, the soil loosening component and the sand flushing component combine with the environmental data collected by the environmental sensing module to achieve precise positioning. The rotating planting component completes the seedling implantation and soil covering by the grabbing component, replacing the traditional extensive operation and significantly improving the planting accuracy.

[0018] 4. The above-water component of this invention adopts a biomimetic streamlined shell to reduce water flow resistance, ensure the device can stay safely in the water for a long time, and improve operational stability; the rotating planting component of the underwater component uses a biomimetic crab claw to terminate and dig up the whole plant on the seabed, which greatly protects the integrity of the plant and helps to improve the survival rate; the rotating storage component enables independent storage of seedlings, avoids cross-contamination, and each functional module can be maintained independently, effectively reducing equipment failure rate and maintenance costs. Attached Figure Description

[0019] Figure 1 This is a structural diagram of the seaweed transplanting and cultivation device based on the rotary opening and closing mechanism of the present invention; Figure 2 This is a structural diagram of the above-water component in the rotating and opening seaweed transplanting and cultivation device of the present invention; Figure 3 This is a structural diagram of the underwater components in the rotating and opening seagrass transplantation and cultivation device of the present invention; Figure 4 This is a structural diagram of the lifting and storage component in the rotating and opening seaweed transplanting and cultivation device of the present invention; Figure 5 This is a structural diagram of the dual transfer component in the rotating and opening seaweed transplanting and cultivation device of the present invention; Figure 6 This is a structural diagram of the gripping component in the rotating and opening seaweed transplanting and cultivation device of the present invention; Figure 7 This is a partially enlarged view of the gripping component in the rotating and opening seaweed transplanting and cultivation device of the present invention; Figure 8 This is a structural diagram of the rotating component stored in the seaweed transplanting and cultivation device based on the rotary opening and closing mechanism of the present invention; Figure 9This is a partially enlarged view of the rotating storage component in the seaweed transplantation and cultivation device based on the rotary opening and closing mechanism of the present invention; Figure 10 This is a structural diagram of the electric ballast tank assembly in the rotating and opening seagrass transplantation and cultivation device of the present invention; Figure 11 This is a structural diagram of the rotary planting component in the rotary opening and closing seaweed transplanting and cultivation device of the present invention; Figure 12 This is a diagram showing the internal structure of the rotary planting component in the rotary opening and closing seagrass transplanting and cultivation device of the present invention. Figure 13 This is a structural diagram of the sand-flushing component in the rotating and opening seagrass transplantation and cultivation device of the present invention; Figure 14 This is a structural diagram of the soil loosening component in the rotating and opening seagrass transplantation and cultivation device of the present invention; Figure 15 This is a diagram showing the internal structure of the soil loosening component in the rotating and opening seagrass transplantation and cultivation device of the present invention.

[0020] Key reference numerals: 1. Thruster; 2. Feed chamber door; 3. Dual transfer assembly; 301. Fixed bracket; 302. First stepper motor; 303. Ball screw; 304. Screw slider; 305. Synchronous toothed belt; 306. Synchronous pulley; 307. Slider; 308. Telescopic mechanical gripper; 4. Housing; 5. Bionic detector; 6. Storage compartment; 7. Connector; 8. Lifting and storage assembly; 801. Frame; 802. Screw; 803. Support rod; 804. Fixed plate; 805. Seedling tray; 806. Electric push rod; 807. Motor; 9. Drive assembly; 10. Gripping assembly; 11. First linear guide rail. Block 1001, First linear guide 1002, Rack 1003, Gear 1004, First motor 1005, Second motor 1006, Mechanical claw fixing plate 1007, Second linear guide slider 1008, Second linear guide 1009, Connecting plate 1010, Mechanical claw 1011, Drive arm 1012, Mounting base 1013, Multi-stage telescopic arm 1014, Electric ballast tank assembly 11, Submersible motor 1101, Air compressor 1102, Sea valve 1103, Air valve 1104, Ballast tank 1105, Storage spool Rotating assembly 12, right gear 1201, right DC motor 1202, left gear 1203, left DC motor 1204, cultivation chamber 1205, slot 1206, chain 1208, interface 13, sliding door 14, shaftless thruster 15, rotary planting assembly 16, rotating wheel 1601, guard plate 1602, lower shovel 1603, digging claw 1604, telescopic chamber 1605, telescopic chamber door 1606, hydraulic push rod 1607, servo motor 1608, lead screw and slide rail 1609, second stepper motor 1610, environmental sensor Module 17, Soil Loosening Component 18, Fourth Motor 1801, Motor Mounting Plate 1802, Thin-Wall Bearing 1803, Bearing Pressure Plate 1804, First-Stage Telescopic Arm Inner Plate 1805, First-Stage Telescopic Arm Middle Plate 1806, First-Stage Telescopic Arm Outer Plate 1807, Electric Push Rod 1808, Second-Stage Telescopic Arm 1809, Slider 1810, Slide Rail 1811, Fifth Motor 1812, Bearing 1813, Drill Bit 1814, Sand Flushing Component 19, Nozzle 1901, Water Collector 1902, Rotating Platform 1903, Spherical Camera 1904. Detailed Implementation

