CN109984102B

CN109984102B - Novel fishing robot

Info

Publication number: CN109984102B
Application number: CN201910290525.6A
Authority: CN
Inventors: 严冰
Original assignee: Hangzhou Hantang Technology Co ltd
Current assignee: Hangzhou Hantang Technology Co ltd
Priority date: 2019-04-11
Filing date: 2019-04-11
Publication date: 2024-03-12
Anticipated expiration: 2039-04-11
Also published as: CN109984102A

Abstract

The invention provides a novel fishing robot which is convenient for unloading fish, easy for feeding, and capable of better realizing the whole process actions of feeding, fishing, unloading fish, storing fish and the like. The fishing rod comprises a machine body, a fishing rod arm part, a functional arm, a bait box, a fish bag and a camera, and is assisted with a control system and a signal transmission system. The invention is suitable for fishing in various environments, can finish fishing without going out, can help control wild fish in the culture water body, and is green, harmless and environment-friendly.

Description

Novel fishing robot

Technical Field

The invention belongs to the field of machinery, and particularly relates to a novel fishing robot.

Background

The wild fish in the fish and shrimp (crab) culture pond not only consumes oxygen in the water body, but also contends for the feed by utilizing the advantages of high speed and flexible body, and influences the normal ingestion of the cultured fish and shrimp (crab), so that the wild fish in the culture water body can be effectively killed and controlled, the utilization rate of the feed can be improved, and the yield of the shrimp (crab) can be improved. However, the lack of an effective, reliable and continuous method for capturing wild trash fish, such as a dry pond and net capturing, can affect the cultured variety, and the poisoning is likely to produce adverse effects; the fishing is a green and harmless environment-friendly capturing mode, in many cases, specific wild fishes can be captured through the settings of bait types, water depths, fishing tackles and the like, and breeding varieties (such as bighead carp without meat baits, shrimp and crab only move on the bottom layer and the like) are avoided, and the fishing bait can be eaten or processed into feed after fishing.

Meanwhile, fishing is a recreational activity and is deeply favored by masses, but along with the urban progress, a place suitable for fishing is difficult to find, so that people need to spend a great deal of time and effort to go to the countryside for fishing, which is very inconvenient. Therefore, through the internet of things technology, a device capable of realizing remote control of fishing is created, the requirements of the two aspects can be met, and the win-win mutual advantage situation is realized.

Chinese patent 201820550315.7 discloses a fishing robot, which can realize the whole process actions of feeding, fishing, unloading fish, storing fish and the like, but has some problems, wherein the most important are the following three problems:

firstly, the fish unloading is inconvenient:

1. the fish unloading plate is in a V shape, when the fish unloading plate rotates to a horizontal angle, the fish unloading plate can block fish when the fish unloading plate is seen from top to bottom, so that an operator cannot see the fish, and the hooked fish easily struggles and turns over the upper fish unloading plate and slides to one side, so that the fish is inconvenient to unload;

2. after fishing, the fish fork is required to directly clamp the fish line between the sinker and the fishhook so as to unload the fish, and an operator can hardly quickly and accurately realize the fishing because the hooked fish is struggled;

3. when the fish is discharged, the fishhook needs to be removed to enable the functional arm to rotate downwards, and as the fish discharging plate is fixed, the fishhook at the lower edge of the fishhook is easy to hang due to the reverse tilting of the fish discharging plate when the functional arm rotates downwards, and the sinker can be pulled by the fishhook during the sliding downwards, so that the fishhook cannot be separated from the fish discharging fork.

Secondly, the bait on the fishhook is easy to fail:

1. the viscosity of the bait can not be completely consistent, and the viscosity can be changed along with the delay of the storage time, so that the bait is too sticky to be pulled out by a fishhook and too thin to be easily fed, and the fishhook is elastically pulled by a fishing rod, so that the pulled-out bait has uncertainty;

2. because the fishhook has small mass, when the magnet under the bait box attracts the fishhook to enter the bait, the fishhook sometimes fails due to the small attraction force;

3. the fishhook is attracted by the lower magnet of the bait box to enter the bait, and the magnet can exit in the original way when moving reversely, so that the fishhook can fail to feed because of being not contacted with a lot of bait.

Thirdly, the limiting adjustment of the functional arm is difficult:

1. because the limit of the functional arm is only one, but the limit is difficult to ensure that the angle of the functional arm is proper when the fish unloading operation and the bait feeding operation are carried out simultaneously.

2. The proper angles of the functional arms for unloading and feeding fish are different for different seasons and fish types, various independent adjustment is needed frequently, and one limit cannot meet the requirements.

Disclosure of Invention

The invention aims to solve the problems, and provides a novel fishing robot which is convenient for discharging fish, easy for feeding, and capable of better realizing the whole process actions of feeding, fishing, discharging fish, storing fish and the like.

