Sea cucumber fishing robot

Abstract

The utility model discloses a sea cucumber fishing robot. Comprising a robot moving chassis, the chassis is integrated with a sealed cabin, and the sealing performance and safety of the robot are ensured; the mechanical arm device and the collecting device are arranged at the top of the movable chassis, and joint drivers of the mechanical arm device are waterproof steering engines, specifically, a shoulder joint double-shaft steering engine, a shoulder joint single-shaft steering engine, an elbow joint double-shaft steering engine, a wrist joint double-shaft steering engine, a wrist joint single-shaft steering engine and a clamping jaw driving steering engine; the rotation of each part of the mechanical arm and the closing and opening of the clamping jaw are realized by controlling each steering engine; meanwhile, the camera at the tail end of the clamping jaw transmits pictures to corresponding operators in real time, and the sea cucumbers are grabbed through remote control. The sea cucumber fishing device can comprehensively replace a traditional manual fishing mode, is not limited by seasons, and ensures that sea cucumbers are caught continuously all the year round. Water pressure far exceeding human beings can be borne, the operation safety is remarkably improved, and potential hazards of the marine environment to the body health of fighters are effectively avoided.

Description

Technical Field

[0001] The utility model relates to the fields of underwater robots, underwater exploration and marine engineering, and in particular to a sea cucumber catching robot. Background Art

[0002] In the current underwater fishing industry, most underwater fishing tasks still rely mainly on manual labor. Although manual fishing is intuitive and flexible, its limitations are becoming increasingly prominent. First, people cannot carry out fishing tasks underwater for a long time, which not only limits the continuity and efficiency of fishing, but also increases the physical burden and safety risks of operators. Secondly, in severe cold weather or deep under the sea, the cold water temperature and huge water pressure will cause great trouble to divers, which not only affects the fishing effect, but also may pose a threat to the health and safety of divers.

[0003] Although existing underwater fishing robots have achieved certain results, there are still some problems and challenges in practical applications. For example, some robots still need to be improved in terms of positioning accuracy, grasping efficiency, environmental adaptability, etc. In addition, how to ensure the stable operation of robots in complex and changing marine environments, and how to effectively monitor and maintain them are also issues that need to be solved urgently.

[0004] Therefore, based on the existing technology, the utility model has carried out in-depth research and innovation, aiming to further improve the performance and practicality of the underwater fishing robot. By adopting more advanced mechanical arm structure design, equipped with high-definition cameras and optimized control systems, the utility model achieves more accurate grasping, more efficient fishing and more stable operation. At the same time, it also has the functions of rapid assembly, diversified combination and rapid expansion, and can be flexibly configured according to different fishing needs, so as to better meet the needs of practical applications.

[0005] Therefore, the utility model provides a sea cucumber fishing robot. Summary of the invention

[0006] In view of the defects in the prior art, the utility model provides a sea cucumber fishing robot.

[0007] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0008] The utility model comprises a robot mobile chassis, a sealed cabin, a collecting device and a mechanical arm device.

[0009] The robot mobile chassis comprises an upper fixing plate, an underwater obstacle avoidance module, a left fixing frame, a searchlight, a bottom plate, an upper fixing frame of a sealed cabin, a lower fixing frame of the sealed cabin, a right fixing frame, a horizontal thruster, and a vertical thruster.

[0010] The searchlight is used to provide lighting, and a searchlight is fixed on each of the left fixing frame and the right fixing frame.

[0011] There are four horizontal thrusters and four vertical thrusters. Preferably, the horizontal thrusters can realize forward, backward, horizontal rotation and other actions through external command control, and the vertical thrusters can also be controlled by external commands to realize rising and diving in water.

[0012] The left fixing frame and the right fixing frame are each provided with four thruster mounting holes, the left fixing frame and the right fixing frame are respectively connected to the upper fixing plate and the bottom plate, the four horizontal thrusters are symmetrically distributed on both sides of the robot mobile chassis, and the four vertical thrusters are distributed at the four corners above the robot mobile chassis.

[0013] The sealed cabin is used to place the robot control board, gyroscope and power supply, the sealed cabin lower fixing frame is connected to the sealed cabin upper fixing frame, the sealed cabin can be clamped in the middle, the sealed cabin upper fixing frame is connected to the upper fixing plate, and the sealed cabin lower fixing frame is fixedly connected to the bottom plate.

