Grabbing type sea cucumber fishing robot

Abstract

The utility model discloses a grabbing type sea cucumber fishing robot. The sea cucumber collecting robot comprises a robot frame, a five-degree-of-freedom mechanical arm and a sea cucumber collecting device, a mechanical arm base and a sea cucumber collecting device are fixedly arranged on the top of the robot frame, a sealing bin is fixedly arranged at the bottom of the robot frame, and vertical propellers and horizontal propellers are fixedly arranged on the periphery of the robot frame. And the synchronous pulley II is driven by the stepping motor I to realize the rotary motion of the mechanical arm. According to the underwater robot, the five-degree-of-freedom mechanical arm and the eight-shaft propeller are adopted, and free movement and flexible grabbing of the robot under water are achieved. The sea cucumber catching robot can replace manpower to catch sea cucumbers and is not limited by seasons. The water pressure borne by the device is far higher than that borne by human beings, so that the device has higher safety. The sea cucumber catching robot is used for replacing manual work, and potential hazards of the marine environment to the body health of a caught person 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 grasping sea cucumber catching robot. Background Art

[0002] Currently, most underwater fishing operations are still performed manually, but humans cannot remain underwater for extended periods. Furthermore, in freezing weather, the water temperature and pressure at depth can be extremely challenging for divers. This new system utilizes advanced mechanical, electronic, and control technologies to enable the capture and collection of sea cucumbers in underwater environments. It typically features underwater positioning, manipulation, and prehension capabilities, enabling it to perform tasks in complex marine environments. This system aims to improve the efficiency of marine resource development and reduce labor investment. Summary of the Invention

[0003] In view of the defects in the prior art, the utility model proposes a grabbing sea cucumber fishing robot.

[0004] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0005] The utility model comprises a robot frame (101), a five-degree-of-freedom robot arm (301) and a sea cucumber collecting device (201); a robot arm base (104) and a sea cucumber collecting device (201) are fixedly arranged on the top of the robot frame (101), a sealed chamber (105) is fixedly arranged on the bottom, and vertical propellers (102) and horizontal propellers (103) are fixedly arranged around the robot frame; a stepper motor I (302) is fixedly arranged on the robot arm base (104), and a synchronous pulley II (305) is driven by the stepper motor I (302) to realize the rotational movement of the robot arm (301).

[0006] Preferably, there are four vertical thrusters (102), which are fixed at the center line positions around the robot frame (101) and are symmetrically distributed with the forward output ports facing upward. There are four horizontal thrusters (103), which are fixed at four diagonal vacant positions of the robot frame (101). The forward output ports of the front horizontal thrusters (103) face forward, and the forward output ports of the rear horizontal thrusters (103) face backward, and are arranged at a certain angle.

[0007] Preferably, the sea cucumber collecting device (201) is provided with a synchronous pulley I (203) fixedly connected to the rotating rod (204), and the stepping motor V (202) drives the synchronous pulley I (203) and the rotating rod (204) to rotate through a transmission belt, so that the sea cucumber in the clamping claw (310) can be sent into the collecting device (201), and an opening is left in the clamping claw (310) to prevent the rotating rod (204) from getting stuck during the rotation process.

[0008] Preferably, a power supply device and a main control device are provided in the sealed chamber (105), and the power supply device is electrically connected to the main control device.

[0009] The robotic arm (301) is fixedly composed of joint I (401), an upper arm (402), a joint II (403) and a lower arm (404). The robotic arm (301) is fixedly connected to the robotic arm base (104) through a fixing member (303) and a connecting member (304) at the bottom. The fixing member (303) is fixedly connected to the central axis of the synchronous pulley II (305). When the synchronous pulley II (305) is driven to rotate by the stepper motor I (302), the central axis also rotates synchronously to realize the rotation of the robotic arm (301).

[0010] A joint I (401) is fixedly provided on the output shaft of the stepping motor II (307), and the joint I (401) is fixedly connected by a base I (306), a stepping motor II (307), a synchronous pulley III (309) and a cover plate I (308);

[0011] The end of the upper arm (402) is fixedly provided with a synchronous pulley III (309), the middle part is fixedly provided with a stepping motor IV (317), and the front end is fixedly provided with a joint II (403).

[0012] The joint II (403) is composed of a base II (316) and a synchronous pulley V (315), with a stepper motor III (314) installed in the middle; the output shaft of the stepper motor III (314) is fixedly provided with a synchronous pulley IV (313), and the synchronous pulley IV (313) is fixedly connected to the forearm (404).

[0013] A steering engine (312) is fixedly provided on the top of the small arm (404), and the steering engine (312) realizes the closing of the clamping claw (310) through gear transmission. A high-definition camera (318) is fixedly provided on the end of the small arm (404) for observing the underwater environment.