The invention is realized by the following technical scheme:

the invention relates to a novel fishing robot which comprises a body, a fishing rod arm part, a functional arm, a bait box, a fish bag and a camera, and is assisted with a control system and a signal transmission system;

the machine body comprises a machine case, a motor and a power supply;

the fishing rod arm comprises a fishing rod arm and a fishing rod line group, wherein the fishing rod line group comprises a fishing rod, a fishing line, a buoy, a triangular pendant and a fishing hook, the fishing rod is fixed on the fishing rod arm, and the fishing rod arm is fixed on the machine body through a first rotating shaft;

the triangular pendant is a triangular plate-shaped member, the vertex angle of the triangular pendant is connected with the buoy through a fish line, and the midpoint of the bottom edge is connected with the fishhook through the fish line;

the fishhook further comprises a sleeve, the fish line is connected with the fishhook, and the sleeve is sleeved at the fishhook handle end;

the functional arm comprises a front fish unloading end and a rear bait loading end, the fish unloading end is provided with a fish unloading fork and a fish unloading plate which are intersected, the functional arm is fixed on the machine body through a second rotating shaft, and the functional arm is arranged in front of the fishing rod arm;

the fish fork is a Y-shaped member, a slit is arranged at the intersection of the Y-shaped members, and the width of the slit is larger than the thickness of the triangular pendant and smaller than the width of the bottom edge of the triangular pendant;

the fish unloading plate is a thin plate which is arranged at the front end of the functional arm in a hinged manner, can rotate forwards in a vertical plane, has the thickness of less than 2mm, has a U-shaped section, and has a U-shaped opening facing outwards;

the length of the distance from the upper surface of the fish fork fine seam to the lower edge of the fish unloading plate is set to be greater than the length of the distance from the bottom edge of the triangular sinker to the near end of the fishhook sleeve and smaller than the length of the distance from the bottom edge of the triangular sinker to the tip of the fishhook;

the bait box is fixed on the machine body through a rotating shaft III, and is arranged above the upper bait end;

the camera is used for shooting a fishing scene; the first rotating shaft and the second rotating shaft are driven by a motor.

As optimization, a first limit and a second limit are arranged on the machine body above and below the fishing rod arm, and an inductive switch is arranged between the first limit and the second limit;

a third limit and a fourth limit are arranged on the machine body above the functional arm, the angle between the fish unloading plate and the horizontal plane is smaller than 30 degrees when the functional arm rotates to the third limit, and the bait box can be lifted at the bait feeding end when the functional arm rotates to the fourth limit;

a first limiting column is arranged on the machine body below the bait box and used for supporting the bait box;

the first limit, the second limit, the third limit and the fourth limit are limit switches, when the part touches the limit switches, the switch can be triggered, and the first limit column is a fixed limit.

As optimization, a plastic sheet perpendicular to the plane of the triangular pendant is connected below the triangular pendant and then connected with the fishhook, and the width of the plastic sheet is larger than that of the fine slit of the fish fork.

As optimization, the lower edge of the fish unloading plate is bent into an arc shape with the diameter not larger than 5mm, the back of the fish unloading plate is provided with a vibrating motor, and a switch of the vibrating motor is controlled by a control system.

As optimization, a pin is arranged in the middle of the fish fork to fix the fish fork on the functional arm, the tail of the fish fork is suspended, a second limiting column is arranged above the functional arm and is a fixed limiting column, when the functional arm rotates to be limited by the third limiting column, the tail of the fish fork can be driven to rotate in a limited manner on a vertical plane by taking the pin as an axis after being contacted and extruded by the second limiting column, and when the tail of the fish fork is extruded to a maximum angle, the functional arm triggers the third limiting column; and the third limit is triggered and then sends a signal to the control system, and the control system turns on the vibration motor after receiving the signal.

As optimization, the upper bait end of the functional arm is provided with a magnet, the magnet can be lifted to a bait box in the ascending process along with the upper bait end, and when the upper bait end rotates to limit four times, the bait box is lifted to the highest position; the fishhook is an iron barb-free fishhook, an annular guide groove lower than the bottom surface of the bait box is arranged in the bait box, and magnetic beads are arranged in the guide groove.

As optimization, a bait pulling fork is arranged above the bait box, a clamping seat is arranged above the triangular pendant, the bait pulling fork is a Y-shaped member, a thin seam is formed at the intersection of the Y-shaped members, the width of the thin seam of the bait pulling fork is larger than the diameter of a fish wire and smaller than the diameter of the clamping seat, and the diameter of the clamping seat is smaller than the thin seam of the fish tail.

As optimization, the front lower part of the machine body is provided with a fish guiding hopper, the fish guiding hopper is funnel-shaped, the side surface of the lower part of the fish guiding hopper is provided with an outlet, the lower part of the outlet is provided with a fish bag, and the outlet is provided with a device for counting fish sliding into the fish bag.

As optimization, the fishing rod is provided with a fish poking piece, the fish poking piece is an elastic strip-shaped plastic piece, and the cross section of the fish poking piece is L-shaped.

As an optimization, the camera is arranged on the guide rail and can move up and down along the guide rail, and the camera is arranged at the rear of the machine body side.

The beneficial effects of the invention are as follows:

1. the invention is convenient for unloading fish:

(1) The fish unloading plate is U-shaped, the fished fish is not blocked visually, the fish is not easy to turn over, and the fish can slide down along the original path even if the fish is turned over, so that the difficulty of unloading the fish is reduced;

(2) The invention adopts the triangular sinker, can only pass through the fine gap of the fishfork from bottom to top in one way, only the fishline between the buoy and the fishhook is clamped in the fine gap of the fishfork, then the fishfork is lowered between the triangular sinker and the fishhook, the sinker can be clamped by lifting the fishfork reversely, and the distance from the buoy to the fishhook is larger than the distance from the sinker to the fishhook, so that the operation difficulty is reduced;