[0014] The sealed cabin includes a hemispherical cover, a silicone pad, an O-ring, a sealing cover, an acrylic tube, a threading screw, and a threading plate; the main body of the sealed cabin is an acrylic tube, the front end of which is fixedly connected to the sealing cover; the hemispherical cover and the silicone pad are fixedly connected to the sealing cover by bolts; a sealing cover is fixedly provided at the end of the acrylic tube, the threading plate is fixedly connected to the silicone pad and the sealing cover, and a threading screw is arranged in a ring shape and passes through the threading plate to allow the cable to pass through while blocking the entry of seawater.

[0015] The collecting device includes a bin cover, a connecting rod, a servo arm, a servo, and a bin body; the collecting device is used to collect the sea cucumbers caught by the mechanical arm, and the collecting device is fixed on the upper fixed plate of the mobile chassis and is located behind the mechanical arm; the shaft on the bin cover is connected to the bin body; the servo is fixedly connected to the bin body; the servo arm is connected to the output shaft of the servo; the servo arm is connected to the connecting rod through a bearing; the connecting rod is connected to the bin cover through a bearing; the servo arm, the connecting rod, the bin cover and the bin body together form a double rocker mechanism, the servo arm and the bin cover are rockers, and the bin body is a fixed end.

[0016] The robotic arm device has six degrees of freedom, including an upper clamp, a clamp-driven servo, a clamp fixing part, a wrist joint single-axis servo, a wrist joint U-shaped bracket, a wrist joint double-axis servo, an outer connecting rod of the forearm, a forearm connecting part, an elbow joint U-shaped bracket, an elbow joint double-axis servo, an outer connecting rod of the upper arm, a shoulder joint double-axis servo, a shoulder joint U-shaped bracket, a shoulder joint single-axis servo, a robotic arm base, a servo fixing seat, a fixing seat guard plate, an upper arm inner connecting rod, an forearm inner connecting rod, a multi-functional bracket, and a lower clamp. All joint drivers of the robotic arm device are waterproof servos, specifically a shoulder joint double-axis servo, a shoulder joint single-axis servo, an elbow joint double-axis servo, a wrist joint double-axis servo, a wrist joint single-axis servo, and a clamp-driven servo.

[0017] The mechanical arm base is fixedly connected to the upper fixed plate, the servo gear fixing seat is connected to the mechanical arm base through a bearing, the servo gear fixing seat is fixedly connected to the shoulder joint single-axis servo gear, the output shaft of the shoulder joint single-axis servo gear passes through the through hole in the middle of the servo gear fixing seat and is connected to the mechanical arm base, and the output shaft of the shoulder joint single-axis servo gear can rotate relative to the mechanical arm base.

[0018] A fixing seat guard plate is fixed on each side of the servo fixing seat, the servo fixing seat is connected to the shoulder joint U-shaped bracket, and the shoulder joint double-axis servo and the elbow joint double-axis servo are respectively connected to the two ends of the inner connecting rod of the boom. Preferably, the two inner connecting rods of the big arms are connected by a copper column, and the outer connecting rod of the big arm is connected to the inner connecting rod of the big arm by the copper column, so as to further enhance the rigidity of the inner connecting rod of the big arm, the shoulder joint double-axis steering gear is fixedly connected to the shoulder joint U-shaped bracket, the output shaft of the elbow joint double-axis steering gear is connected to one end of the elbow joint U-shaped bracket, and the other end of the elbow joint U-shaped bracket is fixedly connected to the forearm connecting piece, the wrist joint double-axis steering gear is fixedly connected to the two inner connecting rods of the forearm, the outer connecting rod of the forearm is connected to the inner connecting rod of the forearm through the copper column, the inner connecting rod of the forearm is connected to the forearm connecting piece, the wrist joint double-axis steering gear is connected to the wrist joint U-shaped bracket, the output shaft of the wrist joint single-axis steering gear is fixedly connected to the wrist joint U-shaped bracket, the multi-functional bracket is connected to the wrist joint single-axis steering gear, the clamp fixing piece is connected to the multi-functional bracket, the clamp driving steering gear is connected to the clamp fixing piece, the clamp fixing piece is connected to the lower clamp, and the output shaft of the clamp driving steering gear is connected to the upper clamp.