[0021] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0022] Based on a rotating, opening and closing seagrass transplantation and cultivation device, such as Figure 1 As shown, it includes an above-water component and an underwater component, which together constitute a dual-module operation device for seagrass transplantation and cultivation. The docking joint 7 of the above-water component and the docking interface 13 of the underwater component are connected, and the sliding hatch 14 is the only connection interface between the above-water component and the underwater component.

[0023] Waterborne components, such as Figure 2As shown, the device includes a thruster 1, a feed hatch 2, a dual transfer assembly 3, a shell 4, a bionic detector 5, a storage compartment 6, a connector 7, and a lifting and storage assembly 8. The first mounting end inside the shell 4 is connected to the fixed bracket 301 of the dual transfer assembly 3. The dual transfer assembly 3 is used to receive seaweed seedlings and, after sorting and positioning them, accurately transport the seaweed seedlings to the storage and rotation assembly 12. The second mounting end inside the shell 4 is connected to the frame 801 of the lifting and storage assembly 8. The upper end of the shell 4 is provided with a feed hatch 2 for placing seedlings into the water-based component. The rear end of the outer shell 4 is symmetrically provided with thrusters 1, which can move forward, backward, and turn by adjusting the rotation direction. They are used to provide navigation power for the water-based component by rotating and stirring the water. The lower end of the outer shell 4 is provided with a connector 7. The lower end of the outer shell 4 near the front end is provided with a storage compartment 6, and the bionic detector 5 is located inside the storage compartment 6.

[0024] Underwater components, such as Figure 3 As shown, the underwater structure includes a drive assembly 9, a gripping assembly 10, an electric ballast tank assembly 11, a storage and rotation assembly 12, a docking interface 13, a sliding door 14, a shaftless thruster 15, a rotary planting assembly 16, an environmental sensing module 17, a soil loosening assembly 18, and a sand flushing assembly 19. The storage and rotation assembly 12 is used to receive seagrass seedlings from the surface components and temporarily store and supply nutrients. The drive assembly 9 is used to enable the underwater components to move stably on soft seabed terrain. The shaftless thruster 15 is used to adjust the overall lifting height of the underwater components. The electric ballast tank assembly... The component 11, together with the shaftless thruster 15 on the outside, can adjust the overall lifting and lowering. The two work together to achieve precise movement. The environmental sensing module 17 is used to detect seabed water quality and soil parameters. The soil loosening component 18 is set to loosen the seabed soil in front of the direction of travel. The sand flushing component 19 performs secondary cleaning through the sand flushing pipe to remove gravel. The grabbing component 10 is used to take out seagrass seedlings from the storage rotating component 12 and send them to the rear rotary planting component 16. The rotary planting component 16 is used to receive seagrass seedlings and complete the planting operation of seagrass seedlings through rotation.

[0025] The underwater component has shaftless thrusters 15 symmetrically arranged on both sides of its exterior. A drive assembly 9 is located at the lower end of the underwater component, and a sliding hatch 14 and docking interface 13 are located at the upper end. The first and second ends of the first mounting section inside the underwater component are respectively connected to the first linear guide rail 1002 and rack 1003 in the grabbing assembly 10. The second mounting end inside the underwater component is connected to the storage and rotation assembly 12. The third mounting end inside the underwater component is connected to the ballast tank 1105 in the electric ballast tank assembly 11. The drive assembly 9, the electric ballast tank assembly 11, and the shaftless thrusters 15 are connected. The thrusters 15 are symmetrically distributed on both sides of the underwater component. From top to bottom, the front end of the underwater component is provided with an environmental sensing module 17, a sand flushing component 19, and a rotating planting component 16. The soil loosening component 18 is symmetrically arranged on both sides of the rotating planting component 16. The first mounting end of the front end of the underwater component is connected to the environmental sensing module 17. The second mounting end of the front end of the underwater component is connected to the rotating platform 1903 of the sand flushing component 19. The third mounting end of the front end of the underwater component is connected to the motor mounting plate 1802 of the soil loosening component 18.

