CN109303038A - A kind of application mechanical arm fishing sea cucumber system - Google Patents
A kind of application mechanical arm fishing sea cucumber system Download PDFInfo
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- CN109303038A CN109303038A CN201811323541.2A CN201811323541A CN109303038A CN 109303038 A CN109303038 A CN 109303038A CN 201811323541 A CN201811323541 A CN 201811323541A CN 109303038 A CN109303038 A CN 109303038A
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- 238000007599 discharging Methods 0.000 claims abstract description 30
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- 238000000926 separation method Methods 0.000 claims description 17
- 241000208340 Araliaceae Species 0.000 claims description 12
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims description 12
- 235000003140 Panax quinquefolius Nutrition 0.000 claims description 12
- 235000008434 ginseng Nutrition 0.000 claims description 12
- 238000012544 monitoring process Methods 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 9
- 238000010191 image analysis Methods 0.000 claims description 8
- 238000010408 sweeping Methods 0.000 claims description 4
- 238000007781 pre-processing Methods 0.000 claims description 2
- 239000013535 sea water Substances 0.000 abstract description 26
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- 238000001746 injection moulding Methods 0.000 description 2
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Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K79/00—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/36—Videogrammetry, i.e. electronic processing of video signals from a single source or from different sources to give parallax or range information
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- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Multimedia (AREA)
- General Physics & Mathematics (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Biodiversity & Conservation Biology (AREA)
- Animal Husbandry (AREA)
- Signal Processing (AREA)
- Marine Sciences & Fisheries (AREA)
- Mechanical Means For Catching Fish (AREA)
Abstract
The invention discloses a kind of application mechanical arms to catch sea cucumber system, including, acquisition module carries out pretreatment output for acquiring underwater video image information, and by the image information of acquisition；Processing module receives the sea cucumber model information of image information and input module after the pretreatment of the acquisition module, and detects to sea cucumber in image information, and the sea cucumber detected feeds back to display module；Display module show described in the sea cucumber that detects, operator chooses fishing sea cucumber target；The present invention is under the action of Power Component and sea cucumber capture component, the seawater sucked in rotates the stress leaf dish with dynamic auxiliary discharging structure, the gear set connecting with stress leaf dish, which will drive to be arranged on filter screen, sweeps plate rotation, so as to which the sea cucumber being deposited on filter screen is scanned out from discharge port, and the auxiliary discharging structure of setting does not need to be powered, and provides power using seawater, sea cucumber can be realized and be quickly discharged, it is time saving and energy saving, and then be conducive to the fishing of sea cucumber.
Description
Technical field
Sea cucumber Fishing technology of the present invention field more particularly to a kind of application mechanical arm catch sea cucumber system.
Background technique
Sea cucumber is a kind of aquatic/marine animals with high nutritive value, and the edible sea cucumber that China sea area produces has more than 20
Kind, carry out the swift and violent expansion with sea cucumber market this year, people are also being continuously increased the demand of sea cucumber, however existing sea cucumber
Fishing style also rests on the mode of diver's diving under water fishing, and prolonged diving operation causes diver's body huge
Major injury.Therefore, it is necessary to research and develop the equipment of a set of automatic fishing sea cucumber to replace traditional artificial diving fishing style.According to existing
There is the investigation of documents and materials to invent, the automation equipment of sea cucumber fishing is also fewer, although having possessed a small number of answer on the market
Sea cucumber system is caught with mechanical arm, but it is deposited and is not easy the problem of discharging after filtration, to influence the fishing of sea cucumber, is unsatisfactory for
Use demand.
Summary of the invention
The purpose of this section is to summarize some aspects of the embodiment of the present invention and briefly introduce some preferable implementations
Example.It may do a little simplified or be omitted to avoid our department is made in this section and the description of the application and the title of the invention
Point, the purpose of abstract of description and denomination of invention it is fuzzy, and this simplification or omit and cannot be used for limiting the scope of the invention.
In view of above-mentioned existing application mechanical arm fishing sea cucumber system there are the problem of, propose the present invention.
Therefore, it is an object of the present invention to provide a kind of application mechanical arms to catch sea cucumber system, catches in Power Component and sea cucumber
Under the action of catching component, the seawater sucked in rotates the stress leaf dish with dynamic auxiliary discharging structure, connect with stress leaf dish
Gear set, which will drive to be arranged on filter screen, sweeps plate rotation, so as to sweep the sea cucumber being deposited on filter screen from discharge port
Out, and the auxiliary discharging structure of setting does not need to be powered, and provides power using seawater, sea cucumber can be realized and be quickly discharged, in turn
Be conducive to the fishing of sea cucumber.
In order to solve the above technical problems, the invention provides the following technical scheme: a kind of application mechanical arm catch sea cucumber system,
Including acquisition module carries out pretreatment output for acquiring underwater video image information, and by the image information of acquisition；Processing
Module receives the sea cucumber model information of image information and input module after the pretreatment of the acquisition module, and in image information
Sea cucumber is detected, and the sea cucumber detected feeds back to display module；Display module show described in the sea cucumber that detects, operator
Fishing sea cucumber target is chosen, the coordinate information for calculating fishing target through the processing module feeds back to Power Component, monitoring module
And sea cucumber captures the actuator and air valve of component；Sea cucumber captures the actuator driving conveying member movement of component；And monitoring
Module detects when the first filtration members of the sea cucumber capture component touch seabed and feeds back to the processing module, the place
Reason module sends a signal to the load-bearing part of separation assembly, and the exhaust valve and solenoid valve of the load-bearing part receive opening signal and beat
It opens.
As a kind of preferred embodiment of the present invention using mechanical arm fishing sea cucumber system, in which: the acquisition module
Including camera, camera motor and image analysis device, the camera motor drives the camera rotation, the camera
For shooting underwater video information and being delivered to described image resolver, described image resolver is pre- to underwater video information is carried out
Processing.
As a kind of preferred embodiment of the present invention using mechanical arm fishing sea cucumber system, in which: the sea cucumber captures
Component further includes the first filtration members, and the conveying member is set on the actuator, and first filtration members are set to described defeated
It send on the inside of the first defeated pipe of part, the air valve is set in the first delivery pipe of the conveying member.