[0019] Preferably, the end of the robot arm is provided with an underwater camera for observing the underwater environment and searching for sea cucumbers. The upper fixed plate 102 and the bottom plate 106 of the robot mobile chassis each have an underwater obstacle avoidance module, which can measure the distance of obstacles in front of and below the robot. When the distance to the obstacle is less than the set value, an alarm will be sent to the operator.

[0020] Preferably, the upper fixing plate and the bottom plate are made of carbon fiber.

[0021] Preferably, the upper and lower clamps should be made of flexible materials to prevent the sea cucumber from being injured; and the clamps are crescent-shaped to prevent the sea cucumber from slipping out from both sides.

[0022] Compared with the prior art, the present invention has many significant beneficial effects:

[0023] 1. Efficient and automated fishing: The sea cucumber fishing robot in the utility model can completely replace the traditional manual fishing method. Its work is not restricted by seasons, thus ensuring uninterrupted sea cucumber fishing throughout the year. In addition, the robot can withstand water pressure far exceeding that of humans, which significantly improves the safety of operations and effectively avoids the potential harm of the marine environment to the health of fishermen.

[0024] 2. Accurate grasping and identification: With the help of advanced mechanical arm structure design and equipped cameras, the utility model can accurately identify the location of sea cucumbers and achieve accurate grasping. This not only improves the fishing efficiency, but also ensures the integrity and quality of sea cucumbers.

[0025] 3. Flexible configuration and expandability: This utility model has the functions of rapid assembly, diversified combination and rapid expansion, and can be flexibly configured according to different fishing needs. At the same time, its high pressure resistance level, small size and low cost make it able to show excellent performance in various marine environments.

[0026] 4. Exquisite overall structural design: On the basis of minimizing the number of components, the frame components of the utility model are exquisitely designed to provide sufficient installation space for various components of the fishing robot. This not only effectively reduces the weight of the frame and reduces material costs, but also ensures the firmness and stability of the overall installation.

[0027] 5. Practical sea cucumber collection bin: The equipped sea cucumber collection bin can store the captured sea cucumbers, avoiding the loss of sea cucumbers during the fishing process and further improving the practicality and overall efficiency of the fishing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings are a part of this application and are used to provide a further understanding of the present invention.

[0029] Figure 1 Axonometric drawing for this application

[0030] Figure 2 Left view of the robot moving chassis

[0031] Figure 3 Sample map for sealed cabin

[0032] Figure 4 Axonometric drawing of the collection device

[0033] Figure 5 Axonometric drawing of the robotic arm

[0034] Description of reference numerals: 101 robot mobile chassis, 102 upper fixing plate, 103 underwater obstacle avoidance module, 104 left fixing frame, 105 searchlight, 106 bottom plate, 107 sealed cabin upper fixing frame, 108 sealed cabin lower fixing frame, 109 right fixing frame, 110 horizontal thruster, 111 vertical thruster, 201 sealed cabin, 202 hemispherical cover, 203 silicone pad, 204 O-ring, 205 sealing cover, 206 acrylic tube, 207 threading screw, 208 threading plate, 301 collecting device, 302 cabin cover, 303 connecting rod, 304 steering gear arm, 305 steering gear, 306 cabin body, 401 machine Mechanical arm device, 402 upper clamp, 403 clamp drive servo, 404 clamp fixing part, 405 wrist joint single-axis servo, 406 wrist joint U-shaped bracket, 407 wrist joint double-axis servo, 408 forearm outer connecting rod, 409 forearm connecting part, 410 elbow joint U-shaped bracket, 411 elbow joint double-axis servo, 412 upper arm outer connecting rod, 413 shoulder joint double-axis servo, 414 shoulder joint U-shaped bracket, 415 shoulder joint single-axis servo, 416 mechanical arm base, 417 servo fixing seat, 418 fixing seat guard plate, 419 upper arm inner connecting rod, 420 forearm inner connecting rod, 421 multi-function bracket, 422 lower clamp. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0036] The utility model includes a robot mobile chassis 101. The chassis is integrated with a sealed cabin 201 to ensure the sealing and safety of the robot. A mechanical arm device 401 and a collecting device 301 are on the top of the mobile chassis 101. Each joint driver of the mechanical arm device is a waterproof steering gear, specifically a shoulder joint double-axis steering gear 413, a shoulder joint single-axis steering gear 415, an elbow joint double-axis steering gear 411, a wrist joint double-axis steering gear 407, a wrist joint single-axis steering gear 405, and a gripper driving steering gear 403. By controlling each steering gear, the rotation of each part of the mechanical arm device 401 and the closing and opening of the gripper can be realized. At the same time, the camera at the end of the gripper transmits the picture to the corresponding operator in real time, and the sea cucumber can be grasped by remote control.