[0026] Dual transfer assembly 3, such as Figure 5 As shown, the system includes a fixed bracket 301, a first stepper motor 302, a ball screw 303, a screw slider 304, a synchronous toothed belt 305, a synchronous pulley 306, a slider 307, and a telescopic mechanical gripper 308. The fixed bracket 301 serves as the fixed support base for the overall rectangular frame, providing an installation reference for all moving parts. It is divided into two independent rectangular sub-frames, left and right. The input end of the synchronous pulley 306 is connected to the output end of the first stepper motor 302, and the fixed end of the first stepper motor 302 is connected to the fixed bracket 308. The first end of 01 is connected to the output end of the synchronous pulley 306 and the first end of the synchronous toothed belt 305. The second end of the synchronous toothed belt 305 is connected to the first end of the ball screw 303 through the slider 307. The second end of the ball screw 303 is connected to the first end of the screw slider 304. The second end of the screw slider 304 is connected to the telescopic mechanical claw 308. The telescopic mechanical claw 308 realizes the precise positioning of the dual transfer components 3 in the plane and transports the seaweed to the storage rotating component 12, completing the grasping and transport of seaweed seedlings.

[0027] like Figure 4As shown, the lifting and storage assembly 8 stores seaweed seedlings in a multi-layered storage structure and can move freely in the vertical direction. It includes a frame 801, a lead screw 802, a support rod 803, a fixed plate 804, a seedling tray 805, an electric push rod 806, and a motor 807. The frame 801 and the support rod 803 constitute a fixed rigid support frame for the entire mechanism. The fixed end of the support rod 803 is connected to the first end of the frame 801, and the fixed end of the lead screw 802 is connected to the second end of the frame 801. The support rod 803 is symmetrically distributed... The screw 802 is positioned on both sides of the lead screw 802. The input end of the lead screw 802 is connected to the output end of the motor 807. The first and second connecting ends of the fixed plate 804 are connected to the sliding end of the lead screw 802 and the sliding end of the support rod 803, respectively. The fixed plate 804 moves up and down through the lead screw 802. The third connecting end of the fixed plate 804 is connected to the fixed end of the electric push rod 806. The telescopic end of the electric push rod 806 is connected to the seedling tray 805. The seedling tray 805 moves telescopically through the electric push rod 806.

[0028] Storage rotating component 12, such as Figure 8 and Figure 9 As shown, it includes a right gear 1201, a right DC motor 1202, a left gear 1203, a left DC motor 1204, a cultivation chamber 1205, a slot 1206, and a chain 1208. The cultivation chamber 1205 is a closed cavity used for the underwater temporary storage and cultivation of seagrass seedlings. It can maintain the water environment and nutrient supply required for the survival of the seedlings. The plant grow lights provide suitable light conditions for the plants in the cultivation chamber 1205 for storage and growth. The output end of the right DC motor 1202 is connected to the input end of the right gear 1201, and the output end of the left DC motor 1204 is connected to the input end of the left gear 1203. The right gear 1201 and the left gear 1203 mesh with the chain 1208 respectively, forming a ring transmission circuit. The fixed end of the chain 1208 is connected to the culture chamber 1205 through the slot 1206. The slot 1206 is evenly spaced along the length of the chain 1208. The culture chamber 1205 is assembled in the slot 1206 by a snap-fit ​​connection to achieve anti-drop fixation and positioning.

[0029] In the storage rotating assembly 12, a DC motor 1202 drives the right gear 1201 and the left gear 1203 to rotate in the same direction, thereby driving the chain 1208 to smoothly circulate along a preset circular path; a spare DC motor 1204 is connected to the left gear 1203 as a backup drive motor; during the movement of the chain 1208, the slot 1206 and the culture chamber 1205 attached thereto move synchronously, realizing the cyclical conveying and station positioning of the culture chamber 1205, thereby realizing the dynamic turnover of the culture chamber 1205. This avoids the decline in seedling vitality caused by long-term static placement of the culture chamber 1205, and can also cooperate with the docking requirements of the gripping assembly 10 to accurately transport the target culture chamber 1205 to the material picking station, completing the orderly release of seaweed seedlings.

