CN110074075A - A kind of robot of automatic fishing sea cucumber - Google Patents
A kind of robot of automatic fishing sea cucumber Download PDFInfo
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- CN110074075A CN110074075A CN201910464977.1A CN201910464977A CN110074075A CN 110074075 A CN110074075 A CN 110074075A CN 201910464977 A CN201910464977 A CN 201910464977A CN 110074075 A CN110074075 A CN 110074075A
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- sea cucumber
- rack
- robot
- fishing
- storehouse
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K80/00—Harvesting oysters, mussels, sponges or the like
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- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Manipulator (AREA)
- Mechanical Means For Catching Fish (AREA)
Abstract
The present invention relates to sea cucumber finishing device technical fields, more particularly to a kind of robot of automatic fishing sea cucumber, it is low that crawl success rate exists in the prior art in solution, low efficiency, it is high to grab difficulty, the shortcomings that can not adapting to subsea environment, including rack, crawler belt, control storehouse, counterweight cabin and lifting storehouse, the control storehouse is fixed at the top of rack, the counterweight cabin is arranged symmetrically in the inside two sides of the rack, the lifting storehouse is fixed at the top of counterweight cabin, hydraulic oil container is disposed at the top of the rack, ejector and hydraulic pump, support plate has been bolted on the outside of the rack, it crosses under robot water and catches sea cucumber, operator only Manipulation of the machine people can need to complete entirely to catch task on lash ship, pass through suction inlet, ejector, sea cucumber suction inlet, the isostructural setting of turbine suction unit, using Sea cucumber is quickly sucked and is separated automatically, efficient quick using hose by vacuum jet technology.
Description
Technical field
The present invention relates to sea cucumber finishing device technical fields, more particularly to a kind of robot of automatic fishing sea cucumber.
Background technique
Underwater robot is new things, and rise time is not grown, using also not extensively, being limited primarily to underwater oil, sea
The application of bottom exploration, military affairs etc..The First underwater robot that China is independently studied is by Chinese Academy of Sciences's Shenyang Institute of Automation
Started to develop " extra large people's No.1 " in 1980 with units such as Shanghai Communications Universitys, be established for the starting and development of China's underwater robot
Basis is determined.Although the underwater robot cause in China had significant progress, overall next by development in three, 40 years
It says still very weak.Application field is also concentrated mainly on the fields such as military affairs, petroleum, search and rescue, scientific investigation, in choice seafood aquiculture, under water
The fields such as fishing operation are also only limitted to the simple application of the low levels such as observation, video recording.
As people are continuously increased marine product demand, choice seafood aquiculture and fishing market are huge, domestic some mechanisms
The research in terms of underwater fishing robot is also started with universities and colleges, typical represent is annual in river deer since 2017
The underwater robot target that sub-island is held grabs contest.This race represents domestic major scientific research institution, universities and colleges to underwater fishing
Newest research results.But in terms of the playing conditions of 2017 and two races in 2018, participant is with academic research for the race
It is really practical to have got long long way to go to be more.Fishing gathering system generally uses mechanical arm to collect before this, mechanical arm fishing
Disadvantage is mainly manifested in the following:
1, mechanical arm dynamics is held inaccurate, and dynamics crosses conference injury sea cucumber, and dynamics is too small just can not successfully to be grabbed；2, efficiency
Lowly, the half that mechanical arm grasp speed might as well be acquired manually, excessively wastes time；3, grasp stability is poor, and success rate is low,
Due to being influenced by ocean current, robot is impacted by ocean current under water, and robot is caused to be difficult accurately to grab confirmation target；4, discrimination power
It is low, it is influenced by weather or ocean current, seawater can be more muddy, and robot is difficult accurate recognition in the case where insufficient light
Subject matter；5, submarine structure form is complicated, and the environment such as rock, crack cause very big obstacle to the crawl of manipulator, many places
Basic crawl less than；Therefore, one kind fishing robot that is efficient, accurate, adapting to various complicated subsea environments is developed to compel
The eyebrows and eyelashes.