[0037] See also Figure 1 The utility model includes a robot mobile chassis 101, a sealed cabin 201, a collecting device 301, and a mechanical arm device 401.

[0038] See also Figure 2The robot mobile chassis 101 includes an upper fixed plate 102, an underwater obstacle avoidance module 103, a left fixed frame 104, a searchlight 105, a bottom plate 106, an upper fixed frame 107 of the sealed cabin, a lower fixed frame 108 of the sealed cabin, a right fixed frame 109, a horizontal thruster 110, and a vertical thruster 111.

[0039] The searchlight is used to provide lighting for the robot, and a searchlight 105 is fixed on each of the left fixing frame 104 and the right fixing frame 109 .

[0040] There are four horizontal thrusters 110 and four vertical thrusters 111. Preferably, the horizontal thrusters 110 can realize forward, backward, horizontal rotation and other actions through external command control, and the vertical thrusters 111 can also realize ascending and diving in water through external command control.

[0041] The left fixing frame 104 and the right fixing frame 109 are each provided with four thruster mounting holes. The left fixing frame 104 and the right fixing frame 109 are respectively connected to the upper fixing plate 102 and the bottom plate 106. The four horizontal thrusters 110 are symmetrically distributed at 45 degrees on both sides of the robot mobile chassis, and the four vertical thrusters 111 are distributed in the four corners above the robot mobile chassis.

[0042] The sealed cabin 201 includes a portion for placing a robot control panel, a gyroscope, a power supply, etc. The sealed cabin lower fixing frame 108 is connected to the sealed cabin upper fixing frame 107, and the sealed cabin 201 can be clamped in the middle. The sealed cabin upper fixing frame 107 is connected to the upper fixing plate 102. The sealed cabin lower fixing frame 108 is fixedly connected to the bottom plate 106.

[0043] See also Figure 3 The sealed cabin 201 includes a hemispherical cover 202, a silicone pad 203, an O-ring 204, a sealing cover 205, an acrylic tube 206, a threading screw 207, and a threading plate 208; the main body of the sealed cabin 201 is an acrylic tube 206, and the front end of the acrylic tube 206 is fixedly connected to the sealing cover 205; the hemispherical cover 202 and the silicone pad 203 are fixedly connected to the sealing cover 205 by bolts; the sealing cover 205 is fixedly provided at the end of the acrylic tube, and the threading plate 208 is fixedly connected to the silicone pad 203 and the sealing cover 205, and 11 threading screws 207 are arranged in a ring and pass through the threading plate 208 to allow the cable to pass through while blocking the entry of seawater.

[0044] See also Figure 4The collecting device 301 includes a bin cover 302, a connecting rod 303, a servo arm 304, a servo 305, and a bin body 306; the collecting device 301 is used to collect the sea cucumbers caught by the robotic arm, and the collecting device 301 is fixed behind the upper fixed plate 102 of the mobile chassis; the shaft on the bin cover 302 is connected to the bin body 306; the servo 305 is fixedly connected to the bin body 306; the servo arm 304 is connected to the output shaft of the servo 305; the servo arm is connected to the connecting rod 303 through a bearing; the connecting rod is connected to the bin cover through a bearing; the servo arm 304, the connecting rod 303, the bin cover 302 and the bin body 306 together form a double rocker mechanism, the servo arm 304 and the bin cover 302 are rockers, and the bin body 306 is a fixed end.