[0030] Crawler component 10, such as Figure 6 and Figure 7 As shown, the underwater component includes a first linear guide slider 1001, a first linear guide 1002, a rack 1003, a gear 1004, a first motor 1005, a second motor 1006, a mechanical gripper fixing plate 1007, a second linear guide slider 1008, a second linear guide 1009, a connecting plate 1010, a mechanical gripper 1011, a drive arm 1012, a mounting base 1013, and a multi-stage telescopic arm 1014. The first linear guide 1002 is horizontally fixed to the upper part of the underwater component, serving as a long strip-shaped guide reference. The rack 1003 is installed parallel to the side of the linear guide. The mechanical gripper fixing plate 1007... Serving as the mounting base for the robotic gripper, the gripper body and transmission structure are integrated. The second motor 1006 is connected to the drive arm 1012, driving the gripper 1011 to move on the second linear guide 1009. The robotic gripper 1011 completes the grasping and releasing of seaweed seedlings through opening and closing actions. The multi-stage telescopic arm 1014 drives the robotic gripper 1011 to rise and fall, adjusting the grasping height and coordinating with horizontal movement to achieve precise material handling. The connecting plate 1010 serves as a structural connector and force transmission, ensuring the stability of the robotic gripper 1011 during operation.

[0031] Gear 1004 meshes with rack 1003. Gear 1004 rolls along rack 1003, driving itself to move smoothly along the guide rail, achieving precise horizontal positioning. First linear guide slider 1001 and first linear guide 1002 are slidably connected, providing precise horizontal guidance for the mechanical gripper 1011. The input end of gear 1004 is connected to the output end of first motor 1005. The fixed end of first motor 1005 is connected to the first fixed end of mounting base 1013. The second fixed end of mounting base 1013 is connected to the fixed end of first linear guide slider 1001. The third fixed end of mounting base 1013... The first end and the fourth mounting end are respectively connected to the fixed end of the third motor and the fixed end of the multi-stage telescopic arm 1014. The output end of the third motor is connected to the input end of the multi-stage telescopic arm 1014 through a gear combination. The output end of the multi-stage telescopic arm 1014 is connected to the mechanical claw fixing plate 1007 and the second linear guide 1009. The second linear guide 1009 serves as the basis for the movement of the mechanical claw 1011. The second linear guide 1009 is connected to the second linear guide slider 1008. The second linear guide slider 1008 provides guidance for the fine-tuning of the lateral movement of the mechanical claw 1011, improving the gripping and positioning accuracy. The fixed end of the second linear guide slider 1008 is connected to the first end of the mechanical claw 1011 through the connecting plate 1010. The second end of the mechanical claw 1011 is connected to the first end of the drive arm 1012. The second end of the drive arm 1012 is connected to the output end of the second motor 1006.

[0032] Electric ballast tank assembly 10, such as Figure 10 As shown, the ballast tank includes a submersible motor 1101, an air compressor 1102, a sea valve 1103, a gas valve 1104, and a ballast tank 1105. The submersible motor 1101 and the air compressor 1102 are located inside the ballast tank 1105. The output end of the submersible motor 1101 is connected to the first end of the air compressor 1102, and the second end of the air compressor 1102 is connected to the sea valve 1103. The sea valve 1103 and the gas valve 1104 are located at the first and second mounting ends on the side of the ballast tank 1105, respectively. When the electric ballast tank assembly 10 submerges, the sea valve 1103 and the air valve 1104 open, and seawater automatically flows into the ballast tank 1105, realizing the submersion of the device; when the electric ballast tank assembly 10 ascends, the air valve 1104 closes, and the air compressor 1102 releases air under the drive of the submersible motor 1101, and the seawater is discharged from the cavity through the sea valve 1103, realizing the ascent of the device. The electric ballast tank assembly 10 controls the large-scale ascent and descent of the underwater components, and the shaftless thruster 15 makes small-scale fine adjustments.

[0033] The rotating planting component 16 is installed in the middle and front part of the underwater component, such as... Figure 11 and Figure 12As shown, the device includes a rotating wheel 1601, a guard plate 1602, a lower shovel 1603, a digging claw 1604, a telescopic cabin 1605, a telescopic cabin door 1606, a hydraulic push rod 1607, a servo motor 1608, a lead screw and slide rail 1609, and a second stepper motor 1610. The input end of the rotating wheel 1601 is connected to the output end of the second stepper motor 1610. The fixed end of the rotating wheel 1601 is connected to the first mounting end of the guard plate 1602. The lower shovel 1603 and the digging claw 1604 are connected to the second and third mounting ends of the guard plate 1602, respectively. The control end of the digging claw 1604 is connected to the servo motor 1608. The fourth mounting end of the guard plate 1602 is connected to the first mounting end of the telescopic cabin 1605 via the lead screw and slide rail 1609. The second mounting end of the telescopic cabin 1605 is connected to the telescopic cabin door 1606 via the hydraulic push rod 1607.

