Sea cucumber fishing robot

Abstract

The utility model provides a sea cucumber fishing robot. The sea cucumber fishing robot comprises a four-wheel-drive carrier mechanism, an adsorption mechanism and a three-degree-of-freedom mechanical arm mechanism. The adsorption mechanism is mounted on a top opening and closing door of the four-wheel drive carrier mechanism through a mounting flange; and the three-degree-of-freedom mechanical arm mechanism is mounted on a bracket mounting plate at the front end of the four-wheel drive carrier mechanism. Adsorption fishing of sea cucumbers is achieved in a mechanical matching mode, the sea cucumber adsorption effect is remarkable, the overall design cost is low, the obstacle crossing capacity is high, the flexibility is high, the automation degree is high, and the sea cucumber adsorption fishing device is suitable for large-area popularization.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater fishing, in particular to a sea cucumber fishing robot. Background Art

[0002] At present, sea cucumbers are generally caught manually, and machine fishing is rarely used. Manual fishing is cumbersome and labor-intensive, requiring divers to wear diving suits and oxygen masks to dive to the bottom of the sea, find sea cucumbers and pick them up one by one and put them into net bags. This fishing method is not only inefficient, but also factors such as low sea water temperature, high underwater pressure and harsh underwater environment will increase the difficulty of manual fishing. Most of the existing machine fishing equipment is too bulky and costly, the accuracy of searching for sea cucumbers is not high, and the obstacle-crossing ability is unsatisfactory, resulting in low fishing efficiency. Utility Model Content

[0003] In view of the shortcomings of manual fishing and existing sea cucumber fishing equipment, the utility model provides a sea cucumber fishing robot which has flexible movement, high operating efficiency, strong obstacle crossing ability and high degree of automation.

[0004] In order to achieve the above-mentioned purpose, the utility model proposes a sea cucumber fishing robot, including a four-wheel drive vehicle carrier mechanism, an adsorption mechanism, and a three-degree-of-freedom mechanical arm mechanism. The four-wheel drive vehicle carrier mechanism drives four large anti-sinking wheels through four motors to provide the robot with seabed mobility and obstacle-crossing capabilities; the adsorption mechanism is installed on the top switch door of the four-wheel drive vehicle carrier mechanism through a mounting flange; the adsorption hose of the adsorption mechanism is installed on the three-degree-of-freedom mechanical arm mechanism and the front half of the four-wheel drive vehicle carrier mechanism through a series of mounting parts; the three-degree-of-freedom mechanical arm mechanism is installed on the front bracket mounting plate of the four-wheel drive vehicle carrier mechanism.

[0005] Furthermore, the four-wheel drive vehicle carrier mechanism includes a frame, a floating block, a switch door, an anti-sinking wheel, a wheel motor, a control module, a storage net box, and a lighting camera module. The frame of the four-wheel drive vehicle carrier mechanism is formed by welding square tubes, the body is a rectangular parallelepiped, the middle is hollowed out, and a mechanical arm mounting bracket is welded on the front part protruding, and a mechanical arm mounting plate is welded on the mechanical arm mounting bracket. A "U"-shaped opening floating block is installed on the upper side of the middle hollow of the frame. A switch door welded by a square tube is installed on the top of the frame through a hinge, and a flange mounting plate for mounting the adsorption mechanism is welded in the middle of the switch door, and a limit block is installed on the other side of the hinge. The four wheel motors are installed on both sides of the hollow part of the frame through the wheel motor mounting plate, two on each side, and a control module is installed between the two motors on each side; the anti-sinking wheel is connected to the wheel motor through a wheel connector. A detachable storage net box is installed at the lower end of the opening of the floating block to store the sucked sea cucumbers. The top front end and the top rear end of the frame are installed with a lighting camera module.

[0006] Further, the adsorption mechanism includes a suction pump, a three-way joint, a hose, a hose mounting bracket, and a sealing plate. The suction pump is installed in the rear port of the three-way joint. The lower port of the three-way joint is installed on the flange mounting plate of the switch door through a flange member. The sealing plate is installed under the flange mounting plate through a hinge. One end of the hose is installed in the front port of the three-way joint, and the other end is installed on the end piece of the three-degree-of-freedom robotic arm mechanism. The middle part of the hose is fixed to the large and small arms of the three-degree-of-freedom robotic arm mechanism by a plurality of the hose mounting brackets, so that the robotic arm can accurately send the inlet end of the hose to the designated position.

[0007] Further, the control module receives power and instructions through cables, and controls the wheel motors, the suction pump, the three-degree-of-freedom robotic arm mechanism, and the camera module with external instructions.

[0008] Further, the four-wheel drive vehicle carrier mechanism moves forward and backward by the forward and reverse rotations of the left and right side wheel motors, and steers by the left and right wheel differential.