(3) According to the invention, the fish unloading plate can rotate forwards, when the fish unloading end of the functional arm is screwed downwards, the fish unloading plate is vertical under the action of gravity, a fishhook hung on the lower edge of the fish unloading plate is not easy to hang, meanwhile, the distance between the fish unloading plate and the fish unloading fork is shortened, a fish line is convenient to loosen, so that the triangular pendant slides downwards to separate from the fish unloading fork, and the fishhook is driven to separate;

(4) According to the invention, the fishhook and the fishline are connected through the two ends of the sleeve, and as the fishline is connected with the fishhook in a sleeve mode, the junction is connected smoothly, so that the problems that the binding part on the handle end of the traditional fishhook is protruded and Yi Ka is arranged at the lower edge of the U-shaped fishplate are avoided;

(5) The invention adopts the enclosing structure of the fish guiding hopper, and the discharged fish can smoothly pass through the outlet along the hopper wall and enter the fish bag, because the fish can struggle and jump, the open fish guiding structure can hardly ensure that the jumping fish smoothly enter the bag.

2. The invention is easy to feed:

(1) The bait pulling fork is provided with the bait pulling fork, the clamping seat clamped at the gap of the bait pulling fork is used for pulling the fishing line, so that bait pulling is more powerful, and meanwhile, the bait pulling fork also plays a role in reducing shaking of the fishing line and fixing the fishing line above the bait box;

(2) According to the invention, the magnetic beads are placed in the bait box, so that the adsorption force on the fishhook is improved, and the reliability of feeding is improved;

(3) When the lower magnet of the box moves forwards and backwards, the magnetic beads are forced to do annular movement in the guide groove at the bottom of the bait box, so that the fishhook can contact with a plurality of baits to ensure that baits are successfully fed.

3. According to the invention, the limiting posts and the limiting posts are respectively arranged for the operations of feeding and discharging the fish on the functional arm, so that the device is convenient to debug, and various limiting angles can be adjusted for fishing adapting to different seasons and different fish types.

4. The special wild trash fish is caught in the culture pond through the settings of bait types, water depths, fishing tackles and the like, the culture varieties (such as no meat baits are taken by bighead carp, and the shrimp and crab only move on the bottom layer) are avoided, and the bait can be eaten or processed into feed after fishing; but the cost of fishing on site is too high by personnel, the invention can remotely fish, effectively eliminate and control the wild fish in the culture water body for a long time under the condition of low cost, and is green, harmless and environment-friendly.

5. According to the invention, the fishing can be carried out by arranging the fishing rod in a field water area, and the economical fish can be fished in the dangerous and environmentally-harsh water area, so that the fisher only needs to collect the economical fish regularly, thereby being safe and comfortable and greatly improving the efficiency; the condition of each step of fishing is observed through the camera, a plurality of actions such as feeding, fishing and unloading are realized by remote operation, a fisher does not need to go out of the door, the fishing can be operated anytime and anywhere, the entertainment and leisure of the fisher are met, the fishing is obtained through mailing, and the achievement is realized.

6. The invention can be used for a plurality of water areas with ecological unbalance, but the on-site fishing cost of personnel is too high, and the remote fishing can be used for fishing and removing specific object fishes at any time and any place under the condition of low cost, thereby reducing the invasion of foreign fishes or the harm of excessive propagation of certain fishes and protecting ecological balance.

7. The invention can attract people to fish on the net along with the national informatization construction of a plurality of areas, the local employment of villages can be realized by constructing fishing fields, managing fishes, maintaining equipment and processing faults, the fished fishes can be sold to anglers in large cities through express delivery, higher income is obtained from the fished fishes, a road which depends on agriculture of the Internet of things to become lean and rich is developed, and network peasants are released to change green water and Qingshan into gold and mountain silver mountains.

Drawings

Fig. 1: the first schematic diagram of the invention;

fig. 2: the second schematic diagram of the invention;

fig. 3: the third schematic diagram of the invention;

fig. 4: the diagram of the invention is IV;

fig. 5: the fifth diagram of the invention;

fig. 6: the invention is shown in a sixth schematic diagram;

fig. 7: the invention is shown in the seventh diagram;

fig. 8: the invention is shown in the eighth schematic diagram;

fig. 9: the invention is shown in a diagram nine;

fig. 10: the invention discloses a fish unloading plate schematic diagram;

fig. 11: the invention discloses a change schematic diagram of a fish unloading plate;

fig. 12: the triangular pendant of the invention is schematically shown;

fig. 13: the bait box of the invention is schematically shown;

fig. 14: the fishhook of the invention is schematically shown;

1. a body; 11. a first limit column; 12. a second limit column; 13. a first rotating shaft; 14. a second rotating shaft; 15. a third rotating shaft; 16. limiting I; 17. limiting II; 18. limiting; 19. limiting;

2. a fishing rod arm; 20. a sleeve; 21. a fishing rod; 22. a fish line; 23. a buoy; 24. triangle pendant; 25. a fishhook; 26. a fish hook tip; 27. a fish hook handle; 28. an inductive switch; 29. a clamping seat; 30. a plastic sheet;

3. a functional arm; 31. discharging a fish fork; 32. pulling fish slices; 33. a fish guiding hopper; 34. discharging the tail part of the fish fork; 35. a fish unloading plate; 36. a magnet; 37. a pin; 38. a vibration motor; 39. the lower edge of the fish unloading plate;

4. a bait box; 41. magnetic beads; 42. a guide groove; 43. bait; 44. a string; 45. pulling a bait fork; 46. stainless steel tube; 47. a fish bag; 48. a counter; 49. a water spray nozzle; 40. a plastic sheet;

5. a camera is provided.