[0034] Furthermore, the telescopic hatch 1606 is opened and closed by a hydraulic push rod 1607. The lower shovel 1603, serving as the base and front-end actuator of the rotary planting assembly 16, has a shovel-shaped structure and is used to cut into the soft seabed, providing support for subsequent digging operations. It also receives seaweed seedlings or planting substrate grabbed by the digging claw 1604. The digging claw 1604 and the lower shovel 1603 work together to form an openable claw-like structure, which is opened and closed by a servo motor, achieving soil cutting and grabbing the target material from the seabed to prevent it from scattering. The servo motors 1608 and rubber pad structures on both sides of the rotary planting assembly 16 are used to assist in adjusting the cutting angle and attitude of the lower shovel 1603, ensuring stability during the digging process. The rubber pads also cushion the impact of the device contacting the seabed, preventing excessive disturbance to the seabed.

[0035] The soil loosening component 18 consists of two sets, symmetrically distributed on both sides of the front end of the underwater component. These are used for initial adjustment of the device's attitude, driving the drill bit 1814 to make fine-tuning adjustments to its angle, thereby achieving multi-degree-of-freedom soil loosening operations, such as... Figure 14 and Figure 15As shown, it includes a fourth motor 1801, a motor mounting plate 1802, a thin-walled bearing 1803, a bearing pressure plate 1804, a first-stage telescopic arm inner plate 1805, a first-stage telescopic arm middle plate 1806, a first-stage telescopic arm outer plate 1807, an electric actuator 1808, a second-stage telescopic arm 1809, a slider 1810, a slide rail 1811, a fifth motor 1812, a bearing 1813, and a drill bit 1814. The motor mounting plate 1802 is fixed to the inner wall of the underwater component by bolts. The fixed end of the fourth motor 1801 is connected to the motor mounting plate 1802. The drive end of the fourth motor 1801 is connected to the drive end of the first-stage telescopic arm inner plate 1805 through the inner hole of the thin-walled bearing 1803. The mounting end of the first-stage telescopic arm inner plate 1805 is connected to the bearing pressure plate 1804. The first-stage telescopic arm inner plate 1805 and the first-stage telescopic arm middle plate 1804 are connected to each other. 806 and the outer plate 1807 of the first-stage telescopic arm are connected in sequence to form the first-stage telescopic arm. The first-stage telescopic arm can rotate to achieve the initial adjustment of the device's posture, driving the drill bit 1804 to adjust its angle, thereby achieving multi-angle soil loosening operations and improving the flexibility and accuracy of excavation or sampling. The fixed end of the electric actuator 1808 is connected to the mounting end of the outer plate 1807 of the first-stage telescopic arm, and the extended end of the electric actuator 1808 is connected to the first mounting end of the second-stage telescopic arm 1809. The fixed end of the slide rail 1811 is connected to the mounting end of the middle plate 1806 of the first-stage telescopic arm, and the slider 1810 is connected to the second mounting end of the second-stage telescopic arm 1809. The fixed end of the fifth motor 1812 is connected to the third mounting end of the second-stage telescopic arm 1809, and the output end of the fifth motor 1812 is connected to the drill bit 1814 through the bearing 1813.

[0036] like Figure 13 As shown, the sand flushing component 19 is used to quickly clean the silt, loose sand, and attached materials on the surface of the planting point. It forms a main impact jet and a supplementary jet through a rotating high-pressure sand flushing pipe to disperse the surface sediment, washing away loose surface deposits, reducing soil density, and ensuring a clean and flat substrate, creating favorable conditions for precise seedling planting. This improves the efficiency and stability of soil loosening and seaweed transplanting operations. The component includes a nozzle 1901, a water collector 1902, a rotating platform 1903, and a spherical camera 1904. The water collector 1902 is located on top of the rotating platform 1903, and its output end is connected to the nozzle 1901. The spherical camera 1904 is connected to the mounting end of the rotating platform 1903. The spherical camera 1904 transmits images to the control terminal in real time, allowing for dynamic adjustment of the rotation angle, pressure, and primary and secondary flow ratios to optimize flushing efficiency and thoroughness.