[0009] The present utility model realizes the adsorption and fishing of sea cucumbers through a mechanical cooperation form, greatly reducing the labor cost. This device uses four wheel motors to drive four large-diameter anti-sinking wheels respectively, so that the overall vehicle body has extremely high flexibility and excellent obstacle-crossing ability, and can carry out fishing operations in deep sea and complex sea water environments; the added floating blocks enable the negative buoyancy of the entire device in water to reach within ten kilograms; the three-degree-of-freedom robotic arm can accurately send the adsorption hose to the vicinity of the adsorbed object; the rear port of the three-way joint is the suction pump installation port, and there is a metal mesh inside to prevent sea cucumbers from entering the rear port; the front port is the hose installation port, and sea cucumbers enter through this port; the lower port is the channel for sea cucumbers to enter the storage net box; there is a certain space in the middle of the three-way joint for temporarily storing the sucked sea cucumbers; the sealing plate can open or close the lower port of the three-way joint under the action of the adsorption force. The present utility model has low cost, simple structure, and high automation degree, and is suitable for large-scale promotion. Description of the Drawings

[0010] Attached Figure 1 is a three-dimensional schematic diagram of the overall structure of the present utility model.

[0011] Attached Figure 2 is a three-dimensional schematic diagram of the front top view direction structure of the four-wheel drive vehicle carrier mechanism of the present utility model.

[0012] Attached Figure 3 is a three-dimensional schematic diagram of the rear bottom view direction structure of the four-wheel drive vehicle carrier mechanism of the present utility model.

[0013] Attached Figure 4 is a three-dimensional schematic diagram of the adsorption mechanism of the present utility model.

[0014] Reference numerals shown in the drawings:

[0015] 1. Four-wheel drive vehicle carrier mechanism; 2. Adsorption mechanism; 3. Three-degree-of-freedom robotic arm mechanism; 101. Frame; 102. Front lighting camera; 103. Limit block; 104. Three-way mounting plate; 105. Door switch; 106. Rear lighting camera; 107. Lighting camera mounting plate; 108. Door switch hinge; 109. Anti-sinking wheel mounting part; 110. Left front anti-sinking wheel; 111. Left front anti-sinking wheel waterproof motor; 112. Robotic arm mounting plate; 113. Right front anti-sinking wheel waterproof motor; 114. Right front anti-sinking wheel; 115. Left rear anti-sinking wheel; 116. Left rear anti-sinking wheel waterproof motor; 117. Float block; 118. Right rear anti-sinking wheel waterproof motor; 119. Right rear anti-sinking wheel; 120. Power module; 121. Anti-sinking wheel motor mounting plate; 122. Left control cylinder; 123. Right control cylinder; 124. Storage net box; 201. Suction pump; 202. Three-way; 203. Hose; 204. Big arm hose mounting bracket; 205. Small arm hose mounting bracket; 206. Frame hose mounting bracket; 207. Three-way mounting flange; 208. Sealing plate; 209. Sealing plate hinge. Detailed implementation mode

[0016] The present invention will be further described in detail below in conjunction with the accompanying drawings and the specific implementation mode.

[0017] The present invention provides a sea cucumber fishing robot, which specifically includes a four-wheel drive vehicle carrier mechanism, an adsorption mechanism, and a three-degree-of-freedom robotic arm mechanism.

[0018] Figure 1 As shown, the adsorption mechanism 2 is installed on the top door switch of the four-wheel drive vehicle carrier mechanism 1 through a mounting flange; the adsorption hose of the adsorption mechanism 2 is installed on the three-degree-of-freedom robotic arm mechanism 3 and the front half part of the four-wheel drive vehicle carrier mechanism 1 through a series of mounting parts; the three-degree-of-freedom robotic arm mechanism 3 is installed on the front end bracket mounting plate of the four-wheel drive vehicle carrier mechanism 1.

[0019] Figure 2As shown, the frame 101 is composed of square tubes welded together, and a robot arm mounting bracket is welded on the front part protruding therefrom, and a robot arm mounting plate 112 is welded on the robot arm mounting bracket; the floating block 117 is installed on the upper side of the internal space of the frame 101; a switch door 105 welded with a square tube is installed on the top of the frame 101 through a switch door hinge 108, and a three-way mounting plate 104 for mounting the adsorption mechanism 2 is welded in the middle of the switch door 105, and a limit block 103 is installed on the other side of the switch door hinge 108; four The anti-sinking wheel motor is installed on both sides of the frame 101 through the anti-sinking wheel motor mounting plate 121; the left control cylinder 122 and the right control cylinder 123 are respectively installed in the middle of the two motors on the left and right sides, and the power module is installed on the upper side of the right control cylinder 123; the anti-sinking wheel is connected to the wheel motor through the anti-sinking wheel mounting part 109; a detachable storage net box 124 is installed at the lower end of the opening of the floating block 117; the front lighting camera 102 and the rear lighting camera 106 are respectively installed at the top front end and the top rear end of the frame 101.