Detailed Description

Embodiments of the present invention will be described in further detail below with reference to the attached drawings:

the embodiment is a novel fishing robot, which comprises a body 1, a fishing rod arm part, a functional arm 3, a bait box 4, a fish bag 57 and a camera 5, and is assisted with a corresponding control system and a signal transmission system;

the machine body 1 comprises a machine case, a plurality of motors, corresponding control switches and a power supply, and can be purchased and assembled by the market;

the fishing rod arm 2 part comprises a fishing rod arm 2 and a fishing rod line group, the fishing rod line group comprises a fishing rod 21, a fishing line 22, a buoy 23, a triangular pendant 24 and a fishhook 25, the rear end of the fishing rod arm 2 is provided with a small hole which can be inserted into a stainless steel pipe 56, the stainless steel pipe 56 can be sleeved into and fix the fishing rod 21, the stainless steel pipe 56 has slight curvature, the head of the fishing rod 21 can be aligned with a central axis formed by the fishing fork 31 and the bait pulling fork 45 through rotating the stainless steel pipe 56, and the fishing rod arm 2 is fixed on the machine body 1 through a first rotating shaft 13.

The triangular pendant 24 is a triangular metal plate-shaped member, the vertex angle of which is connected with the buoy 23 through the fishing line 22, a shuttle-shaped plastic sheet 30 which is perpendicular to the plane of the triangular pendant is connected with the midpoint of the bottom edge through the fishing line 22, and the triangular pendant is connected with the fishhook 25, and the width of the shuttle-shaped plastic sheet 30 is slightly larger than the slit of the fishfork 31.

The fishhook 25 further comprises a sleeve 20, the fishhook 25 is an iron barb-free fishhook, the sleeve 20 is a plastic tubule with the inner diameter the same as that of the fishhook 25, the fishline 22 passes through the sleeve 20 and is connected with the fishhook 25 in a binding way at the other end, and the sleeve 20 is sleeved into the fishhook handle 27 end to form a whole connected with the fishline 22.

The first rotating shaft 13 is driven by a gear motor, can rotate on a vertical plane, can be controlled to rotate positively and negatively, and can drive the fishing rod 21 and the fishing rod arm 2 to run in a fast (5-60 rpm) state and a slow (1-5 rpm) state.

The upper and lower parts of the fishing rod arm 2 are provided with the first limit 16 and the second limit 17 on the machine body 1, so that the fishing rod 21 can rotate in the angle range between the low position (the fishing rod 21 can rotate at the lowest angle) and the high position (the fishing rod 21 can rotate at the highest angle), and the fishing rod 21 is prevented from being wound by the fishing line 22 when the fishing rod 21 rotates over the head during operation. The first limit 16 and the second limit 17 are limit switches, and when the fishing rod arm 2 touches the limit switches, the limit switches are triggered to stop the rotation of the fishing rod arm 2 so as to prevent the fishing rod 21 from rotating over the head.

A photoelectric sensing switch 28 is arranged between the first limit 16 and the second limit 17, and when the photoelectric sensing switch 28 is not covered by the fishing rod arm 2 (the fishing rod 21 is in a lifting state), the photoelectric sensing switch 28 is closed, and the fishing rod arm 2 can only rotate at a low speed; when the photoelectric sensing switch 28 is covered by the fishing rod 21, the photoelectric sensing switch 28 is turned on, the fishing rod arm 2 can rotate in a fast state and a slow state, and referring to fig. 2, the fishing rod 21 can not rotate fast in a raised state, and the fishing line 22 is prevented from winding the fishing rod 21 at the rear.

The functional arm 3 comprises a front end fish unloading end and a rear end bait loading end, the fish unloading end is provided with a fish unloading fork 31 and a fish unloading plate 35 which are intersected, namely, a certain angle exists between the fish unloading fork 31 and the fish unloading plate 35, the functional arm 3 is fixed on the machine body 1 through a second rotating shaft 14, and the functional arm 3 is arranged in front of the fishing arm.

The bait box 4 is fixed on the machine body 1 through a third rotating shaft 15, namely, a bayonet is arranged on the bait box 4, is clamped on the third rotating shaft 15 and can rotate on a vertical plane around the third rotating shaft 15, and the bait box 4 is arranged above the upper bait end. A limiting column I11 is arranged on the machine body 1 below the bait box 4, supports the bait box 4 and limits the downward moving angle of the bait box 4.

The upper bait end is provided with a magnet 36, the magnet 36 can be lifted to the bait box 4 in the process of lifting along with the upper bait end, the bait box 4 is internally provided with an annular guide groove 42 slightly lower than the bottom surface of the box, and the guide groove 42 is internally provided with a magnetic bead 41 for attracting the upper bait of the fishhook 25, namely, the magnet 36 can pull the magnetic bead 41 in the bait box 4 and attract the iron fishhook 25 when being closely attached to the box bottom for moving.

A bait pulling fork 45 is arranged above the bait box 4, a clamping seat 29 is arranged above the triangular pendant 24, the bait pulling fork 45 is a Y-shaped member, a thin seam is arranged at the intersection of the Y-shaped members, the width of the thin seam of the bait pulling fork 45 is larger than the diameter of the fishing line 22 and smaller than the diameter of the clamping seat 29, and the diameter of the clamping seat 29 is smaller than the thin seam of the fish discharging fork 31; the bait pulling fork 45 is provided with a string 44 which is connected with the fishing rod arm 2, and the bait pulling fork 45 can swing slightly on a vertical plane.