As a kind of preferred embodiment of the present invention using mechanical arm fishing sea cucumber system, in which: first filtering
Part includes installing frame and filter mantle, and the installing frame is set to the periphery of the filter mantle, and the installing frame is installed on described
On the suction nozzle of one defeated pipe, the filter mantle is set to the inside of the suction nozzle；
Wherein, suction ginseng hole and filter hole are offered on the filter mantle, the filter hole is set to suction ginseng hole periphery.
As a kind of preferred embodiment of the present invention using mechanical arm fishing sea cucumber system, in which: the actuator packet
It includes the first adjusting body and second and adjusts body, the second adjusting body is set on the attachment base that described first adjusts body；
Wherein, the first adjusting body further includes rotary electric machine and mounting seat, the attachment base and the rotary electric machine
Connection, the rotary electric machine are set in the mounting seat；
Wherein, the second adjusting body includes the first extending arm, the second extending arm and the first stretching, extension motor and the second stretching, extension
The both ends of motor, first extending arm are connect with the attachment base and the second extending arm respectively, and the first stretching, extension motor is set
It is placed in the junction of first extending arm and attachment base, the second stretching, extension motor is set to first extending arm and second
The junction of extending arm.
As a kind of preferred embodiment of the present invention using mechanical arm fishing sea cucumber system, in which: the separation assembly
Including load-bearing part and the second filtration members, the load-bearing part is connect by the second defeated pipe of the conveying member with the described first defeated pipe,
Second filtration members are set in the load-bearing part；
Wherein, the load-bearing part includes shell, exhaust valve and delivery bucket, and the delivery bucket is set to the case inside,
The exhaust valve is installed on the exhaust pipe of the shell.
As a kind of preferred embodiment of the present invention using mechanical arm fishing sea cucumber system, in which: second filtering
Part includes filter screen and auxiliary discharging structure, the filter screen in ramped shaped be set to in the shell, and the filter screen
Ramped shaped bottom end close to the shell discharge port, it is described auxiliary discharging structure plate of sweeping be set on the filter screen.
As a kind of preferred embodiment of the present invention using mechanical arm fishing sea cucumber system, in which: the auxiliary discharging
Structure further includes power source group, support plate and driving gear set, and the power source group and driving gear set pass through bearing block respectively
It is set in the support plate, the first gear of the power source group engages connection with the second gear of the driving gear set；
Wherein, the power source group further includes stress leaf dish and first gear axis, and the stress leaf dish is set to the first tooth
Wheel shaft one end, the first gear are fixed on the first gear axis；
Wherein, driving gear set further includes third gear and second gear axis, and the third gear and second gear are distinguished
It is set to the both ends of the second gear axis.
As a kind of preferred embodiment of the present invention using mechanical arm fishing sea cucumber system, in which: the stress leaf dish
Including blade, support rod and mounting base, the blade is set to one end of the support rod, the other end of the support rod and institute
State mounting base connection；
Wherein, the blade is L-type structure.
As a kind of preferred embodiment of the present invention using mechanical arm fishing sea cucumber system, in which: the auxiliary discharging
Structure further includes mounting plate and driven gear group, and the driven gear group is set on the mounting plate, the mounting plate and institute
Support plate is stated vertically to connect；
Wherein, the driven gear group includes the 4th gear, third gear shaft, the first angular wheel, the second angular wheel
And transmission shaft, the 4th gear and the first angular wheel are respectively arranged at the both ends of the third gear shaft, and the described 4th
Gear engages connection with the third gear, and the third gear shaft is set on the mounting plate by bearing block, and described
The case inside is fixed at the both ends of mounting plate, and first angular wheel engages connection with second angular wheel, and
Second angular wheel is set to one end of the transmission shaft, and the other end of the transmission shaft passes through mounting plate and sweeps plate with described
Connection.
Beneficial effects of the present invention: structure of the invention is scientific and reasonable, safe and convenient to use, captures in Power Component and sea cucumber
Under the action of component, the seawater sucked in rotates the stress leaf dish with dynamic auxiliary discharging structure, the tooth connecting with stress leaf dish
Wheel group, which will drive to be arranged on filter screen, sweeps plate rotation, so as to which the sea cucumber being deposited on filter screen is scanned out from discharge port,
And the auxiliary discharging structure of setting does not need to be powered, and provides power using seawater, sea cucumber can be realized and be quickly discharged, time saving province
Power, and then be conducive to the fishing of sea cucumber, meet and uses needs.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill of field, without any creative labor, it can also be obtained according to these attached drawings other
Attached drawing.Wherein:
Fig. 1 is that the present invention applies application mechanical arm described in mechanical arm fishing sea cucumber system one embodiment to catch sea cucumber
System flow schematic diagram.
Fig. 2 be the present invention using the sea cucumber that mechanical arm catches sea cucumber system second and third and four embodiments capture component, point
From component and Power Component scheme of installation.
Fig. 3 is the present invention using sea cucumber capture modular construction office described in mechanical arm fishing second embodiment of sea cucumber system
Portion's schematic diagram.
Fig. 4 is the present invention using the first filtration members structural representation described in mechanical arm fishing second embodiment of sea cucumber system
Figure.
Fig. 5 is the present invention using actuator structural schematic diagram described in mechanical arm fishing second embodiment of sea cucumber system.
Fig. 6 is the partial structural diagram that the present invention catches the 4th embodiment of sea cucumber system using mechanical arm.
Fig. 7 is the present invention using stress bladed-disk assemblies signal described in mechanical arm fishing the 4th embodiment of sea cucumber system
Figure.
Fig. 8 is the present invention using auxiliary discharging structure knot described in mechanical arm fishing the 4th and five embodiment of sea cucumber system
Structure schematic diagram.
Specific embodiment
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, right with reference to the accompanying drawings of the specification
A specific embodiment of the invention is described in detail.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, but the present invention can be with
Implemented using other than the one described here other way, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by the specific embodiments disclosed below.
Secondly, " one embodiment " or " embodiment " referred to herein, which refers to, may be included at least one realization side of the invention
A particular feature, structure, or characteristic in formula." in one embodiment " that different places occur in the present specification not refers both to
The same embodiment, nor the individual or selective embodiment mutually exclusive with other embodiments.
Thirdly, combination schematic diagram of the present invention is described in detail, when describing the embodiments of the present invention, for purposes of illustration only,
Indicate that the sectional view of device architecture can disobey general proportion and make partial enlargement, and the schematic diagram is example, herein not
The scope of protection of the invention should be limited.In addition, the three-dimensional space of length, width and depth should be included in actual fabrication.