[0045] See also Figure 5 The mechanical arm device 401 has six degrees of freedom, which includes an upper clamp 402, a clamp driving servo 403, a clamp fixing part 404, a wrist joint single-axis servo 405, a wrist joint U-shaped bracket 406, a wrist joint double-axis servo 407, a forearm outer connecting rod 408, a forearm connecting part 409, an elbow joint U-shaped bracket 410, an elbow joint double-axis servo 411, a large arm outer connecting rod 412, a shoulder joint double-axis servo 413, a shoulder joint U-shaped bracket 414, a shoulder joint single-axis servo Axis servo 415, robotic arm base 416, servo fixing seat 417, fixing seat guard plate 418, upper arm inner connecting rod 419, lower arm inner connecting rod 420, multi-function bracket 421, lower clamp 422, and each joint driver of the robotic arm device is a waterproof servo, specifically a shoulder joint double-axis servo 413, a shoulder joint single-axis servo 415, an elbow joint double-axis servo 411, a wrist joint double-axis servo 407, a wrist joint single-axis servo 405, and a clamp drive servo 403.

[0046] The mechanical arm base 416 is fixedly connected to the upper fixed plate 102, the servo fixing seat 417 is connected to the mechanical arm base 416 through a bearing, the servo fixing seat 417 is fixedly connected to the shoulder joint single-axis servo 415, the output shaft of the shoulder joint single-axis servo 415 is connected to the mechanical arm base 416, a fixing seat guard plate 418 is fixed on each side of the servo fixing seat 417, the servo fixing seat 417 is connected to the shoulder joint U-shaped bracket 414, the shoulder joint double-axis servo 413 and the elbow joint double-axis servo 411 are connected to the upper arm inner connecting rod 419. Preferably, the two inner connecting rods 419 of the upper arm are connected by a copper column, the outer connecting rod 412 of the upper arm is connected to the inner connecting rod 419 of the upper arm by a copper column, the shoulder joint dual-axis steering gear 413 is fixedly connected to the shoulder joint U-shaped bracket 314, the output shaft of the elbow joint dual-axis steering gear 411 is connected to the elbow joint U-shaped bracket 410, the elbow joint U-shaped bracket 410 is fixedly connected to the forearm connecting piece 409, the wrist joint dual-axis steering gear 407 is fixedly connected to the two inner connecting rods 420 of the forearm, the outer connecting rod 408 of the forearm is connected to the inner connecting rod 420 of the forearm by a copper column, and the inner connecting rod 409 of the forearm is fixedly connected to the forearm. The connecting rod 420 is connected to the forearm connecting piece 409, the wrist joint dual-axis servo 407 is connected to the wrist joint U-shaped bracket 406, the output shaft of the wrist joint single-axis servo 405 is fixedly connected to the wrist joint U-shaped bracket 406, the multi-functional bracket 421 is connected to the wrist joint single-axis servo 405, the clamp fixing piece 404 is connected to the multi-functional bracket 421, the clamp drive servo 403 is connected to the clamp fixing piece 404, the clamp fixing piece 404 is connected to the lower clamp 422, and the output shaft of the clamp drive servo 403 is connected to the upper clamp 402.

[0047] Preferably, the end of the robot arm is provided with an underwater camera for observing the underwater environment and searching for sea cucumbers. There is also an underwater camera at the rear of the robot mobile chassis. The upper fixing frame and the bottom plate of the robot mobile chassis each have an underwater obstacle avoidance module, which can measure the distance of obstacles in front of and below the robot. When the distance to the obstacle is less than the set value, an alarm will be sent to the operator.

[0048] Preferably, the upper fixing plate and the bottom plate are made of carbon fiber.

[0049] Preferably, the upper and lower clamps should be made of flexible materials to prevent the sea cucumber from being injured; and the clamps are crescent-shaped to prevent the sea cucumber from slipping out from both sides.

[0050] The specific working process of this utility model is as follows:

[0051] When the utility model is working, the operator needs to put the robot into the area for catching sea cucumbers. After the robot is put into water, the operator on the shore or on the boat observes the underwater conditions through the images sent back by the robot, so as to control the robot to move to the specified position underwater; after observing the sea cucumbers, the operator issues a fishing instruction, and the robot automatically identifies the position of the sea cucumbers, and automatically controls the mechanical arm to carry out the fishing operation; after the sea cucumbers are successfully caught, the mechanical arm first moves to the vicinity of the collecting bin, and after the lid of the collecting bin is opened, the sea cucumbers are placed therein, and the lid is closed, and the fishing operation is completed; if the collecting bin is full, the operator needs to control the robot to return and store the sea cucumbers to other locations.

[0052] In summary, the sea cucumber fishing robot described in the utility model realizes efficient and non-destructive fishing of sea cucumbers through sophisticated design and efficient mechanical structure. At the same time, its flexibility and stability also provide strong guarantees for its operation in complex underwater environments. Although only some embodiments of the utility model are described here, any equivalent replacement or change based on the technical solution of the utility model should be deemed to be within the scope of protection of the utility model.