The second rotating shaft 14 is driven by a gear motor, can rotate on a vertical plane, and can rotate in the forward and reverse directions under control to rotate at a slow speed (1-5 rpm). The upper part of the functional arm 3 is provided with a third limit 18 and a fourth limit 19 on the machine body 1, the rotation range of the functional arm is controlled, the fish unloading end of the functional arm 3 is limited to stop when being rotationally extruded to the third limit 18 from the upper side, the bait loading end of the functional arm 3 is limited to stop when being rotationally extruded to the fourth limit 19 from the lower side, the included angle between the fish unloading plate 35 and the horizontal plane is smaller than 30 degrees when the functional arm 3 is rotated to the third limit 18, namely, the fish unloading plate 35 is positioned at a horizontal or near horizontal position, and the bait loading end can lift the bait box 4 when being rotated to the fourth limit 19.

The fishfork 31 is arranged on the upper side of the front end of the functional arm 3 and is a Y-shaped component, a thin seam is formed at the intersection of the Y-shaped components, the width of the thin seam of the fishfork 31 is larger than the thickness of the triangular sinker 24 and smaller than the width of the bottom edge of the triangular sinker 24, and the triangular sinker 24 can pass through the thin seam of the fishfork 31 from bottom to top when unloading fish because the upper tip of the triangular sinker 24 is wider, meanwhile, the triangular sinker 24 can be clamped on the thin seam of the fishfork 31 from top to bottom, and the width of the plastic sheet 30 below the triangular sinker 24 is slightly larger than the thin seam of the fishfork 31, and the plane of the plastic sheet is perpendicular to the plane angle of the triangular sinker 24, so that the triangular sinker 24 can be ensured to be clamped on the thin seam of the fishfork 31 from top to bottom.

The fish unloading plate 35 is hinged to the front end of the functional arm 3, the rotating shaft of the fish unloading plate 35 is arranged at the upper end of the fish unloading plate 35 and can rotate forwards in a vertical plane, and the fish unloading plate 35 is a metal or plastic thin plate with the thickness of less than 2mm and the cross section of U shape, the middle is low, the two sides are high, the U-shaped opening is outwards, namely towards the water body direction, and the lower edge 39 of the fish unloading plate is bent backwards into an arc with the diameter of not more than 5 mm. The back of the fish unloading plate 35 is provided with a vibrating motor 38, the switch of the vibrating motor 38 is controlled by a control system, and the vibrating motor 38 is triggered to vibrate and surprise the fish on the fishhook 25 so as to separate from the fishhook 25 and slide down the fish unloading plate 35.

The length of the distance from the upper surface of the slit of the fly 31 to the lower edge 39 of the fly plate is set to be greater than the length of the distance from the base of the triangular weight 24 to the proximal end of the sleeve 20 of the hook 25 and less than the length of the distance from the base of the triangular weight 24 to the tip 26 of the hook.

A pin 37 is provided in the middle of the harpoon 31 to secure the harpoon 31 to the functional arm 3. The tail part 34 of the fish fork is suspended, the second limiting post 12 is arranged above the functional arm 3 and is a fixed limiting post, the second limiting post 12 is contacted with the third limiting post 18 when the fish unloading end of the functional arm 3 rotates to the highest angle from the upper side, the tail part 34 of the fish fork can be driven to rotate around the pin 37 as the axis in the vertical plane after being contacted and extruded by the second limiting post 12, the tail part 34 of the fish fork is extruded to the largest angle by the second limiting post 12, the fish unloading end of the functional arm 3 triggers the third limiting post 18 well, a signal is sent to a control system through the third limiting post 18, and the control system turns on a switch of a vibration motor (38) after receiving the signal, namely, when the fish fork 31 is extruded and rotated to the largest angle by the second limiting post 12, the front end of the fish fork 31 is lifted to the largest angle, so that the rotation of the fish fork 31 on the vertical plane around the pin 37 in the middle is realized, wherein the rotation angle range of the fish fork 31 can be changed according to the height of the tail part 34 of the fish fork is suspended, and the preferred angle range of 0-15 degrees is realized.

The fishing rod 21 is provided with a fish pulling piece 32, the fish pulling piece 32 is a strip-shaped plastic piece 40 with elasticity, the cross section is L-shaped, when the fish unloading end of the functional arm 3 is screwed to the highest point, the fishing rod 21 is lowered, and the fish pulling piece 32 on the fishing rod 21 can pass over the lower edge 39 of the fish unloading plate from the front side.

The front lower part of the machine body 1 is provided with a fish guiding hopper 33, the fish guiding hopper 33 is funnel-shaped, the side surface of the lower part of the fish guiding hopper 33 is provided with an outlet, the lower part of the outlet is provided with a fish bag 57, and the outlet is provided with a counter 48 for calculating the number of the fished fish; the water spray nozzle 49 is arranged on the fish guiding hopper 33, so that the fish guiding hopper 33 can be lubricated, the fish can be promoted to slide out of the lower outlet, the plastic sheet 40 is arranged at the outlet of the fish guiding hopper 33, the plastic sheet 40 is pushed when the fish slides out, the counter 48 positioned on the side surface of the outlet is triggered, the fish guiding hopper 33 is matched with the fish pocket 57, the fish falling from the fish unloading plate 35 slides into the lower fish pocket 57, the fished fish is caught, and the fish storage process is completed; the baffle at the front lower part of the fish unloading bucket is provided with a gap with the same width as the functional arm 3, so that the functional arm 3 can smoothly pass through when rotating downwards, but the width of the baffle is smaller than the size of a common fish body, and falling fish cannot pass through and escape. The fish bag 57 is a plastic box, a small hole is arranged slightly higher than the bottom of the box, water sprayed by the water spray nozzle 49 of the fish guiding hopper 33 flows into the fish bag 57 along the outlet, and a certain amount of running water is always stored in the fish bag 57, so that the fish in the fish bag can survive.