Referring to Fig.1, it is first embodiment of the invention, provides a kind of whole tying using mechanical arm fishing sea cucumber system
Structure schematic diagram, such as Fig. 2, a kind of application mechanical arm fishing sea cucumber system includes acquisition module 400, for acquiring underwater video image
Information, and the image information of acquisition is subjected to pretreatment output；Processing module 500 is schemed after receiving the pretreatment of acquisition module 400
It is detected as the sea cucumber model information of information and input module 600, and to sea cucumber in image information, the sea cucumber feedback detected
To display module 700；Display module 700 shows the sea cucumber detected, and operator chooses fishing sea cucumber target, through processing module
500 coordinate informations for calculating fishing target feed back to the drive that Power Component 300, monitoring module 800 and sea cucumber capture component 100
Moving part 103 and air valve 104；The actuator 103 that sea cucumber captures component 100 drives conveying member 101 to move；And monitoring module
800 detect when the first filtration members 102 of sea cucumber capture component 100 touch seabed and feed back to processing module 500, handle mould
Block 500 sends a signal to the load-bearing part 201 of separation assembly 200, and exhaust valve 201b and solenoid valve the 201d receiving of load-bearing part 201 are beaten
ON signal is simultaneously opened.
Specifically, main body of the present invention includes that sea cucumber captures component 100, separation assembly 200, Power Component 300, acquisition module
400, processing module 500, input module 600, display module 700 and monitoring module 800, this system can realize accurate fishing sea
Ginseng, it is time saving and energy saving, effectively improve the efficiency of sea cucumber fishing, wherein acquisition module 400, for acquiring underwater video image information,
And the image information of acquisition is carried out in pretreatment output to processing module 500；Processing module 500 plays the work of processing and regulation
With being the processing control centre of this system, receive image information and input module 600 after the pretreatment of acquisition module 400
Sea cucumber model information later detects sea cucumber in image information according to sea cucumber model information, and the two is compared, by image
The sea cucumber detected in information feeds back to display module 700, and further, input module 600 plays scanning input sea cucumber
Effect can be scanner, realize scanning sea cucumber picture, and preferably, input module 600 is spatial digitizer, can be to sea in kind
Ginseng is scanned；The sea cucumber detected is shown on display module 700, operator, which chooses, needs to catch sea cucumber target, through handling
The coordinate information that module 500 calculates fishing target feeds back to Power Component 300, monitoring module 800 and sea cucumber and captures component 100
Actuator 103 and air valve 104, Power Component 300, monitoring module 800 and actuator 103 will start, air valve 104 close
It closes, provides condition for absorption sea cucumber；Sea cucumber capture component 100 play the role of driving and conveying, actuator 103 drive
Conveying member 101 moves, and actuator 103 is mechanical arm, can more flexible drives conveying member 101 move, provided faster to catch
Condition；Monitoring module 800 plays detection sea cucumber and captures whether component 100 touches seabed, and the setting of this module can be not required to operate
Personnel are observed again whether conveying member 101 moves to seabed, increase the mechanical performance of this fishing sea cucumber, specifically, prison
Control module 800 detects when the first filtration members 102 of sea cucumber capture component 100 touch seabed and feeds back to processing module 500,
Processing module 500 sends a signal to the load-bearing part 201 of separation assembly 200, the exhaust valve 201b and solenoid valve 201d of load-bearing part 201
Receive opening signal and open, can be realized and sea cucumber is caught.
Acquisition module 400 includes camera 401, camera motor 402 and image analysis device 403, and camera motor 402 is driven
Dynamic camera 401 rotates, and camera 401 is for shooting underwater video information and being delivered to image analysis device 403, image analysis device
403 pairs of progress underwater video information pre-processings, image analysis device 403 include the gray processing, image enhancement, image filtering to image
Deng operation, wherein for the installation of camera 401 in camera motor 402, the output end and image analysis device 403 of camera 401 are defeated
Enter end connection, the output end of image analysis device 403 is connect with the input terminal of processing module 500, is set to the control of dredger
It is indoor, wherein camera 401 is binocular camera, and binocular camera can play the role of binocular positioning.
It should be noted that processing module 500 is MCU, model 80C51,80C51 single-chip microcontroller is 8048 extension, is improved
8048 the shortcomings that, increase as multiplied (MUL), except (DIV), subtract (SUBB), compare (PUSH), 16 data pointers, Bu Erdai
The instructions such as number operation and serial communications capabilities and 5 interrupt sources；And monitoring module 800 is pressure sensor, pressure sensor
Be can experience pressure signal, and can according to certain rule by pressure signal be converted into available output electric signal device or
Device is usually made of pressure-sensing device and signal processing unit, is set to the bottom installing frame 102a of the first filtration members 102
End.
It is second embodiment of the invention referring to Fig. 2~5, provides a kind of using the whole of mechanical arm fishing sea cucumber system
Body structural schematic diagram, such as Fig. 2, a kind of application mechanical arm fishing sea cucumber system include that sea cucumber captures component 100, including conveying member
101, the first filtration members 102 and actuator 103, conveying member 101 are set on actuator 103, and the first filtration members 102 are set to defeated
It send on the inside of the first defeated pipe 101a of part 101；Separation assembly 200, including load-bearing part 201 and the second filtration members 202, load-bearing part 201
It is connect by the second defeated pipe 101b of conveying member 101 with the first defeated pipe 101a, the second filtration members 202 are set in load-bearing part 201；
And Power Component 300, it is set to 201 side of load-bearing part.