Summary of the invention
The purpose of the present invention is to solve low crawl success rate, low efficiency, crawl difficulty height, nothing exists in the prior art
Method adapts to the shortcomings that subsea environment, and the one kind proposed catches the robot of sea cucumber automatically.
To achieve the goals above, present invention employs following technical solutions:
A kind of robot of automatic fishing sea cucumber, including rack, crawler belt, control storehouse, counterweight cabin and lifting storehouse, the control
Storehouse processed is fixed at the top of rack, and the counterweight cabin is arranged symmetrically in the inside two sides of the rack, and the lifting storehouse is solid
The top of counterweight cabin is set calmly, is disposed with hydraulic oil container, ejector and hydraulic pump, the machine at the top of the rack
Support plate is bolted on the outside of frame, the side of the support plate is equipped with second hydraulic cylinder, the second hydraulic cylinder
Be internally provided with second piston bar, rack gear, the rack gear engagement has been bolted in the other end of the second piston bar
It is connected with gear, the gear is rotatably installed in the side of the rack, and the side of gear is welded with connecting shaft, the connection
The outside of axis has been screwed rotating block, and the side of the rotating block is movably hinged with fishing arm and first hydraulic respectively
One end of cylinder, the fishing arm is movably hinged with sea cucumber suction inlet, and the side of the sea cucumber suction inlet is movably hinged with connecting rod, connecting rod
The side of the other end and the fishing arm is movably hinged.
Preferably, the control storehouse is cavity structure, and the one end for controlling storehouse is equipped with aluminium alloy hatchcover, and controls the interior of storehouse
Portion is separately installed with single-chip microcontroller, imaging detector, acceleration induction device, gravity sensor, navigation device, sonar unit and top
Spiral shell instrument, the other end for controlling storehouse are made of clear material.
Preferably, the lower rotation of the rack is equipped with crawler belt runner, and crawler belt runner and hydraulic pump are electrically connected, described
It is connected between hydraulic oil container and hydraulic pump by pipeline, the crawler belt is set in the outside of the crawler belt runner.
Preferably, the first hydraulic cylinder is internally provided with First piston bar, the other end of the First piston bar with
The side of the fishing arm is movably hinged.
Preferably, the top and side of the ejector offer ejector outlet and suction inlet, the suction inlet respectively
One end be installed with hose, the other end of hose is installed in the inside of the sea cucumber suction inlet, the ejector outlet and suction inlet
Inner wall be bolted wire netting, the tail portion of the ejector is also equipped with turbine suction unit.
Preferably, the surrounding of the rack and bottom pass through screw and are equipped with driving motor, the driving motor it is defeated
Outlet is connected with driving propeller by shaft coupling, and the quantity of the driving propeller is set as eight, the first hydraulic cylinder,
Second hydraulic cylinder, driving motor, imaging detector, acceleration induction device, gravity sensor, navigation device, sonar unit and
Gyroscope is electrically connected between the single-chip microcontroller.
Preferably, the side of the support plate is fixed with guide rail by rivet, and the guide rail slidably connects sliding block, described
The side of sliding block and the rack gear is fixed by screws.
Preferably, the two sides of the rack are equipped with lighting device.
The beneficial effects of the present invention are:
1, by catching sea cucumber under robot water, operator Manipulation of the machine people need to can only complete the present invention on lash ship
Entire fishing task.
2, the present invention is by suction inlet, ejector, sea cucumber suction inlet, the isostructural setting of turbine suction unit, using vacuum
Sea cucumber is quickly sucked and is separated automatically, efficient quick using hose by fluidics.
3, the present invention passes through single-chip microcontroller, lighting device, sonar unit, acceleration induction device, gyroscope, fishing arm, imaging
The isostructural setting of detector, first hydraulic cylinder, second hydraulic cylinder carries out target high using sonar and photoelectric imaging technology
Effect identification, accelerated sensor and gyroscope are made robot movement velocity and orientation and are precalculated, cooperation lifting storehouse, counterweight
Storehouse and driving propeller make robot in the mobile stabilization of undersea, reduce crawl difficulty, are carried out by single-chip microcontroller to fishing arm
Accurate manipulation, improves the accuracy of crawl, efficiently solves problem existing for current sea cucumber fishing machinery arm.