[0037] In the control method of the rotating and opening seagrass transplanting and cultivation device, when the lifting and storage component 8 of the above-water component is activated, the seedlings are transported to the working area of ​​the double transfer component 3 by the electric push rod 806 that installs the seedling tray 805; after the double transfer component 3 completes the positioning and gripping by the telescopic mechanical claw 308, the sliding door 14 opens, and the seedlings are transferred to the storage and rotating component 12 of the underwater component; when the chain 1208 of the storage and rotating component 12 rotates under the drive of the DC motor, the cultivation chamber 1205 carrying the seedlings rotates to the discharge port, and the multi-stage telescopic arm 1014 of the gripping component 10 grips the seedlings; when After the underwater component's environmental sensing module 17 completes water and soil quality detection, the soil loosening component 18, via the primary and secondary telescopic arms 1809, adjusts the soil penetration depth of the drill bit 1814. The drill bit 1814 rotates synchronously with the driving component 9 to complete soil loosening. The sand flushing component 19 then performs secondary cleaning to remove gravel. At this time, the rotary planting component 16 plants the seedlings located in the telescopic pod 1605 into the loosened seabed area. When it is necessary to adjust the device's operating position, the underwater component's driving component 9 moves the device, and the underwater component maintains its underwater operating posture through the electric ballast tank component 11 and the shaftless thruster 15. The specific implementation process is as follows: S1. After the surface and underwater components perform self-checks and initialization, the thruster 1 adjusts the spatial position of the surface component according to the preset operating coordinates, moving it as a whole above the target sea area. At this time, the seaweed seedlings in the seedling tray 805 in the lifting and storage assembly 8 maintain their activity under the care of the light and irrigation pretreatment system. The drive assembly 9 of the underwater component cooperates with the shaftless thruster 15 to adjust the depth and horizontal position of the underwater component, so that it moves precisely to the target planting point and completes docking with the docking connector 7 of the surface component through the docking interface 13.

[0038] S2. The dual transfer assembly 3 and the lifting and storage assembly 8 work together. The telescopic mechanical claw 308 in the dual transfer assembly 3 accurately grabs the seedlings from the seedling tray 805 and completes sorting and positioning under the combination of ball screw and synchronous belt. At the same time, the telescopic mechanical claw 308 transports the seedlings through the sliding hatch 14 to the cultivation chamber 1205 of the underwater component's storage and rotation assembly 12.

[0039] S3. The environmental sensing module 17 is activated to detect the water quality and soil parameters of the target area. If the detection results meet the preset planting standards, the storage rotating component 12 will transport the cultivation chamber 1205 containing the seedlings to the picking station of the mechanical claw 1011 in the gripping component 10 via the chain 1208. The seedlings will be sent into the telescopic chamber 1605 of the rotary planting component 16 through the linear guide rail combination, gear combination and multi-stage telescopic arm 1014 in the gripping component 10. If the detection results do not meet the preset planting standards, the planting points will be replanned.

[0040] S4. Start the loosening component 18. Through the coordinated adjustment of the angle of the first-stage telescopic arm and the second-stage telescopic arm 1809, drive the drill bit 1814 to loosen the seabed sediment, creating a suitable soil environment for seedling planting. At the same time, start the sand flushing component 19 to remove surface gravel and attached materials.

[0041] S5. Based on step S4, the lower shovel 1603 of the rotary planting component 16 cuts into the seabed sediment, the digging claw 1604 accurately plants the seedling into the loosened soil, and the hydraulic push rod 1607 provides a stable gripping force to ensure that the seedling planting depth and posture meet the requirements. Then, the soil loosening component 18 reverses the drill bit 1814 to achieve natural soil covering of the planting point, completing the planting operation of a single seedling.

[0042] Once a single seedling has been planted, it sends a signal to the central control system indicating that the seedling retrieval is complete. The central control system then decides, based on the preset total task volume, to start the planting cycle for the next seedling, or to trigger an end / reset command to return to the initial state and wait for the next task.

[0043] This invention enhances the overall operational integration through the coordinated operation of surface and underwater components, enabling integrated transportation, planting, and transplantation of seagrass plants. The soil-loosening component, working in conjunction with the rotating planting component, smoothly performs soil digging, plant placement, and soil burying when rotating forward. When rotating backward, the soil-loosening component removes the entire plant along with the soil, reducing damage to the plants and soil during operation. The environmental sensing module detects and identifies the distribution of seabed plants and soil conditions, ensuring dense planting and improving plant survival rates. The biomimetic streamlined shell and modular design reduce resistance during underwater operations, increasing operational flexibility. This device is widely used in marine restoration, seagrass cultivation, and marine surveillance, among other fields.