Specifically, main structure of the present invention includes that sea cucumber captures component 100, separation assembly 200 and Power Component 300, three
Person cooperates, and avoidable sea cucumber is deposited in the case where generation on filter screen and influencing filter efficiency, can be conducive to sea cucumber
Fishing, further, sea cucumber capture component 100, play the role of conveying sea cucumber, seawater and mud when work comprising conveying
Part 101, the first filtration members 102 and actuator 103, conveying member 101 plays the role of conveying sea cucumber, seawater or mud, and drives
Part 103 is used to that conveying member 101 to be driven to carry out the effect for accurately catching sea cucumber, therefore conveying member 101 is set on actuator 103, and two
Person is connected by pipe clamp, and the first filtration members 102 play the role of prefiltration, for falling the stone of part or filtering foreign, have
Conducive to the service life for extending fishing sea cucumber equipment, it is set on the inside of the first defeated pipe 101a of conveying member 101；Separation assembly
200, play the role of carrying and filtering comprising load-bearing part 201 and the second filtration members 202, load-bearing part 201 play carrying second
Filtration members 202 and connection sea cucumber capture the effect of component 100, pass through the second defeated defeated pipe of pipe 101b and first of conveying member 101
101a connection, the both ends of the second defeated pipe 101b pass through pipe clamp and connect respectively with load-bearing part 201 and the first defeated pipe 101a, and second is defeated
Air valve 104 is provided on pipe 101b, and the second filtration members 202 are played the sea cucumber of inspiration load-bearing part 201, seawater and mud etc.
The effect being separated by filtration is set in load-bearing part 201, it should be noted that, the second defeated pipe 101b is collapsible tube, collapsible tube
It can be made of plastic flexible pipe and spring, spring is set to the periphery of plastic flexible pipe, and the first defeated pipe 101a uses stainless steel material system
At；And Power Component 300 is power source, is provided the foundation for present invention fishing sea cucumber, offer is set to load-bearing part 201 1
Side, preferably, Power Component 300 are vacuum pump.
Further, the first filtration members 102 include installing frame 102a and filter mantle 102b, and installing frame 102a is set to filtering
Cover the periphery of 102b；Installing frame 102a is circular ring structure, and filter mantle 102b is circular arc type structure, preferably, installing frame 102a
With filter mantle 102b integral structure, can be made up of injection molding, it should be noted that, suction ginseng hole is offered on filter mantle 102b
102b-1 and filter hole 102b-2, filter hole 102b-2 are set to the periphery suction ginseng hole 102b-1, wherein filter hole 102b-2 is at least
There are six, (number of filter hole 102b-2 only refers in figure), six filter hole 102b-2 are opened on filter mantle 102b
And be evenly distributed on inhale ginseng hole 102b-1 surrounding, and filter hole 102b-2 be strip structure, width 0.3cm~
Between 0.8cm, and inhaling ginseng hole 102b-1 is circular configuration.
Further, the first defeated pipe 101a is provided with suction nozzle 101a-1, installing frame far from one end of the second defeated pipe 101b
102a is installed on the suction nozzle 101a-1 of the first defeated pipe 101a, and filter mantle 102b is set to the inside of suction nozzle 101a-1, wherein is inhaled
Mouth 101a-1 is plate type structure, and preferably, the installing frame 102a of suction nozzle 101a-1 and the first filtration members 102 is by bolt or by force
Power glue connection.
Further, actuator 103 includes the first adjusting body 103a and second adjusts body 103b, and the two cooperates, and is
Accurate fishing sea cucumber provides the foundation, specifically, the second adjusting body 103b plays the role of that conveying member 101 is driven to stretch, and the
One adjusts body 103a for driving second to adjust body 103b rotation, is set to the attachment base 103a-1 of the first adjusting body 103a
On；Wherein, the first adjusting body 103a further includes rotary electric machine 103b-2 and mounting seat 103b-3, attachment base 103a-1 and rotation
Motor 103b-2 connection, rotary electric machine 103b-2 are set in mounting seat 103b-3, and mounting seat 103b-3 is solid by bolt
It is scheduled on fishing hull；Wherein, the second adjusting body 103b includes the first extending arm 103b-1, the second extending arm 103b-2 and first
Stretch motor 103b-3 and second stretching, extension motor 103b-4, the both ends of the first extending arm 103b-1 respectively with attachment base 103a-1 and
Second extending arm 103b-2 connection, the first stretching, extension motor 103b-3 are set to the first extending arm 103b-1's and attachment base 103a-1
Junction, specifically, the first stretching, extension motor 103b-3 passes through attachment base 103a-1 and connect with first one end extending arm 103b-1, and
Second stretching, extension motor 103b-4 is set to the junction of the first extending arm 103b-1 and the second extending arm 103b-2, specifically, the
Two stretching, extension motor 103b-4 pass through the connection of the first extending arm 103b-1 other end and the second extending arm 103b-2, should be noted
Be, first stretching, extension motor 103b-3, second stretching, extension motor 103b-4 and rotary electric machine 103b-2 connect electric place be provided with it is close
Sealing, the security performance for guaranteeing to use.
It is third embodiment of the invention referring to Fig. 2, which is different from upper one embodiment: load-bearing part
201 include shell 201a, exhaust valve 201b and delivery bucket 201c.Specifically, main structure includes sea cucumber capture referring to Fig. 1
Component 100, separation assembly 200 and Power Component 300, three cooperate, and avoidable sea cucumber is deposited on filter screen and influences
Filter efficiency the case where occur, the fishing of sea cucumber can be conducive to, further, sea cucumber capture component 100, play defeated when work
Send the effect of sea cucumber, seawater and mud comprising conveying member 101, the first filtration members 102 and actuator 103, conveying member 101 rise
To the effect of conveying sea cucumber, seawater or mud, and actuator 103 is used to that conveying member 101 to be driven to carry out the work for accurately catching sea cucumber
With, therefore conveying member 101 is set on actuator 103, the two is connected by pipe clamp, and the first filtration members 102 play the work of prefiltration
With being conducive to extend the service life of fishing sea cucumber equipment, be set to conveying for falling the stone of part or filtering foreign
On the inside of the defeated pipe 101a of the first of part 101；Separation assembly 200, plays the role of carrying and filtering comprising load-bearing part 201 and
Two filtration members 202, load-bearing part 201 plays the role of the second filtration members of carrying 202 and connection sea cucumber captures component 100, passes through
The defeated pipe 101b of the second of conveying member 101 is connect with the first defeated pipe 101a, the both ends of the second defeated pipe 101b pass through pipe clamp respectively with
Load-bearing part 201 is connected with the first defeated pipe 101a, is provided with air valve 104 on the second defeated pipe 101b, and the second filtration members 202 play
The effect that the sea cucumber of inspiration load-bearing part 201, seawater and mud etc. are separated by filtration is set in load-bearing part 201, should be noted
It is that the second defeated pipe 101b is collapsible tube, collapsible tube can be made of plastic flexible pipe and spring, and spring is set to plastic flexible pipe
Periphery, the first defeated pipe 101a are made of stainless steel；And Power Component 300 is power source, is mentioned for present invention fishing sea cucumber
Basis is supplied, offer is set to 201 side of load-bearing part, and preferably, Power Component 300 is vacuum pump.And load-bearing part 201 includes
Shell 201a, exhaust valve 201b and delivery bucket 201c, delivery bucket 201c plays the role of being sent sea cucumber, seawater and mud, for sea
Quickly discharge provides condition to ginseng, is set on the inside of shell 201a by welding or bolt, specifically, its close and shell
201a is come one end of the second defeated pipe 101b connected, wherein shell 201a is cylindrical structure, is closed using stainless steel, plastics or aluminium
The materials such as gold are made, and the cross section for being sent bucket 201c is quadrilateral structure, and cross section specific structure can be according to the second filtering
The shape of part 202 is adjusted, and plastics can be used or aluminum alloy materials are made, and exhaust valve 201b is for guaranteeing sea cucumber, sea
When water and mud separate, the equal effect of atmospheric pressure, is conducive to quick separating, that is, is conducive to the fishing of sea cucumber inside and outside shell 201a,
On its exhaust pipe for being installed on shell 201a, the two provides bolt or threaded engagement connection, the exhaust pipe of shell 201a are at least set
It is equipped with one, exhaust valve 201b (number only refers in figure) equal with the number of exhaust pipe.