4, the present invention is by first hydraulic cylinder, second hydraulic cylinder, connecting rod, gear, the isostructural setting of rack gear, through hydraulic dress
The fishing arm for setting manipulation can arbitrarily rotate adjusting up and down, can overcome the environment such as rock, the crack of submarine structure form complexity,
The use demand of fishing can be met.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the robot of automatic fishing sea cucumber proposed by the present invention；
Fig. 2 is a kind of overturning structural schematic diagram of the robot of automatic fishing sea cucumber proposed by the present invention；
Fig. 3 is a kind of top view of the robot of automatic fishing sea cucumber proposed by the present invention；
Fig. 4 is a kind of main view of the robot of automatic fishing sea cucumber proposed by the present invention.
In figure: 1 rack, 2 control storehouses, 3 hydraulic oil containers, 4 ejectors, the outlet of 5 ejectors, 6 hydraulic pumps, 7 drive propellers,
8 first hydraulic cylinders, 9 rotating blocks, 10 fishing arms, 11 second hydraulic cylinders, 12 rack gears, 13 gears, 14 guide rails, 15 support plates, 16 connect
Bar, 17 sea cucumber suction inlets, 18 crawler belt shafts, 19 counterweight cabins, 20 lifting storehouses, 21 suction inlets, 22 hoses.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
Referring to Fig.1-4, a kind of robot of automatic fishing sea cucumber, including rack 1, crawler belt, control storehouse 2, counterweight cabin 19 with
And lifting storehouse 20, the control storehouse 2 are fixed at the top of rack 1, counterweight cabin 19 is arranged symmetrically in the inside two of rack 1
Side, lifting storehouse 20 are fixed at the top of counterweight cabin 19, the top of rack 1 be disposed with hydraulic oil container 3, ejector 4 with
And support plate 15 has been bolted in hydraulic pump 6, the outside of rack 1, the side of support plate 15 is equipped with second hydraulic cylinder 11,
Second hydraulic cylinder 11 is internally provided with second piston bar, and rack gear 12, tooth has been bolted in the other end of second piston bar
The engagement of item 12 is connected with gear 13, and gear 13 is rotatably installed in the side of rack 1, and the side of gear 13 is welded with connecting shaft,
The outside of connecting shaft has been screwed rotating block 9, and the side of rotating block 9 is movably hinged with fishing arm 10 and the first liquid respectively
One end of cylinder pressure 8, fishing arm 10 is movably hinged with sea cucumber suction inlet 17, and the side of sea cucumber suction inlet 17 is movably hinged with connecting rod 16, even
The other end of bar 16 and the side of fishing arm 10 are movably hinged, and control storehouse 2 is cavity structure, and the one end in control storehouse 2 is equipped with aluminium
Alloy hatchcover, and control storehouse 2 inside be separately installed with single-chip microcontroller, imaging detector, acceleration induction device, gravity sensor,
The other end of navigation device, sonar unit and gyroscope, control storehouse 2 is made of clear material, the lower rotation installation of rack 1
There is crawler belt runner 18, crawler belt runner 18 and hydraulic pump 6 are electrically connected, are connected between hydraulic oil container 3 and hydraulic pump 6 by pipeline,
Crawler belt is set in the outside of crawler belt runner 18, and first hydraulic cylinder 8 is internally provided with First piston bar, First piston bar it is another
End and the side of fishing arm 10 are movably hinged, and by catching sea cucumber under robot water, operator need to only manipulate machine on lash ship
Device people can complete entirely to catch task, by single-chip microcontroller, lighting device, sonar unit, acceleration induction device, gyroscope, catch
Arm, imaging detector, first hydraulic cylinder 8, the isostructural setting of second hydraulic cylinder 11 are fished out, using sonar and photoelectric imaging technology,
Efficient identification is carried out to target, accelerated sensor and gyroscope are made robot movement velocity and orientation and precalculated, match
Lifting storehouse 20, counterweight cabin 19 and driving propeller 7 are closed, makes robot in the mobile stabilization of undersea, reduces crawl difficulty, pass through
Single-chip microcontroller accurately manipulates fishing arm 10, improves the accuracy of crawl, efficiently solves current sea cucumber fishing machinery