The fishing robot is also provided with a camera 5 for shooting a fishing scene, and video signals are sent to a computer and a mobile phone of a fisher through a signal transmission system so that the fisher can look over in real time, and the actions of feeding, fishing, unloading fish and the like are operated according to actual fishing conditions.

The camera 5 is mounted on the guide rail and is arranged at the rear side of the machine body 1, and the camera 5 can move up and down along the guide rail according to instructions so as to observe the situation from a better visual angle. The content of the camera shooting is transmitted to the angler in real time by a signal transmission system.

The control system adopts a remote control technology based on the internet technology, the transmission of the camera video content (namely a video signal transmission system) is based on the low-delay transmission technology (such as the current commonly adopted push-stream and pull-stream technology) of the internet, and the control signal is directly transmitted through a network.

When fishing, the angler views the real-time image transmitted from the camera 5, takes various operations according to different conditions, and transmits signals to control the operations of the various parts through the network.

The working principle is as follows:

feeding: the fishing person controls the fishing rod arm 2 to lift up, the fishing rod 21 lifts up along with the fishing rod arm 2 to lift the fishing line 22 out of the water, when the fishing rod 21 is lifted up to be close to the high position, the fishing rod arm 2 rotates to the horizontal position, the fishing line 22 is clamped into the bait drawing fork 45, at the moment, the clamping seat 29 on the fishing line 22 is positioned above the bait drawing fork 45 according to the preset, the triangular pendant is positioned below the bait drawing fork 45, and the fishing hook 25 is positioned above the bait box 4; the magnet 36 at the rear end is controlled to rise by rotating the functional arm 3 until the bait box 4 is supported to rise to a certain position together, the fishhook 25 is attracted by the magnetic beads 41 in the bait box 4 and the magnet 36 below the fishhook, the fishhook 25 is attracted by the magnetic beads 41, when the magnet 36 below the box body continues to rise and move forwards, the magnetic beads 41 with the fishhook 25 are pulled into the bait 43 in the bait box 4, and when the fishhook reaches a certain height, the functional arm 3 is extruded and triggers limit four 19 to stop in a limited way, see figure 3; then the control function arm 3 rotates reversely to enable the rear end magnet 36 to descend and move backwards, at the moment, the bait box 4 descends, the magnetic beads 41 in the box drive the adsorbed fishhook 25 to move backwards along the annular guide groove 42, the fishhook 25 is sunk in the fishhook 43 due to the fact that the bait 43 is sticky, the fishhook 25 descends along with the magnet 36 to drive the fishhook 25 and the fishhook 4, the clamping seat 29 on the fishing line 22 is pulled down to the bait drawing fork 45 and clamped on the thin seam of the bait drawing fork 45, the clamping seat 29 pulls the fishing line 22 to enable the fishhook 25 not to descend any more, when the bait box 4 descends continuously, the fishhook 25 is pulled out of the fishhook 4 with the sticky bait 43, the fishhook 4 stops after the bait box 4 descends to the limit post 11, the fishhook 25 above the fishhook 4 is sticky with the sticky bait 43 for fishing, and in addition, if the fishhook 25 is still connected with the sticky wire with the bait after being pulled out due to the sticky bait 43, a small-width pulling rod can repeatedly pull the fishing rod, and pull the small-fork 44 is swung to get rid of the sticky wire. After the bait is applied, the angler can operate the fishing rod arm 2 to tilt the fishing rod 21 forward and downward, and slowly put the fishhook 25 filled with the bait 43 into the water to start fishing, see fig. 2.

Fishing: when fishing, if the bait 43 needs to be lifted slightly to comma the fish, the fisher can rotate the fishing rod arm 2 slowly so as to accurately and surely operate the fishing rod 21; the angler observes through the picture that the camera shoots, in order to observe more accurately, the angler can move the position of the camera 5 up and down and zoom with the lens, in order to get better observation angle and picture, when judging the buoy 23 sends out "fish eat bait" signal, angler should rotate the fishing rod arm 2 fast, make the fishing rod 21 raise up fast, raise the fishing rod and make the fish catch; when the fishing rod 21 is lifted up to a certain angle, the fishhook 25 is separated from the water surface, and the fishing rod 21 is in a lifted state, so that a fisher can only rotate the fishing rod arm 2 at a low speed, and the fishing rod 21 is prevented from being thrown to the back to wind the fishing line 22. If the fish cannot be hooked, the process of feeding is repeated.