Claims

1. Sea cucumber fishing robot, characterized in that The invention comprises a robot mobile chassis (101), wherein the chassis is integrated with a sealed cabin (201) to ensure the sealing and safety of the robot; a mechanical arm device (401) and a collecting device (301) are on the top of the mobile chassis (101); each joint driver of the mechanical arm device (401) is a waterproof steering gear, specifically a shoulder joint double-axis steering gear (413), a shoulder joint single-axis steering gear (415), an elbow joint double-axis steering gear (411), a wrist joint double-axis steering gear (407), a wrist joint single-axis steering gear (405), and a gripper driving steering gear (403); the rotation of each part of the mechanical arm device (401) and the closing and opening of the gripper are realized by controlling each steering gear; at the same time, a camera at the end of the gripper transmits images to a corresponding operator in real time, and the sea cucumber is grasped by remote control.

2. The sea cucumber fishing robot according to claim 1, characterized in that The robot mobile chassis (101) comprises an upper fixing plate (102), an underwater obstacle avoidance module (103), a left fixing frame (104), a searchlight (105), a bottom plate (106), an upper fixing frame of a sealed cabin (107), a lower fixing frame of a sealed cabin (108), a right fixing frame (109), a horizontal thruster (110), and a vertical thruster (111); The searchlight (105) is used to provide lighting for the robot, and the left fixing frame (104) and the right fixing frame (109) each fix a searchlight (105); There are four horizontal thrusters (110) and four vertical thrusters (111); the horizontal thrusters (110) can realize forward, backward and horizontal rotation movements through external command control, and the vertical thrusters (111) can also realize ascent and descent in water through external command control; The left fixing frame (104) and the right fixing frame (109) are each provided with four propeller mounting holes. The left fixing frame (104) and the right fixing frame (109) are respectively connected to the upper fixing plate (102) and the bottom plate (106). The four horizontal propellers (110) are symmetrically distributed at 45 degrees on both sides of the robot mobile chassis, and the four vertical propellers (111) are distributed at four corners above the robot mobile chassis.

3. The sea cucumber fishing robot according to claim 1, characterized in that The sealed cabin (201) includes a space for accommodating a robot control panel, a gyroscope, and a power source.

4. The sea cucumber fishing robot according to claim 1, characterized in that The sealed cabin (201) comprises a semi-spherical cover (202), a silicone pad (203), an O-ring (204), a sealing cover (205), an acrylic tube (206), a threading screw (207), and a threading plate (208); the main body of the sealed cabin (201) is an acrylic tube (206), the front end of the acrylic tube (206) is fixedly connected to the sealing cover (205); the semi-spherical cover (202) and the silicone pad (203) are fixedly connected to the sealing cover (205) by bolts; the sealing cover (205) is fixedly arranged at the end of the acrylic tube, the threading plate (208) and the silicone pad (203) are fixedly connected to the sealing cover (205), and 11 threading screws (207) are arranged in a ring shape and pass through the threading plate (208) to allow cables to pass through while blocking the entry of seawater.

5. The sea cucumber fishing robot according to claim 1, characterized in that The sealed cabin lower fixing frame (108) is connected to the sealed cabin upper fixing frame (107) to clamp the sealed cabin (201) in the middle. The sealed cabin upper fixing frame (107) is connected to the upper fixing plate (102); the sealed cabin lower fixing frame (108) is fixedly connected to the bottom plate (106).

6. The sea cucumber fishing robot according to claim 1, characterized in that The collecting device (301) comprises a bin cover (302), a connecting rod (303), a steering gear arm (304), a steering gear (305), and a bin body (306); the collecting device (301) is used to collect sea cucumbers caught by a mechanical arm, and the collecting device (301) is fixed behind an upper fixed plate (102) of a mobile chassis; the shaft on the bin cover (302) is connected to the bin body (306); the steering gear (305) is fixedly connected to the bin body (306); the steering gear arm (304) is connected to an output shaft of the steering gear (305); the steering gear arm is connected to the connecting rod (303) via a bearing; the connecting rod is connected to the bin cover via a bearing; the steering gear arm (304), the connecting rod (303), the bin cover (302), and the bin body (306) together form a double rocker mechanism, wherein the steering gear arm (304) and the bin cover (302) are rockers, and the bin body (306) is a fixed end.