Problem existing for arm；
Wherein, the top and side of ejector 4 offer ejector outlet 5 and suction inlet 21 respectively, and the one of suction inlet 21
End is installed with hose 22, and the other end of hose 22 is installed in the inside of sea cucumber suction inlet 17, passes through suction inlet 21, ejector 4, sea cucumber
Suction inlet 17, the isostructural setting of turbine suction unit are quickly sucked sea cucumber simultaneously certainly using hose 22 using vacuum jet technology
Dynamic to be separated, the inner wall of efficient quick, ejector outlet 5 and suction inlet 21 has been bolted wire netting, jet stream
The tail portion of device 4 is also equipped with turbine suction unit, and the surrounding of rack 1 and bottom pass through screw and be equipped with driving motor, driving
The output end of motor is connected with driving propeller 7 by shaft coupling, and the quantity of driving propeller 7 is set as eight, and first is hydraulic
Cylinder 8, second hydraulic cylinder 11, driving motor, imaging detector, acceleration induction device, gravity sensor, navigation device, sonar dress
It sets and gyroscope is electric connection between single-chip microcontroller, pass through first hydraulic cylinder 8, second hydraulic cylinder 11, connecting rod 16, gear
13, the isostructural setting of rack gear 12, the fishing arm 10 manipulated through hydraulic device can arbitrarily rotate adjusting up and down, can overcome sea
The environment such as rock, the crack of bottom structure form complexity, can meet the use demand of fishing, and the side of support plate 15 is solid by rivet
Surely there is guide rail 14, guide rail 14 slidably connects sliding block, and the side of sliding block and rack gear 12 is fixed by screws, and the two of rack 1
Side is equipped with lighting device.
In the present embodiment, when in use, fishing robot is located at underwater operation to equipment, and technical staff is in the mother for being located at the water surface
Robot is manipulated on ship, completes salvage, wherein the power-supply system of fishing robot and control storehouse are and lash ship
Power supply connected with control system, control system is made of controlling cable and console, and controlling cable includes power cable and control
Signal transmits cable.
Working principle is as follows: underwater fishing robot ambulation system uses crawler type walking mechanism, and crawler belt is driven by hydraulic pump 6
Dynamic, 6 power of hydraulic pump is located at the middle part of robot from the hydraulic station for aiming at robot configuration, control storehouse 2, and overall structure is
Barrel-shaped, rear portion is sealed by aluminium alloy hatchcover, and front uses transparent glass material, is used for imaging detector, and machine is caught
The lighting device of people is located at the left and right sides of robot, provides power supply by control cable, the inside in control storehouse 2 is equipped with sonar dress
It sets, gravity sensing device, the sensory perceptual systems such as acceleration transducer, gyroscope and navigation device all concentrate in control storehouse,
By the single-chip microcontroller in control storehouse, the normal operation of each system is controlled, the underwater sensory perceptual system for catching robot includes to environment
Judgement system and to water (flow) direction and speed perception system, judge system to object local environment, position point by environment
Cloth and distribution of obstacles do logic judgment, by image sonar, optical imaging system, enable underwater robot automatic sensing simultaneously
Underwater environment 3D model is constructed, and planning fishing and catches scheme and prediction scheme of getting rid of poverty at path automatically, sensory perceptual system machine under water
When people's movement and operation, the systems such as acceleration transducer, gyroscope of robot interior perceive robot pose, direction, speed
The variation of the parameters such as degree, displacement, relevant parameter real-time Transmission is referred to control system by control system according to the variation of parameter
Executing agency's such as propeller, fishing system is waved to be moved or caught；
The counterweight cabin 19 being arranged inside rack 1, positioned at the lower part of robot, it is machine that at cylindrical shape, left and right, which respectively has one,