Unloading fish: if the fishhook 25 hooks the fish, the fisher can control the fork 31 on the functional arm 3 to lift to a certain position, then control the fishing rod 21 to slowly lift up, so that the fish line 22 enters the fork 31, the bifurcation on the two sides of the fork 31 can reduce the influence of shaking the fish line 22 left and right when the fish struggles and guide the fish line 22 to be blocked in the fine seam in the middle of the fork 31, as shown in fig. 5, the fisher only needs to block the fish line 22 between the buoy 23 and the fishhook 25 in the fine seam of the fork 31, then control the functional arm 3 to enable the fork 31 to descend, and as the vertex angle of the triangular sinker 24 is thin and the thickness is smaller than the fine seam width of the fork 31, the clamping seat 29 and the triangular sinker 24 can pass through the fine seam of the fork 31 from bottom to top, so that the fork 31 can descend between the triangular sinker 24 and the fishhook 25; meanwhile, as the fish wire 22 is connected with the fishhook 25 in the form of the sleeve 20, the junction is smooth, and the lower edge 39 of the fish unloading plate is arc-shaped, the fish wire 22 can smoothly slide upwards to the surface of the fish unloading plate 35 by pulling the fishhook 25, and the triangular sinker 24 cannot pass through the slit of the fish unloading fork 31 upwards due to the fact that the fishhook 25 is not blocked. When the triangular sinker 24 is above the harpoon 31, the harpoon 31 is lifted, because the width of the bottom edge of the triangular sinker 24 is large, and a piece of fusiform plastic sheet 30 is perpendicular to the angle of the triangular sinker 24, so that the triangular sinker 24 is generally perpendicular to the fine seam of the harpoon 31 when descending, therefore, the triangular sinker 24 is difficult to pass through the fine seam of the harpoon 31 from top to bottom, the harpoon 31 can clamp the triangular sinker 24, at the moment, the triangular sinker 24 clamped on the fine seam of the harpoon 31 can drive the fish line 22, the fishhook 25 and the hooked fish to ascend together, and the harpoon 35 is inclined gradually to be close to the horizontal, as shown in fig. 6; since the length from the triangular weight 24 to the fishhook 25 is strictly set, the lower edge of the fishhook plate 35 is positioned between the proximal end of the sleeve 20 of the fishhook 25 and the end of the fishhook tip 26, the fishhook tip 26 and the fish are hung under the outside of the fishhook plate 35 due to the gravity of the fish, and a part of the sleeve 20 of the fishhook 25 can be ensured to be above the fishhook plate 35, see fig. 6; the fishhook 25 and the fish are positioned in the middle due to the lower middle of the U-shaped section of the fish unloading plate 35; when the functional arm 3 rotates to the limit III 18, the limit III 18 is extruded and triggered to stop, at the moment, the tail 34 of the fish fork is extruded by the limit post II 12 to reach the maximum angle, the head of the fish fork 31 is lifted to drive the triangular weight 24, and the fishing line 22 is tensioned to the maximum force, so that the fishhook 25 is further hung and fastened on the fish unloading plate 35; at the moment, the limit III 18 sends a signal to the control system, the control system receives the signal and then turns on the vibration motor (38), the fish unloading plate 35 vibrates and surprises the fish, and the fish can slightly twist; at this time, the lower edge of the fish unloading plate 35 is higher than the upper edge (or substantially horizontal), the hook tip 26 is inclined downward, and the fish can be easily unhooked by slightly struggling with the fishhook 25 without barbs, see fig. 7; if the caught fish is stationary for various reasons and cannot break loose from the fish unloading plate 35, the fishing rod 21 can be lowered, and the fish-pulling piece 32 on the fishing rod 21 can pull down the fish on the fish unloading plate 35, see fig. 8.

Storing fish: the slipped fish falls into the fish guiding hopper 33 below, the water spray nozzle 49 is arranged on the fish guiding hopper 33, so that the fish guiding hopper 33 can be lubricated to promote the fish to slip out of the outlet below, the plastic sheet 40 is arranged at the outlet of the fish guiding hopper 33, and the plastic sheet 40 is pushed when the fish slips out, and the counter 48 positioned at the outlet is triggered; the fish slides out of the outlet and falls into the fish bag 57 below to finish the fish storage process, and referring to fig. 7, the fish bag 57 is a plastic box, a small hole is slightly arranged at the bottom of the box, water sprayed by the water spray nozzle 49 of the fish guiding hopper 33 flows into the fish bag 57 along the outlet, and a certain amount of running water is always stored in the fish bag 57, so that the fish in the fish bag is ensured to survive.

After the fish is stored, the fishing person controls the fish unloading ends of the fishing rod arm 2 and the functional arm 3 to rotate downwards, when the fish unloading fork 31 is rotated to a declining position, the fish unloading plate 35 rotates forwards under the action of gravity, so that the distance between the fish hook 25 hung on the lower edge 39 of the fish unloading plate and the fish unloading fork 31 is shortened, the triangular sinker 24 is convenient to slide downwards to separate from the fish unloading fork 31, and the fish hook 25 is driven to separate from the fish unloading plate 35, and then the next round of baiting and fishing can be performed.

While only the preferred embodiments of the present invention have been described above, it should be noted that it will be apparent to those skilled in the art that various modifications and adaptations can be made without departing from the essential technical features of the present invention, and the modifications and adaptations should and are intended to be comprehended within the scope of the present invention.