Wherein, shell 201a further includes outlet pipe 201a-2, and outlet pipe 201a-2 is set to the lower-left end of shell 201a, into
One step, solenoid valve 201d is installed on outlet pipe 201a-2, for the discharge of seawater and mud, it should be noted that, power packages
The insertion of part 300 is set in shell 201a, and junction is set to sealing ring, and the two can be bolted, preferably, power
Component 300 is set to shell 201a at the position of the first defeated pipe 101a.
It is the 4th embodiment of the invention, the embodiment is different from upper one embodiment: second referring to Fig. 6~8
Filtration members 202 include filter screen 202a and auxiliary discharging structure 202b, capture the work of component 100 in Power Component 300 and sea cucumber
Under, the seawater sucked in will be rotated with the stress leaf dish 202b-22 of dynamic auxiliary discharging structure 202b, with stress leaf dish 202b-
The gear set of 22 connections, which will drive to be arranged on filter screen 202b-2a, sweeps plate 202b-10 rotation, so as to be deposited in filtering
Online sea cucumber scans out from discharge port, wherein auxiliary discharging structure 202b include sweep plate 202b-10, power source group 202b-20,
Support plate 202b-30 and driving gear set 202b-40.Specifically, main structure includes that sea cucumber captures component referring to Fig. 1
100, separation assembly 200 and Power Component 300, three cooperate, and avoidable sea cucumber is deposited on filter screen and influences filtering
Efficiency the case where occur, the fishing of sea cucumber can be conducive to, further, sea cucumber captures component 100, conveying sea when playing work
The effect of ginseng, seawater and mud comprising conveying member 101, the first filtration members 102 and actuator 103, conveying member 101 play defeated
The effect of sea cucumber, seawater or mud is sent, and actuator 103 is used to that conveying member 101 to be driven to carry out the effect for accurately catching sea cucumber, therefore
Conveying member 101 is set on actuator 103, and the two is connected by pipe clamp, and the first filtration members 102 play the role of prefiltration, is used
Fall in by the stone of part or filtering foreign, is conducive to extend the service life of fishing sea cucumber equipment, is set to conveying member 101
The first defeated pipe 101a on the inside of；Separation assembly 200, plays the role of carrying and filtering comprising load-bearing part 201 and the second filtering
Part 202, load-bearing part 201 plays the role of the second filtration members of carrying 202 and connection sea cucumber captures component 100, passes through conveying member
The defeated pipe 101b of the second of 101 is connect with the first defeated pipe 101a, the both ends of the second defeated pipe 101b pass through pipe clamp respectively with load-bearing part
201 connect with the first defeated pipe 101a, are provided with air valve 104 on the second defeated pipe 101b, and the second filtration members 202 are played inspiration
The effect that sea cucumber, seawater and mud of load-bearing part 201 etc. are separated by filtration is set in load-bearing part 201, it should be noted that, the
Two defeated pipe 101b are collapsible tube, and collapsible tube can be made of plastic flexible pipe and spring, and spring is set to the periphery of plastic flexible pipe,
First defeated pipe 101a is made of stainless steel；And Power Component 300 is power source, provides base for present invention fishing sea cucumber
Plinth, offer are set to 201 side of load-bearing part, and preferably, Power Component 300 is vacuum pump.And the second filtration members 202 included
Strainer 202a and auxiliary discharging structure 202b, filter screen 202a are in into certain tilt angle, i.e. presentation ramped shaped is set to and shell
In body 201a, the two can be by bolt or welded connecting, and the ramped shaped bottom end of filter screen 202a is close to the discharging of shell 201a
Mouthful 201a-1, discharge port 201a-1 are provided on the side of shell 201a, and auxiliary discharging structure 202b, which is played, utilizes money reasonable
The sea cucumber being deposited on filter screen 202a is quickly discharged under the action of source, specifically, auxiliary discharging structure 202b's sweeps plate
202b-10 is set on filter screen 202a, and it is identical as the tilt angle of filter screen 202a to sweep plate 202b-10；Further, it assists
Discharging structure 202b further includes power source group 202b-20, support plate 202b-30 and driving gear set 202b-40, power source group
202b-20 and driving gear set 202b-40 passes through bearing block respectively and is set on support plate 202b-30, power source group 202b-20
First gear 202b-21 engage connection with the second gear 202b-41 of driving gear set 202b-40.
Further, power source group 202b-20 further includes stress leaf dish 202b-22 and first gear axis 202b-23, stress
Leaf dish 202b-22 is set to the one end first gear axis 202b-23, and first gear 202b-21 is fixed on first gear axis 202b-23
On, when stress leaf dish 202b-22 rotation, it will drive first gear axis 202b-23 rotation, it should be noted that, stress leaf dish
202b-22 includes blade 202b-221, support rod 202b-222 and mounting base 202b-223, and blade 202b-221 is set to support
The other end of one end of bar 202b-222, support rod 202b-222 is connect with mounting base 202b-223, preferably, blade 202b-
221, support rod 202b-222 and mounting base 202b-223 are an integral structure, and injection molding can be used and be made, and blade 202b-221 is L
Type structure, wherein blade 202b-221 is at least provided with six, and the direction of six blade 202b-221 is consistent, and six blades
202b-221 is uniformly connected to mounting base 202b- respectively at six support rod 202b-222 connections, six support rod 202b-222
On 223, mounting base 202b-223 is disc structure, with first gear axis 202b-23 by being connected together.