[0014] Preferably, the sealed chamber (105) is electrically connected to the vertical propeller (102), the horizontal propeller (103), the steering gear (312), the stepping motor, the mechanical arm (301), and the collecting device (201).

[0015] Preferably, the horizontal thruster (103) is controlled by external commands to realize forward, backward, horizontal rotation and other movements, and the vertical thruster (102) can also be controlled by external commands to realize rising and diving in water.

[0016] Preferably, the material of the upper arm (402) and the material of the lower arm (404) are both high-density polyethylene.

[0017] Preferably, the camera (318) is fixedly arranged on a camera fixing bracket at the end of the forearm (404), and a high-definition waterproof camera is fixedly connected to the top of the camera fixing bracket.

[0018] Preferably, the clamping claw (310) should be made of flexible material to prevent the sea cucumber from being injured; the clamping claw is crescent-shaped to prevent the sea cucumber from slipping out from both sides.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. Compared to existing technologies, the sea cucumber harvesting robot of the present invention can replace manual labor in sea cucumber harvesting, without seasonal restrictions. It can withstand water pressure far exceeding that of humans, thus providing greater safety. By replacing manual labor with the sea cucumber harvesting robot, potential health hazards posed by the marine environment to harvesters are effectively avoided.

[0021] 2. This utility model uses a 5-degree-of-freedom robotic arm and an 8-axis propeller to achieve free movement and flexible grasping of the robot underwater. It utilizes advanced robotic arm structure design to achieve more precise grasping capabilities and is equipped with a camera to accurately identify the position of sea cucumbers, thereby improving fishing efficiency.

[0022] 3. The utility model not only has the functions of rapid assembly, diversified combination and rapid expansion, but also has the characteristics of high voltage resistance, small size and low cost, ensuring a fast and stable connection.

[0023] 4. The overall structural design of the frame components is sophisticated. On the basis of using as few components as possible, it provides sufficient installation space for various components of the fishing robot, effectively reducing the weight of the frame, reducing material costs, and ensuring the sturdiness of the overall installation.

[0024] 5. In addition, the utility model is also equipped with a sea cucumber collection bin, which can store the captured sea cucumbers, further improving the practicality and efficiency of the fishing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The accompanying drawings are included as part of this application and are used to provide a further understanding of the present invention.

[0026] Figure 1 This is the axonometric drawing of this application;

[0027] Figure 2 This is the axonometric drawing of the robot frame;

[0028] Figure 3 Axonometric measurement of the robotic arm Figure 1 ;

[0029] Figure 4 Axonometric measurement of the robotic arm Figure 2 ;

[0030] Figure 5 This is the axonometric drawing of the collection device;

[0031] Explanation of reference numerals: 101 - robot frame; 102 - vertical thruster; 103 - horizontal thruster; 104 - robot arm base; 105 - sealed cabin; 201 - collection device; 202 - stepper motor V; 203 - synchronous pulley I; 204 - rotating rod; 301 - robot arm; 302 - stepper motor I; 303 - fixing member; 304 - connecting member; 305 - synchronous pulley II; 306 - Base I; 307 stepper motor II; 308-cover I; 309-synchronous pulley III; 310-gripper; 311-cover II; 312-servo; 313-synchronous pulley IV; 314-stepper motor III; 315-synchronous pulley V; 316-base II; 317-stepper motor IV; 318-camera; 401-joint I; 402-upper arm; 403-joint II; 404-lower arm. DETAILED DESCRIPTION

[0032] 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 the embodiments.

[0033] The utility model includes a robot frame, the bottom of which is fixedly provided with a sealed chamber, and propeller modules are fixedly provided around it. A mechanical arm base plate and a collection device are fixedly provided on the top of the mechanical arm base plate. A DC motor and a mechanical arm device are fixedly provided on the mechanical arm base plate. The mechanical arm device mainly comprises four parts: joint 1, the upper arm, and joint 2, the lower arm. The rotation of the mechanical arm device is achieved through the transmission between stepper motor 1 and the synchronous pulley. Three stepper motors on the mechanical arm device control the rotation of the two joints and the mechanical claw, so that the mechanical claw can complete the grasping task. The steering gear at the top of the lower arm controls the closing of the mechanical claw through gear transmission. At the same time, the camera at the top of the lower arm transmits the image in real time to the corresponding operator. It can grasp the sea cucumber by remote control. The sea cucumber collection device is provided with a rotating rod. The rotation of the stepper motor drives the rotating rod to rotate, and the sea cucumber in the mechanical claw can be delivered to the collection device. The collection device has a hollow design.