[0020] Figure 3 As shown, the suction pump 201 is installed at the rear port of the tee 202; the sea cucumber outlet of the hose 203 is installed at the front port of the tee 202; the tee mounting flange 207 is installed at the lower port of the tee 202; the sealing plate 208 is installed at the lower part of the tee mounting flange through the sealing plate hinge; a barrier net for blocking sea cucumbers is installed between the rear port of the tee 202 and the suction pump 201; the frame hose mounting bracket 206 passes through the hose 203 and is installed at the front end above the frame 101; the upper arm hose mounting bracket 204 passes through the hose 203 and is installed on the upper arm of the three-degree-of-freedom robotic arm mechanism 3; the lower arm hose mounting bracket 204 passes through the hose 203 and is installed on the lower arm of the three-degree-of-freedom robotic arm mechanism 3.

[0021] The working process of the utility model is as follows:

[0022] The computer is manually controlled on the shore or on the ship, and the instructions are transmitted to the left and right control cylinders through cables. The left and right control cylinders can control the start and stop and forward and reverse rotation of the anti-sinking wheel motor, the movement of the three-degree-of-freedom robotic arm mechanism, the start and stop and power of the water suction pump, and the operation of the underwater lighting camera according to the instructions.

[0023] Specifically, when the entire device is powered on, the robot is controlled to dive into the water, and the underwater lighting and camera device sends the real-time situation at the bottom of the water to the onshore computer through a cable. When sea cucumbers are found, the staff controls the three-degree-of-freedom robotic arm mechanism to send the inlet end of the hose near the sea cucumbers. Subsequently, the suction pump is turned on. After the suction pump is turned on, the sealing plate will close the lower opening of the tee under the action of the adsorption force. After the sea cucumbers are sucked into the temporary storage area in the tee, the suction pump is turned off, and the sealing plate opens under the action of gravity. The sucked-up sea cucumbers also fall from the temporary storage area into the storage net box. Repeat the above steps. After the storage net box is full, the robot is pulled to the water surface through the cable, the switch door is opened, the storage net box is taken out, and the sea cucumbers are poured out or a new storage net box is replaced.

Claims

1. A sea cucumber fishing robot, characterized in that: It includes a four-wheel drive vehicle carrier mechanism, an adsorption mechanism, and a three-degree-of-freedom mechanical arm mechanism; the adsorption mechanism is installed on the top switch door of the four-wheel drive vehicle carrier mechanism through a mounting flange; the adsorption hose of the adsorption mechanism is installed on the three-degree-of-freedom mechanical arm mechanism and the front half of the four-wheel drive vehicle carrier mechanism through a series of mounting parts; the three-degree-of-freedom mechanical arm mechanism is installed on the front end bracket mounting plate of the four-wheel drive vehicle carrier mechanism.

2. The sea cucumber fishing robot according to claim 1, characterized in that: The four-wheel drive vehicle carrier mechanism includes a frame, a floating block, a switch door, an anti-sinking wheel, a wheel motor, a control module, a storage box, and a lighting and camera module; The frame of the four-wheel drive vehicle carrier mechanism is formed by welding square tubes, and a mechanical arm mounting bracket is welded protruding from the front part, and a mechanical arm mounting plate is welded on the mechanical arm mounting bracket; A floating block is installed on the upper side of the middle hollow of the frame; A switch door welded with a square tube is installed on the top of the frame through a hinge, a flange mounting plate for mounting the adsorption mechanism is welded in the middle of the switch door, and a limit block is installed on the other side of the hinge; The wheel motors are mounted on both sides of the hollowed-out portion of the frame through wheel motor mounting plates; a control module is mounted between the two motors on each side; The anti-sinking wheel is connected to the wheel motor via a wheel connector; A detachable storage net box is installed at the lower end of the floating block opening; The top front end and the top rear end of the frame are equipped with lighting and camera modules.

3. The sea cucumber fishing robot according to claim 1, wherein: The adsorption mechanism includes a suction pump, a tee, a tee mounting flange, a hose, a hose mounting bracket, and a sealing plate; The suction pump is installed at the rear port of the tee; the outlet of the hose is installed at the front port of the tee; The three-way mounting flange is installed at the lower opening of the three-way; the sealing plate is installed at the lower part of the three-way mounting flange through the sealing plate hinge; A barrier net for isolating sea cucumbers is installed between the rear port of the three-way connection and the suction pump; The middle part of the hose is fixed on the large and small arms of the three-degree-of-freedom mechanical arm mechanism by using a plurality of hose mounting brackets.

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