Further, driving gear set 202b-40 further includes third gear 202b-42 and second gear axis 202b-43, and
Three gear 202b-42 and second gear 202b-41 are respectively arranged at the both ends of second gear axis 202b-43, wherein second gear
Axis 202b-43 is arranged in parallel on support plate 202b-30 by bearing block and first gear axis 202b-23.
It is the 5th embodiment of the invention referring to Fig. 8, which is different from upper one embodiment: assisting out
Expect that structure 202b further includes mounting plate 202b-50 and driven gear group 202b-60, the auxiliary discharging structure 202b of setting is not needed
It is powered, provides power using seawater, sea cucumber can be realized and be quickly discharged, it is time saving and energy saving, and then be conducive to the fishing of sea cucumber.Specifically
, referring to Fig. 1, main structure includes that sea cucumber captures component 100, separation assembly 200 and Power Component 300, three's phase interworking
It closes, avoidable sea cucumber is deposited in the case where generation on filter screen and influencing filter efficiency, can be conducive to the fishing of sea cucumber, into one
Step, sea cucumber captures component 100, plays the role of conveying sea cucumber, seawater and mud when work comprising conveying member 101, first
Filtration members 102 and actuator 103, conveying member 101 plays the role of conveying sea cucumber, seawater or mud, and actuator 103 is for driving
Dynamic conveying member 101 carries out the effect for accurately catching sea cucumber, therefore conveying member 101 is set on actuator 103, and the two is connected by pipe clamp
It connects, the first filtration members 102 play the role of prefiltration, for falling the stone of part or filtering foreign, are conducive to extend fishing
The service life of sea cucumber equipment is set on the inside of the first defeated pipe 101a of conveying member 101；Separation assembly 200, play carrying and
The effect of filtering comprising load-bearing part 201 and the second filtration members 202, load-bearing part 201 play the second filtration members 202 of carrying and connect
The effect that sea cucumber captures component 100 is connect, is connect by the second defeated pipe 101b of conveying member 101 with the first defeated pipe 101a, second
The both ends of defeated pipe 101b pass through pipe clamp and connect respectively with load-bearing part 201 and the first defeated pipe 101a, are arranged on the second defeated pipe 101b
There is air valve 104, and the second filtration members 202 play the work for being separated by filtration the sea cucumber of inspiration load-bearing part 201, seawater and mud etc.
With, it is set in load-bearing part 201, it should be noted that, the second defeated pipe 101b is collapsible tube, and collapsible tube can be by plastic flexible pipe
It is made with spring, spring is set to the periphery of plastic flexible pipe, and the first defeated pipe 101a is made of stainless steel；And Power Component
300 be power source, is provided the foundation for present invention fishing sea cucumber, offer is set to 201 side of load-bearing part, preferably, power
Component 300 is vacuum pump.And the second filtration members 202 include filter screen 202a and auxiliary discharging structure 202b, filter screen 202a are in
At certain tilt angle, i.e. presentation ramped shaped is set to in shell 201a, and the two can be by bolt or welded connecting, and filters
Discharge port 201a-1 of the ramped shaped bottom end close to shell 201a of 202a is netted, discharge port 201a-1 is provided with the side of shell 201a
On, auxiliary discharging structure 202b, which is played, quickly arranges the sea cucumber being deposited on filter screen 202a under the action of rationally using resource
Out, specifically, the plate 202b-10 that sweeps of auxiliary discharging structure 202b is set on filter screen 202a, plate 202b-10 and filter screen are swept
The tilt angle of 202a is identical；Further, auxiliary discharging structure 202b further includes power source group 202b-20, support plate 202b-
30 and driving gear set 202b-40, power source group 202b-20 and driving gear set 202b-40 are set to by bearing block respectively
On support plate 202b-30, the second gear of the first gear 202b-21 and driving gear set 202b-40 of power source group 202b-20
202b-41 engagement connection.And assisting discharging structure 202b further includes mounting plate 202b-50 and driven gear group 202b-60, it is driven
Gear set 202b-60 is set on mounting plate 202b-50 by bearing block, and mounting plate 202b-50 by bolt or welding with
Support plate 202b-30 is vertically connected.
Further, driven gear group 202b-60 includes the 4th gear 202b-61, third gear shaft 202b-62, first
Angular wheel 202b-63, the second angular wheel 202b-64 and transmission shaft 202b-65, third gear shaft 202b-62 and the second tooth
Wheel shaft 202b-43 is arranged in parallel, and the 4th gear 202b-61 and the first angular wheel 202b-63 are respectively arranged at third gear shaft
The both ends of 202b-62, and the 4th gear 202b-61 engages connection with third gear 202b-42, third gear shaft 202b-62 is logical
It crosses bearing block to be set on mounting plate 202b-50, and the both ends of mounting plate 202b-50 are fixed by bolts in shell 201a respectively
Inside, the first angular wheel 202b-63 engages connection with the second angular wheel 202b-64, and the second angular wheel 202b-64 is set
It is placed in one end of transmission shaft 202b-65, the other end of transmission shaft 202b-65 passes through mounting plate 202b-50 and sweeps plate 202b-10 company
It connects, wherein the number of teeth of third gear 202b-42 is respectively less than first gear 202b-21, second gear 202b-41 and the 4th tooth
Take turns the number of teeth of 202b-61, the number of teeth of the number of teeth less than the second angular wheel 202b-64 of the first angular wheel 202b-63, Ji Keshi
The effect now slowed down, convenient for sweeping the process of plate 202b-10 actual use.