[0034] like Figure 1-Figure 5 The utility model comprises a robot frame (101), a five-degree-of-freedom robot arm (301) and a sea cucumber collecting device (201); a robot arm base (104) and a sea cucumber collecting device (201) are fixedly provided on the top of the robot frame (101), a sealed chamber (105) is fixedly provided on the bottom, and vertical propellers (102) and horizontal propellers (103) are fixedly provided around the robot frame (101); a stepper motor I (302) is fixedly provided on the robot arm base (104), and a synchronous pulley II (305) is driven by the stepper motor I (302) to realize the rotational movement of the robot arm (301).

[0035] Preferably, there are four vertical thrusters (102), which are fixed at the center line positions around the robot frame (101) and are symmetrically distributed with the forward output ports facing upward. There are four horizontal thrusters (103), which are fixed at corresponding positions (diagonal positions) of the robot frame (101). The forward output ports of the front horizontal thrusters (103) face forward, and the forward output ports of the rear horizontal thrusters (103) face backward, and are arranged at a certain angle.

[0036] Preferably, the sea cucumber collecting device (201) is provided with a synchronous pulley I (203) fixedly connected to the rotating rod (204), and the stepping motor V (202) drives the synchronous pulley I (203) and the rotating rod (204) to rotate through a transmission belt, so that the sea cucumber in the clamping claw (310) can be sent into the collecting device (201), and an opening is left in the clamping claw (310) to prevent the rotating rod (204) from getting stuck during the rotation process.

[0037] Preferably, a power supply device and a main control device are provided in the sealed chamber (105), and the power supply device is electrically connected to the main control device.

[0038] The robotic arm (301) is fixedly composed of joint I (401), an upper arm (402), a joint II (403) and a lower arm (404). The robotic arm (301) is fixedly connected to the robotic arm base (104) through a fixing member (303) and a connecting member (304) at the bottom. The fixing member (303) is fixedly connected to the central axis of the synchronous pulley II (305). When the synchronous pulley II (305) is driven to rotate by the stepper motor I (302), the central axis also rotates synchronously to realize the rotation of the robotic arm (301).

[0039] A joint I (401) is fixedly provided on the output shaft of the stepping motor II (307), and the joint I (401) is fixedly connected by a base I (306), a stepping motor II (307), a synchronous pulley III (309) and a cover plate I (308);

[0040] The end of the upper arm (402) is fixedly provided with a synchronous pulley III (309), the middle part is fixedly provided with a stepping motor IV (317), and the output shaft of the stepping motor III (314) is fixedly provided with a joint II (403).

[0041] The joint II (403) is composed of a base II (316) and a synchronous pulley V (315), with a stepper motor III (314) installed in the middle; the output shaft of the stepper motor III (314) is fixedly provided with a synchronous pulley IV (313), and the synchronous pulley IV (313) is fixedly connected to the forearm (404).

[0042] A steering engine (312) is fixedly provided on the top of the small arm (404), and the steering engine (312) realizes the closing of the clamping claw (310) through gear transmission. A high-definition camera (318) is fixedly provided on the end of the small arm (404) for observing the underwater environment.

[0043] Preferably, the sealed chamber (105) is electrically connected to the vertical propeller (102), the horizontal propeller (103), the steering gear (312), the stepping motor, the mechanical arm (301), and the collecting device (201).

[0044] Preferably, the horizontal thruster (103) is controlled by external commands to realize forward, backward, horizontal rotation and other movements, and the vertical thruster (102) can also be controlled by external commands to realize rising and diving in water.

[0045] Preferably, the material of the upper arm (402) and the material of the lower arm (404) are both high-density polyethylene.

[0046] Preferably, the camera (318) is fixedly mounted on a camera fixing bracket at the end of the forearm (404), and a high-definition waterproof camera is fixedly connected to the top of the camera fixing bracket. The camera is used to collect underwater images in real time and transmit them to operators at sea or on land via cables, so that the operators at sea or on land can observe the underwater situation and accurately control the fishing robot at the bottom of the water, thereby achieving the effect of catching sea cucumbers.

[0047] Preferably, the clamp (310) should be made of a flexible material to avoid damaging the surface of the sea cucumber when grasping it, thereby affecting the quality of the sea cucumber. The clamp (310) is crescent-shaped to prevent the sea cucumber from slipping out from the sides. The clamp is made of a flexible material.

[0048] like Figure 4As shown in the figure, it should be noted that stepper motor I is installed on the base of the robotic arm and its main function is to adjust the left and right rotation of the robotic arm, so that the robotic arm can better complete the task of catching sea cucumbers. Stepper motor II is used to adjust the angle between joint I and the upper arm, so that the robotic arm can better complete the task of catching sea cucumbers. Stepper motor III is used to adjust the rotation angle of the gripper, allowing it to rotate 360 ​​degrees, so that the robotic arm can better complete the task of catching sea cucumbers. Stepper motor IV is used to adjust the angle between joint II and the lower arm, so that the robotic arm can better complete the task of catching sea cucumbers.