The impact force of water flow, left and right lifting storehouse 20, positioned at the top of the counterweight cabin 19 of robot, left and right each one are resisted in people's counterweight, enhancing
A, auxiliary robot floats and sinks；
When salvaging, after imaged detector detects sea cucumber, keep robot mobile by single-chip microcontroller control hydraulic pump 6, later
Single-chip microcontroller manipulates first hydraulic cylinder 8 again and second hydraulic cylinder 11 acts, and for first hydraulic cylinder 8 after movement, First piston bar is flexible
When make to catch arm 10 and rotate upwardly and downwardly, after second hydraulic cylinder 11 acts, act on rack gear 12 and sliding block and slidably reciprocate on guide rail 14, pass through
Meshing relation makes gear 13 with rotating block 9 while rotating, so that entire fishing arm 10 be driven to rotate, can carry out to fishing site
Accurate adjustment, after the completion of adjustment, the ejector 4 of robot works, and is rotated, is made by the turbine suction unit inside ejector 4
Sea cucumber is drawn into ejector 4 by sea cucumber suction inlet 17 and hose 22, and ejector 4 is located at the top of robot, tapered cylinder
Shape, this design can form biggish inhalation power at 22 suction inlet of hose with lesser sucking power, it is ensured that in a certain range
Sea cucumber can all collect, 4 rear portion of ejector is additionally provided with water outlet, and aperture position is upward, to reduce due to sucking sea cucumber when
Powerful recoil caused by draining causes the displacement of robot, wire netting is equipped at suction inlet 21, fence spacing is by essence
It really calculating, only sea cucumber is allowed to pass through, other stones or sea grass are intercepted at outside fence, if sundries aggregation is too many, machine
People can be pushed away mode sundries is spued by water flow using counter, meanwhile, it is exported at 5 in ejector, also is provided with wire netting, prevents sea
Ginseng is overflowed with water flow；
Further, the dynamical system of the robot of fishing under water includes 8 big driving propellers 7, and level 4, vertical 4
Platform guarantees the stabilization and good applicable ability under water of underwater fishing robot pose, even if in the larger situation of water flow, machine
People still can movement nimbly and freely and fishing operation, the thrust and response timeliness of dynamical system, are the key that the systems, control
The algorithm of software is also the core of dynamical system superiority and inferiority, and this system will guarantee high precision of the underwater robot in moving process
Property, the stability in fishing operation；
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Anyone skilled in the art in the technical scope disclosed by the present invention, according to the technique and scheme of the present invention and its
Inventive concept is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (8)
1. a kind of robot of automatic fishing sea cucumber, including rack (1), crawler belt, control storehouse (2), counterweight cabin (19) and lifting
Storehouse (20), which is characterized in that control storehouse (2) is fixed at the top of rack (1), and the counterweight cabin (19) is arranged symmetrically
In the inside two sides of the rack (1), lifting storehouse (20) is fixed at the top of counterweight cabin (19), the rack (1)
Top be disposed with hydraulic oil container (3), ejector (4) and hydraulic pump (6), pass through bolt on the outside of the rack (1)
It is connected with support plate (15), the side of the support plate (15) is equipped with second hydraulic cylinder (11), the second hydraulic cylinder (11)
Be internally provided with second piston bar, rack gear (12), the rack gear has been bolted in the other end of the second piston bar
(12) engagement is connected with gear (13), and the gear (13) is rotatably installed in the side of the rack (1), and the one of gear (13)
Side is welded with connecting shaft, and the outside of the connecting shaft has been screwed rotating block (9), the side point of the rotating block (9)
It is not movably hinged with fishing arm (10) and first hydraulic cylinder (8), one end of fishing arm (10) is movably hinged with sea cucumber suction inlet
(17), the side of the sea cucumber suction inlet (17) is movably hinged with connecting rod (16), the other end of connecting rod (16) and the fishing arm
(10) side is movably hinged.