In use, the location of confirmation sea cucumber, takes out the air inside shell 201a using Power Component 300 first, makes
The inside for obtaining shell 201a is vacuum state, and then adsorption piece 101 is immersed in the water, and so that suction nozzle 101b suction nozzle is directed at sea cucumber, at this time
Air valve 104 where corresponding first defeated pipe 101a is opened, and sea cucumber, seawater or mud will be inhaled into shell 201a with suction pipe
In, sea cucumber, seawater or mud are fallen on the blade 202b-221 of stress leaf dish 202b-22 with the effect of gravity, due to stress
Unevenness, stress leaf dish 202b-22 can rotate, and the stress leaf dish 202b-22 of rotation passes through first gear 202b-21 and second gear
202b-41, which is driven, gives third gear 202b-42, the tooth due to the number of teeth of third gear 202b-42 less than the 4th gear 202b-61
Number, therefore the velocity of rotation of the 4th gear 202b-61 will be less than the velocity of rotation of third gear 202b-42, realize deceleration, with the
Four gear 202b-61 will be with the 4th gear 202b-61 velocity of rotation phase in the first angular wheel 202b-63 of same gear shaft
When, but the number of teeth of the first angular wheel 202b-63 is less than the number of teeth of the second angular wheel 202b-64, therefore with the first angular wheel
The velocity of rotation of second angular wheel 202b-64 of 202b-63 connection will further become smaller, i.e., controllable to sweep plate 202b-10's
Velocity of rotation makes it meet practicability, and sea cucumber, seawater or mud are eventually fallen on filter screen 202a so that sea cucumber and water and silt
Mud separation, opens exhaust valve 201b at this time, opens the solenoid valve 201d on outlet pipe 201a-2, seawater and mud will be from shells
201a discharge, opening discharge port 201a-1 while exhaust valve 201b is opened can under the action of plate 202b-10 is swept in rotation
The sea cucumber being deposited on filter screen 202a is scanned out from discharge port 201a-1, the fishing of sea cucumber can be conducive to, meets and uses need
It asks.
It is important that, it should be noted that the construction and arrangement of the application shown in multiple and different exemplary implementation schemes is only
It is illustrative.Although several embodiments are only described in detail in this disclosure, refering to the personnel of the displosure content
It should be easily understood that many changes under the premise of substantially without departing from the novel teachings and advantage of theme described in this application
Type is possible (for example, the size of various elements, scale, structure, shape and ratio and parameter value are (for example, temperature, pressure
Deng), mounting arrangements, the use of material, color, the variation of orientation etc.).It can be by more for example, being shown as integrally formed element
A part or element are constituted, and the position of element can be squeezed or change in other ways, and the property or number of discrete component
Or position can be altered or changed.Therefore, all such remodeling are intended to be comprised in the scope of the present invention.It can be according to replacing
The embodiment in generation changes or the order or sequence of resequence any process or method and step.In the claims, any " dress
Set plus function " clause be intended to and be covered on the structure described herein for executing the function, and it is equivalent to be not only structure
It but also is equivalent structure.Without departing from the scope of the invention, can exemplary implementation scheme design, operation
Other replacements are made in situation and arrangement, remodeling, are changed and are omitted.Therefore, the present invention is not limited to specific embodiments, and
It is to extend to a variety of remodeling still fallen within the scope of the appended claims.
In addition, all spies of actual implementation scheme can not be described in order to provide the terse description of exemplary implementation scheme
Sign is (that is, with execution those incoherent features of optimal mode of the invention for currently considering, or in realizing that the present invention is incoherent
Those features).
It should be understood that in the development process of any actual implementation mode, it, can such as in any engineering or design object
A large amount of specific embodiment is made to determine.Such development effort may be complicated and time-consuming, but for those benefits
For the those of ordinary skill of the displosure content, do not need excessively to test, the development effort will be one design, manufacture and
The routine work of production.
It should be noted that the above examples are only used to illustrate the technical scheme of the present invention and are not limiting, although referring to preferable
Embodiment describes the invention in detail, those skilled in the art should understand that, it can be to technology of the invention
Scheme is modified or replaced equivalently, and without departing from the spirit and scope of the technical solution of the present invention, should all be covered in this hair
In bright scope of the claims.
Claims (10)
1. a kind of application mechanical arm catches sea cucumber system, it is characterised in that: including,
Acquisition module (400) carries out pretreatment output for acquiring underwater video image information, and by the image information of acquisition；
The sea cucumber of image information and input module (600) after the pretreatment of processing module (500) the receiving acquisition module (400)
Model information, and sea cucumber in image information is detected, the sea cucumber detected feeds back to display module (700)；
The sea cucumber detected described in display module (700) display, operator chooses fishing sea cucumber target, through the processing module
(500) coordinate information for calculating fishing target feeds back to Power Component (300), monitoring module (800) and sea cucumber and captures component
(100) actuator (103) and air valve (104)；
Sea cucumber captures actuator (103) driving conveying member (101) movement of component (100)；And
Monitoring module (800) detects when the first filtration members (102) of sea cucumber capture component (100) touch seabed and anti-
It being fed to the processing module (500), the processing module (500) sends a signal to the load-bearing part (201) of separation assembly (200),
The exhaust valve (201b) and solenoid valve (201d) of the load-bearing part (201) receive opening signal and open.
2. catching sea cucumber system using mechanical arm as described in claim 1, it is characterised in that: acquisition module (400) packet
Camera (401), camera motor (402) and image analysis device (403) are included, the camera motor (402) drives the photograph
Camera (401) rotation, the camera (401) are used to shoot underwater video information and be delivered to described image resolver (403),
Described image resolver (403) is to progress underwater video information pre-processing.
3. catching sea cucumber system using mechanical arm as claimed in claim 1 or 2, it is characterised in that: the sea cucumber captures component
It (100) further include the first filtration members (102), the conveying member (101) is set on the actuator (103), first mistake
Filter part (102) is set on the inside of the first defeated pipe (101a) of the conveying member (101), and the air valve (104) is set to described
In the first delivery pipe (101a) of conveying member (101).
4. catching sea cucumber system using mechanical arm as claimed in claim 3, it is characterised in that: first filtration members (102)
Including installing frame (102a) and filter mantle (102b), the installing frame (102a) is set to the periphery of the filter mantle (102b),
The installing frame (102a) is installed on the suction nozzle (101a-1) of the described first defeated pipe (101a), filter mantle (102b) setting
In the inside of the suction nozzle (101a-1)；
Wherein, suction ginseng hole (102b-1) and filter hole (102b-2), the filter hole are offered on the filter mantle (102b)
(102b-2) is set to suction ginseng hole (102b-1) periphery.