[0049] The servo controls the rotation of the gear, which drives the closing and opening of the mechanical claw through the rotation of the gear, so that the mechanical arm on the robot can better complete the task of catching sea cucumbers.

[0050] In summary, the sea cucumber harvesting robot described in this utility model achieves efficient and non-destructive harvesting of sea cucumbers through its sophisticated design and efficient mechanical structure. Furthermore, its flexibility and stability provide strong support for its operation in complex underwater environments. Although only some embodiments of the utility model are described herein, any equivalent substitutions or modifications based on the technical solutions of this utility model shall be deemed within the scope of protection of this utility model.

Claims

1. The grabbing sea cucumber fishing robot is characterized by The invention comprises a robot frame (101), a five-degree-of-freedom robot arm (301) and a sea cucumber collecting device (201); a robot arm base (104) and a sea cucumber collecting device (201) are fixedly arranged on the top of the robot frame (101), a sealed bin (105) is fixedly arranged on the bottom, and vertical thrusters (102) and horizontal thrusters (103) are fixedly arranged around the robot frame; a stepper motor I (302) is fixedly arranged on the robot arm base (104), and a synchronous pulley II (305) is driven by the stepper motor I (302) to realize the rotational movement of the robot arm (301).

2. The sea cucumber fishing robot according to claim 1, characterized in that: There are four vertical thrusters (102) respectively fixed at the center line positions around the robot frame (101) and symmetrically distributed with the forward output ports facing upwards; there are four horizontal thrusters (103) respectively fixed at four diagonal vacant positions of the robot frame (101); the forward output port of the front horizontal thruster (103) faces forwards, and the forward output port of the rear horizontal thruster (103) faces backwards, and they are arranged at a certain angle.

3. The sea cucumber fishing robot according to claim 1, characterized in that: The sea cucumber collecting device (201) is provided with a synchronous pulley I (203) fixedly connected to a rotating rod (204); a stepping motor V (202) drives the synchronous pulley I (203) and the rotating rod (204) to rotate via a transmission belt, so that the sea cucumber in the clamp (310) can be sent into the sea cucumber collecting device (201); an opening is left in the clamp (310) to prevent the rotating rod (204) from getting stuck during the rotation process.

4. The sea cucumber fishing robot according to claim 1, characterized in that: A power supply device and a main control device are arranged in the sealed chamber (105), and the power supply device is electrically connected to the main control device.

5. The sea cucumber fishing robot according to claim 1, characterized in that: The mechanical arm (301) is fixedly composed of joint I (401), an upper arm (402), a joint II (403) and a lower arm (404). The mechanical arm (301) is fixedly connected to the mechanical arm base (104) through a fixing member (303) and a connecting member (304) at the bottom. The fixing member (303) is fixedly connected to the central axis of a synchronous pulley II (305). When the synchronous pulley II (305) is driven to rotate by a stepper motor I (302), the central axis also rotates synchronously to realize the rotation of the mechanical arm (301).

6. The sea cucumber fishing robot according to claim 5, characterized in that A joint I (401) is fixedly arranged on the output shaft of the stepper motor II (307), and the joint I (401) is fixedly connected by a base I (306), a stepper motor II (307), a synchronous pulley III (309) and a cover plate I (308); a synchronous pulley III (309) is fixedly arranged at the end of the upper arm (402), a stepper motor IV (317) is fixedly arranged in the middle, and a joint II (403) is fixedly arranged at the front end.

7. The sea cucumber fishing robot according to claim 6, characterized in that: The joint II (403) is composed of a base II (316) and a synchronous pulley V (315), and a stepper motor III (314) is installed in the middle; the output shaft of the stepper motor III (314) is fixedly provided with a synchronous pulley IV (313), and the synchronous pulley IV (313) is fixedly connected to the forearm (404); the top of the forearm (404) is fixedly provided with a steering gear (312), and the steering gear (312) realizes the closing of the clamping claw (310) through gear transmission; the end of the forearm (404) is fixedly provided with a high-definition camera (318) for observing the underwater environment.

8. The sea cucumber fishing robot according to claim 6, characterized in that: The material of the upper arm (402) and the material of the lower arm (404) are both high-density polyethylene.

9. The sea cucumber fishing robot according to claim 7, characterized in that: The camera (318) is fixedly arranged on a camera fixing bracket at the end of the forearm (404), and the camera (318) is a high-definition waterproof camera.

10. The sea cucumber fishing robot according to claim 7, characterized in that The clamping claw (310) should be made of flexible material to prevent the sea cucumber from being injured; the clamping claw is crescent-shaped to prevent the sea cucumber from slipping out from both sides.

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