Claims

1. The fishing robot is characterized by comprising a body (1), a fishing rod arm part, a functional arm (3), a bait box (4), a fish bag (57) and a camera (5), and a control system and a signal transmission system are assisted;

the machine body (1) comprises a machine case, a motor and a power supply;

the fishing rod arm comprises a fishing rod arm (2) and a fishing rod line group, wherein the fishing rod line group comprises a fishing rod (21), a fishing line (22), a buoy (23), a triangular pendant (24) and a fishing hook (25), the fishing rod (21) is fixed on the fishing rod arm (2), and the fishing rod arm (2) is fixed on the machine body (1) through a first rotating shaft (13);

the triangular pendant (24) is a triangular plate-shaped member, the vertex angle of the triangular pendant (24) is connected with the buoy (23) through the fishing line (22), and the midpoint of the bottom edge is connected with the fishhook (25) through the fishing line (22);

the fishhook (25) further comprises a sleeve (20), the fish wire (22) is connected with the fishhook (25), and the sleeve (20) is sleeved at the end of the fishhook handle (27);

the functional arm (3) comprises a front-end fish unloading end and a rear-end bait loading end, the fish unloading end is provided with a fish unloading fork (31) and a fish unloading plate (35) which are intersected, the functional arm (3) is fixed on the machine body (1) through a second rotating shaft (14), and the functional arm (3) is arranged in front of the fishing rod arm (2);

the fish discharging fork (31) is a Y-shaped member, a thin seam is formed at the intersection of the Y-shaped members, and the width of the thin seam of the fish discharging fork (31) is larger than the thickness of the triangular pendant (24) and smaller than the width of the bottom edge of the triangular pendant (24);

the fish unloading plate (35) is a thin plate which is arranged at the front end of the functional arm (3) in a hinged manner, rotates forwards in a vertical plane, has a thickness of less than 2mm, and has a U-shaped section and a U-shaped opening outwards;

the distance from the upper surface of the fine seam of the fish fork (31) to the lower edge (39) of the fish unloading plate is set to be longer than the distance from the bottom edge of the triangular sinker (24) to the near end of the sleeve (20) of the fishhook (25) and shorter than the distance from the bottom edge of the triangular sinker (24) to the end of the fishhook tip (26);

the bait box (4) is fixed on the machine body (1) through a rotating shaft III (15), and the bait box (4) is arranged above the upper bait end;

the camera (5) is used for shooting a fishing site; the first rotating shaft (13) and the second rotating shaft (14) are driven by a motor;

a first limit (16) and a second limit (17) are arranged on the machine body (1) above and below the fishing rod arm (2), and an inductive switch (28) is arranged between the first limit (16) and the second limit (17);

a third limit (18) and a fourth limit (19) are arranged above the functional arm (3) on the machine body (1), the included angle between the fish unloading plate (35) and the horizontal plane is smaller than 30 degrees when the functional arm (3) rotates to the third limit (18), and the bait box (4) is lifted at the upper bait end when the functional arm (3) rotates to the fourth limit (19);

a first limiting column (11) is arranged on the machine body (1) below the bait box (4) to support the bait box (4);

the first limit (16), the second limit (17), the third limit (18) and the fourth limit (19) are limit switches, and the first limit column (11) is a fixed limit column;

a plastic sheet (30) perpendicular to the plane of the triangular pendant (24) is connected below the triangular pendant, and then the triangular pendant is connected with the fishhook (25), and the width of the plastic sheet (30) is larger than that of a fine slit of the fish fork (31);

the lower edge (39) of the fish unloading plate is bent into an arc shape with the diameter not larger than 5mm, the back of the fish unloading plate (35) is provided with a vibration motor (38), and the switch of the vibration motor (38) is controlled by a control system;

the middle part of the fish fork (31) is provided with a pin (37) for fixing the fish fork (31) on the functional arm (3), the tail part (34) of the fish fork is suspended, a limiting post II (12) is arranged above the functional arm (3), the limiting post II (12) is a fixed limiting post, when the functional arm (3) rotates to a limiting post III (18), the tail part (34) of the fish fork is contacted and extruded by the limiting post II (12) to drive the fish fork (31) to rotate in a limiting way on a vertical plane by taking the pin (37) as an axis, when the tail part (34) of the fish fork is extruded to a maximum angle, the functional arm (3) triggers the limiting post III (18), the limiting post III (18) is triggered to send a signal to a control system, and the control system turns on a vibrating motor (38) after receiving the signal;

the upper bait end of the functional arm (3) is provided with a magnet (36), the magnet (36) is lifted to the bait box (4) in the ascending process along with the upper bait end, and when the upper bait end rotates to the limit four (19), the bait box (4) is lifted to the highest position; the fishhook (25) is an iron barb-free fishhook, an annular guide groove (42) lower than the bottom surface of the bait box (4) is arranged in the bait box, and a magnetic bead (41) is arranged in the guide groove (42);

a bait pulling fork (45) is arranged above the bait box (4), a clamping seat (29) is arranged above the triangular pendant (24), the bait pulling fork (45) is a Y-shaped component, a thin seam is formed at the intersection of the Y-shaped components, the width of the thin seam of the bait pulling fork (45) is larger than the diameter of the fishing line (22) and smaller than the diameter of the clamping seat (29), and the diameter of the clamping seat (29) is smaller than the thin seam of the fish discharging fork (31);

the fish guiding hopper (33) is arranged at the front lower part of the machine body (1), the fish guiding hopper (33) is funnel-shaped, an outlet is arranged on the side surface of the lower part of the fish guiding hopper (33), a fish bag (57) is arranged below the outlet, and a device for counting fish entering the fish bag (57) is arranged at the outlet;

the camera (5) is arranged on the guide rail and moves up and down along the guide rail, and the camera (5) is arranged at the rear side of the machine body (1).

2. Fishing robot according to claim 1, characterized in that the fishing rod (21) is provided with a fish pulling piece (32), the fish pulling piece (32) is an elastic strip-shaped plastic piece, and the cross section is L-shaped.