[0044] The above embodiments are merely descriptions of preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A seagrass transplantation and cultivation device based on a rotating and opening mechanism, characterized in that: It includes an above-water component and an underwater component equipped with dual transfer assemblies; The dual transfer assembly includes a ball screw, a screw slider, a synchronous toothed belt, a synchronous pulley, a slider, and a telescopic mechanical gripper. The output end of the synchronous pulley is connected to the first end of the synchronous toothed belt. The second end of the synchronous toothed belt is connected to the first end of the ball screw via the slider. The second end of the ball screw is connected to the first end of the screw slider, and the second end of the screw slider is connected to the telescopic mechanical gripper. The underwater components include a storage rotation assembly, a rotary planting assembly, and a sand flushing assembly. The storage rotation assembly includes a right gear, a DC motor, a left gear, a cultivation chamber, a slot, and a chain. The output end of the right DC motor is connected to the input end of the right gear, and the output end of the left DC motor is connected to the input end of the left gear. The right gear and left gear are... Do not engage with the chain; the fixed end of the chain is connected to the cultivation chamber via a slot. The rotary planting assembly includes a rotating wheel, a guard plate, a lower shovel, a digging claw, a telescopic chamber, a telescopic chamber door, a hydraulic push rod, and a screw slide rail. The fixed end of the rotating wheel is connected to the first mounting end of the guard plate. The lower shovel and digging claw are connected to the second and third mounting ends of the guard plate, respectively. The fourth mounting end of the guard plate is connected to the first mounting end of the telescopic chamber via the screw slide rail. The second mounting end of the telescopic chamber is connected to the telescopic chamber door via the hydraulic push rod. The sand flushing assembly includes a nozzle, a water collector, a rotating platform, and a spherical camera. The water collector is located on the upper part of the rotating platform, and its output end is connected to the nozzle. The spherical camera is connected to the mounting end of the rotating platform.

2. The seagrass transplantation and cultivation device based on a rotating opening and closing mechanism according to claim 1, characterized in that: The water-based components also include a thruster, a feed hatch, a shell, a bionic detector, a docking connector, and a lifting and storage assembly. The first mounting end inside the shell is connected to the fixed bracket of the dual transfer assembly, and the second mounting end inside the shell is connected to the frame of the lifting and storage assembly. The upper end of the shell is equipped with a feed hatch, and the rear end of the shell is symmetrically equipped with thrusters. The lower end of the shell is equipped with a docking connector, and the lower end of the shell near the front end is equipped with a storage compartment. The bionic detector is located inside the storage compartment.

3. The seagrass transplantation and cultivation device based on a rotating opening and closing mechanism according to claim 2, characterized in that: The lifting and storage assembly in the water-based components includes a lead screw, a support rod, a fixed plate, a seedling tray, an electric push rod, and a motor. The fixed end of the support rod is connected to the first end of the frame, the fixed end of the lead screw is connected to the second end of the frame, the input end of the lead screw is connected to the output end of the motor, the first and second connecting ends of the fixed plate are respectively connected to the sliding end of the lead screw and the sliding end of the support rod, the third connecting end of the fixed plate is connected to the fixed end of the electric push rod, and the telescopic end of the electric push rod is connected to the seedling tray.

4. The seagrass transplantation and cultivation device based on a rotating opening and closing mechanism according to claim 1, characterized in that: The dual transfer assembly in the water component also includes a fixed bracket and a first stepper motor. The input end of the synchronous pulley is connected to the output end of the first stepper motor, and the fixed end of the first stepper motor is connected to the first end of the fixed bracket.

5. The seagrass transplantation and cultivation device based on a rotating opening and closing mechanism according to claim 1, characterized in that: The underwater component also includes a drive assembly, a grabbing assembly, an electric ballast tank assembly, a docking interface, a sliding door, a shaftless thruster, an environmental sensing module, and a soil loosening assembly. The upper end of the underwater component is equipped with a sliding door and a docking interface, which is connected to the docking joint of the surface component. The first end and the second end of the first mounting part inside the underwater component are respectively connected to the first linear guide rail and the rack in the grabbing assembly. The second mounting end inside the underwater component is connected to the storage and rotation assembly. The drive assembly, the electric ballast tank assembly, and the shaftless thruster are symmetrically distributed on both sides of the underwater component. The front end of the underwater component is equipped with an environmental sensing module, a sand flushing assembly, and a rotating planting assembly, which are distributed from top to bottom.