5. catching sea cucumber system using mechanical arm as claimed in claim 4, it is characterised in that: the actuator (103) includes
First, which adjusts body (103a) and second, adjusts body (103b), and described second, which adjusts body (103b), is set to the first adjusting body
On the attachment base (103a-1) of (103a)；
Wherein, first adjusting body (103a) further includes rotary electric machine (103b-2) and mounting seat (103b-3), the company
Joint chair (103a-1) is connect with the rotary electric machine (103b-2), and the rotary electric machine (103b-2) is set to the mounting seat
In (103b-3)；
Wherein, second adjusting body (103b) includes the first extending arm (103b-1), the second extending arm (103b-2) and first
Stretch motor (103b-3) and second stretch motor (103b-4), the both ends of first extending arm (103b-1) respectively with it is described
Attachment base (103a-1) and the second extending arm (103b-2) connection, first stretching, extension motor (103b-3) are set to described first
The junction of extending arm (103b-1) and attachment base (103a-1), second stretching, extension motor (103b-4) are set to described first
The junction of extending arm (103b-1) and the second extending arm (103b-2).
6. the application mechanical arm as described in claim 3~5 is any catches sea cucumber system, it is characterised in that: the separation assembly
(200) include load-bearing part (201) and the second filtration members (202), the load-bearing part (201) pass through the conveying member (101) the
Two defeated pipes (101b) connect with the described first defeated pipe (101a), and second filtration members (202) are set to the load-bearing part (201)
It is interior；
Wherein, the load-bearing part (201) includes shell (201a), exhaust valve (201b) and delivery bucket (201c), the delivery bucket
(201c) is set on the inside of the shell (201a), and the exhaust valve (201b) is installed on the exhaust pipe of the shell (201a)
On.
7. catching sea cucumber system using mechanical arm as claimed in claim 6, it is characterised in that: second filtration members (202)
Including filter screen (202a) and auxiliary discharging structure (202b), the filter screen (202a) is set to and the shell in ramped shaped
In (201a), and the ramped shaped bottom end of the filter screen (202a) is close to the discharge port (201a-1) of the shell (201a), institute
The plate (202b-10) of sweeping for stating auxiliary discharging structure (202b) is set on the filter screen (202a).
8. mechanical arm the use as claimed in claim 7 catches sea cucumber system, it is characterised in that: the auxiliary discharging structure
(202b) further includes power source group (202b-20), support plate (202b-30) and driving gear set (202b-40), the power source
Group (202b-20) and driving gear set (202b-40) are set on the support plate (202b-30) by bearing block respectively, institute
State the first gear (202b-21) of power source group (202b-20) and the second gear of the driving gear set (202b-40)
(202b-41) engagement connection；
Wherein, the power source group (202b-20) further includes stress leaf dish (202b-22) and first gear axis (202b-23), institute
It states stress leaf dish (202b-22) and is set to the one end first gear axis (202b-23), the first gear (202b-21) is fixed on
On the first gear axis (202b-23)；
Wherein, driving gear set (202b-40) further includes third gear (202b-42) and second gear axis (202b-43), described
Third gear (202b-42) and second gear (202b-41) are respectively arranged at the both ends of the second gear axis (202b-43).
9. catching sea cucumber system using mechanical arm as claimed in claim 8, it is characterised in that: the stress leaf dish (202b-
It 22) include blade (202b-221), support rod (202b-222) and mounting base (202b-223), the blade (202b-221) sets
It is placed in one end of the support rod (202b-222), the other end and the mounting base (202b- of the support rod (202b-222)
223) it connects；
Wherein, the blade (202b-221) is L-type structure.
10. catching sea cucumber system using mechanical arm as claimed in claim 9, it is characterised in that: the auxiliary discharging structure
(202b) further includes mounting plate (202b-50) and driven gear group (202b-60), driven gear group (202b-60) setting
It connect on the mounting plate (202b-50), the mounting plate (202b-50) is vertical with the support plate (202b-30)；
Wherein, the driven gear group (202b-60) includes the 4th gear (202b-61), third gear shaft (202b-62), the
One angular wheel (202b-63), the second angular wheel (202b-64) and transmission shaft (202b-65), the 4th gear (202b-
61) both ends of the third gear shaft (202b-62), and the described 4th are respectively arranged at the first angular wheel (202b-63)
Gear (202b-61) engages connection with the third gear (202b-42), and the third gear shaft (202b-62) passes through bearing
Seat is set on the mounting plate (202b-50), and the shell (201a) is fixed at the both ends of the mounting plate (202b-50)
Inside, first angular wheel (202b-63) engage connection, and described second with second angular wheel (202b-64)
Angular wheel (202b-64) is set to one end of the transmission shaft (202b-65), the other end of the transmission shaft (202b-65)
It is connect across mounting plate (202b-50) with the plate (202b-10) of sweeping.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811323541.2A CN109303038B (en) | 2018-11-08 | 2018-11-08 | Sea cucumber catching system using mechanical arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811323541.2A CN109303038B (en) | 2018-11-08 | 2018-11-08 | Sea cucumber catching system using mechanical arm |
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| CN109303038A true CN109303038A (en) | 2019-02-05 |
| CN109303038B CN109303038B (en) | 2023-12-12 |
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| CN111587850A (en) * | 2020-05-19 | 2020-08-28 | 大连理工大学 | Sea cucumber catching device |
| CN113966726A (en) * | 2021-11-25 | 2022-01-25 | 河北农业大学 | Absorption type sea cucumber catching device and using method thereof |
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| CN107897137A (en) * | 2017-11-24 | 2018-04-13 | 哈尔滨工业大学 | A kind of open-shelf comprehensive sea cucumber fishing robot |
| CN108616725A (en) * | 2018-05-21 | 2018-10-02 | 佛山科学技术学院 | A kind of accurate fish-catching apparatus of artificial intelligence and its work system and method |
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| CN111587850A (en) * | 2020-05-19 | 2020-08-28 | 大连理工大学 | Sea cucumber catching device |
| CN111587850B (en) * | 2020-05-19 | 2022-01-14 | 大连理工大学 | Sea cucumber catching device |
| CN113966726A (en) * | 2021-11-25 | 2022-01-25 | 河北农业大学 | Absorption type sea cucumber catching device and using method thereof |
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