2. a kind of automatic robot of fishing sea cucumber according to claim 1, which is characterized in that the control storehouse (2) is
One end of cavity structure, control storehouse (2) is equipped with aluminium alloy hatchcover, and the inside for controlling storehouse (2) be separately installed with single-chip microcontroller, at
As detector, acceleration induction device, gravity sensor, navigation device, sonar unit and gyroscope, the another of storehouse (2) is controlled
End is made of clear material.
3. a kind of robot of automatic fishing sea cucumber according to claim 1, which is characterized in that the bottom of the rack (1)
Portion is rotatably equipped with crawler belt runner (18), and crawler belt runner (18) and hydraulic pump (6) are electrically connected, the hydraulic oil container (3) and liquid
It is connected between press pump (6) by pipeline, the crawler belt is set in the outside of the crawler belt runner (18).
4. a kind of robot of automatic fishing sea cucumber according to claim 1, which is characterized in that the first hydraulic cylinder
(8) be internally provided with First piston bar, the side moveable hinge of the other end of the First piston bar and fishing arm (10)
It connects.
5. a kind of robot of automatic fishing sea cucumber according to claim 1, which is characterized in that the ejector (4)
Top and side offer ejector outlet (5) respectively and suction inlet (21), one end of the suction inlet (21) are installed with hose
(22), the other end of hose (22) is installed in the inside of the sea cucumber suction inlet (17), the ejector outlet (5) and suction inlet
(21) inner wall has been bolted wire netting, and the tail portion of the ejector (4) is also equipped with turbine suction unit.
6. a kind of robot of automatic fishing sea cucumber according to claim 2, which is characterized in that the four of the rack (1)
Week and bottom pass through screw and are equipped with driving motor, and the output end of the driving motor is connected with driving spiral by shaft coupling
Paddle (7), the quantity of driving propeller (7) are set as eight, the first hydraulic cylinder (8), second hydraulic cylinder (11), driving
Motor, imaging detector, acceleration induction device, gravity sensor, navigation device, sonar unit and gyroscope with the list
It is electric connection between piece machine.
7. a kind of robot of automatic fishing sea cucumber according to claim 1, which is characterized in that the support plate (15)
Side is fixed with guide rail (14) by rivet, and the guide rail (14) slidably connects sliding block, the sliding block and the rack gear (12)
Side be fixed by screws.
8. a kind of robot of automatic fishing sea cucumber according to claim 1, which is characterized in that the two of the rack (1)
Side is equipped with lighting device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910464977.1A CN110074075A (en) | 2019-05-30 | 2019-05-30 | A kind of robot of automatic fishing sea cucumber |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910464977.1A CN110074075A (en) | 2019-05-30 | 2019-05-30 | A kind of robot of automatic fishing sea cucumber |
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| CN110074075A true CN110074075A (en) | 2019-08-02 |
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ID=67422766
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| CN201910464977.1A Pending CN110074075A (en) | 2019-05-30 | 2019-05-30 | A kind of robot of automatic fishing sea cucumber |
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| CN111165446A (en) * | 2020-02-28 | 2020-05-19 | 曲洪霞 | Semi-submersible type fishing robot for holothurian culture |
| CN112544577A (en) * | 2020-12-09 | 2021-03-26 | 浙江海洋大学 | Sea cucumber fishing robot |
| CN114176052A (en) * | 2021-12-14 | 2022-03-15 | 中国海洋大学 | Device for underwater trapping |
| CN116495143A (en) * | 2023-03-23 | 2023-07-28 | 南京工程学院 | Underwater sea cucumber catching robot with overall structure and bionic design |
| CN116868752A (en) * | 2023-09-07 | 2023-10-13 | 山西农业大学果树研究所(山西省农业科学院果树研究所) | Cutting device and cutting method for short-anvil close-planted apple orchard |
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Application publication date: 20190802 |