6. The seagrass transplanting and cultivation device based on a rotating opening and closing mechanism according to claim 5, characterized in that: The underwater gripping assembly includes a linear guide slider, a linear guide, a rack, a gear, a mechanical gripper, a drive arm, a mounting base, and a multi-stage telescopic arm. The input end of the gear is connected to the output end of the first motor, the fixed end of the first motor is connected to the first fixed end of the mounting base, the second fixed end of the mounting base is connected to the fixed end of the first linear guide slider, the fourth mounting end of the mounting base is connected to the fixed end of the multi-stage telescopic arm, the output end of the multi-stage telescopic arm is connected to the second linear guide, the fixed end of the second linear guide slider is connected to the first end of the mechanical gripper, and the second end of the mechanical gripper is connected to the first end of the drive arm.

7. The seagrass transplantation and cultivation device based on a rotating opening and closing mechanism according to claim 5, characterized in that: The electric ballast tank assembly in the underwater components includes a ballast tank, a submersible motor, an air compressor, a sea valve, and an air valve. The submersible motor and the air compressor are located inside the ballast tank. The output end of the submersible motor is connected to the first end of the air compressor, and the second end of the air compressor is connected to the sea valve. The sea valve and the air valve are located at the first and second mounting ends on the side of the ballast tank, respectively.

8. The seagrass transplantation and cultivation device based on a rotating opening and closing mechanism according to claim 5, characterized in that: The rotary planting assembly in the underwater components also includes a second stepper motor and a servo motor. The input end of the rotary wheel is connected to the output end of the second stepper motor, and the control end of the digging claw is connected to the servo motor.

9. The seagrass transplantation and cultivation device based on a rotating opening and closing mechanism according to claim 5, characterized in that: The underwater soil loosening component includes a motor, a primary telescopic boom, an electric actuator, a secondary telescopic boom, and a drill bit. The drive end of the fourth motor is connected to the drive end of the inner plate of the primary telescopic boom. The inner plate, middle plate, and outer plate of the primary telescopic boom are sequentially connected to form the primary telescopic boom. The fixed end of the electric actuator is connected to the mounting end of the outer plate of the primary telescopic boom. The extended end of the electric actuator is connected to the first mounting end of the secondary telescopic boom. The fixed end of the fifth motor is connected to the third mounting end of the secondary telescopic boom. The output end of the fifth motor is connected to the drill bit.

10. A method for controlling a seagrass transplantation and cultivation device based on a rotating opening and closing mechanism as described in any one of claims 1 to 9, characterized in that, The specific steps include: S1. After the surface and underwater components perform self-check and initialization operations, the thruster adjusts the spatial position of the surface component according to the preset operating coordinates, so that the whole component moves to the top of the target sea area; the drive component of the underwater component works with the shaftless thruster to adjust the depth and horizontal position of the underwater component, so that it moves precisely to the target planting point and completes docking with the connector of the surface component through the interface. S2. The dual transfer assembly and the lifting storage assembly work together. The telescopic mechanical claw in the dual transfer assembly accurately grabs seedlings from the seedling tray and completes sorting and positioning under the combination of ball screw and synchronous belt. At the same time, the telescopic mechanical claw transports the seedlings through the sliding hatch to the cultivation chamber of the underwater component's storage rotating assembly. S3. The storage rotating component transports the cultivation chamber containing seedlings to the picking station of the mechanical claw in the gripping component via chain drive. The seedlings are then sent into the telescopic chamber of the rotary planting component through the linear guide rail combination, gear combination and multi-stage telescopic arm in the gripping component. S4. Start the drill bit of the loosening component to loosen the seabed sediment, and at the same time start the sand flushing component to remove surface gravel and attached materials. S5. Based on step S4, the lower shovel of the rotary planting component cuts into the seabed sediment, and the digging claw precisely plants the seedlings into the loosened soil. The hydraulic push rod provides a stable gripping force to ensure that the seedling planting depth and posture meet the requirements. Then, the soil loosening component reverses the drill bit to achieve natural soil covering of the planting point, completing the planting operation of a single seedling. Repeat the above steps to complete the planting operation of all seedlings.

Images