7. The sea cucumber fishing robot according to claim 1, characterized in that The mechanical arm device (401) has six degrees of freedom, and includes an upper clamp (402), a clamp driving steering gear (403), a clamp fixing part (404), a wrist joint single-axis steering gear (405), a wrist joint U-shaped bracket (406), a wrist joint double-axis steering gear (407), a forearm outer connecting rod (408), a forearm connecting part (409), an elbow joint U-shaped bracket (410), an elbow joint double-axis steering gear (411), a large arm outer connecting rod (412), a shoulder joint double-axis steering gear (413), a shoulder joint U-shaped bracket (414), a shoulder joint single-axis steering gear The mechanical arm device comprises a mechanical arm device (415), a mechanical arm base (416), a steering gear fixing seat (417), a fixing seat guard plate (418), an upper arm inner connecting rod (419), a lower arm inner connecting rod (420), a multifunctional bracket (421), and a lower clamping claw (422). The joint drivers of the mechanical arm device are all waterproof steering gears, specifically, a shoulder joint double-axis steering gear (413), a shoulder joint single-axis steering gear (415), an elbow joint double-axis steering gear (411), a wrist joint double-axis steering gear (407), a wrist joint single-axis steering gear (405), and a clamping claw driving steering gear (403); The mechanical arm base (416) is fixedly connected to the upper fixing plate (102), the steering gear fixing seat (417) is connected to the mechanical arm base (416) via a bearing, the steering gear fixing seat (417) is fixedly connected to the shoulder joint single-axis steering gear (415), the output shaft of the shoulder joint single-axis steering gear (415) is connected to the mechanical arm base (416), a fixing seat guard plate (418) is fixed on each side of the steering gear fixing seat (417), and the steering gear fixing seat (417) is fixedly connected to the mechanical arm base (416). The shoulder joint U-shaped bracket (414) is connected, the shoulder joint double-axis steering gear (413), the elbow joint double-axis steering gear (411) are connected to the upper arm inner connecting rod (419); the two upper arm inner connecting rods (419) are connected through a copper column, the upper arm outer connecting rod (412) is connected to the upper arm inner connecting rod (419) through a copper column, the shoulder joint double-axis steering gear (413) is fixedly connected to the shoulder joint U-shaped bracket (414), and the output shaft of the elbow joint double-axis steering gear (411) is connected to the elbow joint U-shaped The elbow joint U-shaped bracket (410) is fixedly connected to the forearm connecting piece (409), the wrist joint dual-axis steering gear (407) is fixedly connected to the two forearm inner connecting rods (420), the forearm outer connecting rod (408) is connected to the forearm inner connecting rod (420) through a copper column, the forearm inner connecting rod (420) is connected to the forearm connecting piece (409), the wrist joint dual-axis steering gear (407) is connected to the wrist joint U-shaped bracket (406), the wrist joint single axis The output shaft of the steering gear (405) is fixedly connected to the wrist joint U-shaped bracket (406), the multifunctional bracket (421) is connected to the wrist joint single-axis steering gear (405), the clamping jaw fixing piece (404) is connected to the multifunctional bracket (421), the clamping jaw driving steering gear (403) is connected to the clamping jaw fixing piece (404), the clamping jaw fixing piece (404) is connected to the lower clamping jaw (422), and the output shaft of the clamping jaw driving steering gear (403) is connected to the upper clamping jaw (402).

8. The sea cucumber fishing robot according to claim 1, characterized in that An underwater camera is installed at the end of the robotic arm to observe the underwater environment and search for sea cucumbers. There is an underwater obstacle avoidance module on the upper fixed frame and the bottom plate of the robot's mobile chassis to measure the distance to obstacles in front of and below the robot. When the distance to the obstacle is less than the set value, an alarm will be sent to the operator.

9. The sea cucumber fishing robot according to claim 1, characterized in that The material of the upper fixing plate and the bottom plate is carbon fiber.

10. The sea cucumber fishing robot according to claim 1, characterized in that The upper and lower clamps should be made of flexible materials to prevent the sea cucumber from being pinched; the clamps are crescent-shaped to prevent the sea cucumber from slipping out from both sides.

Images