CN111165446A - Semi-submersible type fishing robot for holothurian culture - Google Patents
Semi-submersible type fishing robot for holothurian culture Download PDFInfo
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- CN111165446A CN111165446A CN202010131564.4A CN202010131564A CN111165446A CN 111165446 A CN111165446 A CN 111165446A CN 202010131564 A CN202010131564 A CN 202010131564A CN 111165446 A CN111165446 A CN 111165446A
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- 241000251511 Holothuroidea Species 0.000 title claims abstract description 86
- 239000007788 liquid Substances 0.000 claims description 20
- 230000001681 protective effect Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 3
- 238000007789 sealing Methods 0.000 claims description 3
- 238000007599 discharging Methods 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 17
- 230000006378 damage Effects 0.000 abstract description 5
- 208000027418 Wounds and injury Diseases 0.000 description 4
- 208000014674 injury Diseases 0.000 description 4
- 230000000694 effects Effects 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
- 241000894007 species Species 0.000 description 2
- 241000208340 Araliaceae Species 0.000 description 1
- 206010003210 Arteriosclerosis Diseases 0.000 description 1
- 241000251730 Chondrichthyes Species 0.000 description 1
- 241000195493 Cryptophyta Species 0.000 description 1
- 241000258955 Echinodermata Species 0.000 description 1
- 241000258195 Holothuria Species 0.000 description 1
- 206010021118 Hypotonia Diseases 0.000 description 1
- 241001465754 Metazoa Species 0.000 description 1
- 206010028980 Neoplasm Diseases 0.000 description 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 description 1
- 235000003140 Panax quinquefolius Nutrition 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000009360 aquaculture Methods 0.000 description 1
- 244000144974 aquaculture Species 0.000 description 1
- 208000011775 arteriosclerosis disease Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009395 breeding Methods 0.000 description 1
- 230000001488 breeding effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 235000009508 confectionery Nutrition 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000017561 flaccidity Diseases 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 235000008434 ginseng Nutrition 0.000 description 1
- 210000002149 gonad Anatomy 0.000 description 1
- 210000003734 kidney Anatomy 0.000 description 1
- 235000004213 low-fat Nutrition 0.000 description 1
- 239000002398 materia medica Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 235000013372 meat Nutrition 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 102000004169 proteins and genes Human genes 0.000 description 1
- 108090000623 proteins and genes Proteins 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 230000009758 senescence Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 210000002700 urine Anatomy 0.000 description 1
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Classifications
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- 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
- A01K80/00—Harvesting oysters, mussels, sponges or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/08—Propulsion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/26—Trimming equipment
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Structures Of Non-Positive Displacement Pumps (AREA)
- Farming Of Fish And Shellfish (AREA)
Abstract
The invention discloses a semi-submersible type fishing robot for holothurian culture, which comprises a lower barrel body; the semi-submersible type fishing robot for holothurian culture can perform harmless fishing on holothurians, meanwhile, the fishing efficiency is higher, the damage of the water temperature and the water pressure to the bodies of fishing personnel can be effectively avoided when the sea cucumbers are fished, the sea cucumber can be shoveled into the third hydraulic telescopic rod through the bucket, the sea cucumber can be guided through the guide pipe, the first submersible pump can quickly pump the interior of the conical collecting cylinder into negative pressure, the sea cucumber can enter the conical collecting cylinder along with the water flow, the conical collecting nozzle can extend to a far place due to the arrangement of the first rotating arm and the second rotating arm, the search and the positioning of the sea cucumber are facilitated due to the arrangement of the underwater camera, the balance plate can be unfolded through the fifth hydraulic telescopic rod, and the balance plate can keep balance when the equipment is in semi-submerged state.
Description
Technical Field
The invention relates to the technical field of marine product fishing equipment, in particular to a semi-submersible type fishing robot for holothurian culture.
Background
In recent years, with the increase of economy, the living standard of people is remarkably improved. Following the current trend, the robot enters the life of people, and the robot is more and more widely applied to agriculture and animal husbandry for harvesting, picking, breeding and cleaning. For the aquaculture field, due to the reasons of special environment, high technical requirements and the like, the application of the robot is limited.
Sea cucumber, belonging to the class holothuria (Holothuroidea), is a marine echinoderm living in seaside to 8000 m, has been known for over six hundred million years to date, and is fed by submarine algae and plankton. Sea cucumber grows with meat thorn all over the body and is widely distributed in all oceans in the world. The south China sea has more species along the coast, more than twenty species of sea cucumbers can be eaten, and the sea cucumbers are famous with ginseng, cubilose and shark's fin, and are one of eight precious products in the world. Sea cucumber is not only a precious food, but also a famous and precious medicinal material, and is recorded in the compendium of materia medica to pick up the remains: the sea cucumber is sweet and salty in taste, capable of tonifying the kidney, replenishing essence and marrow, absorbing urine, tonifying yang and treating flaccidity, warm in nature and capable of tonifying the enemy of the sea cucumber, so that the sea cucumber has the effects of improving memory, delaying gonad senescence, preventing arteriosclerosis, resisting tumors and the like, and gradually enters the dining table of common people along with popularization of sea cucumber value knowledge.
China is a world large country for producing sea cucumbers and is also a world large country for consuming sea cucumbers. The sea cucumber has the characteristics of high protein, low fat and the like. In recent years, with the rapid expansion of the sea cucumber market, the demand of sea cucumber fishing operation is increasing. At present, sea cucumber harvesting is mainly carried out by diving into water bottom by divers (commonly called frogman) for manual fishing.
Due to the characteristics of life habits of sea cucumbers, the sea cucumber catching can only be performed in spring and autumn, the water temperature is low, the water temperature and the water pressure during the sea cucumber catching can cause great damage to frogmans, people who are engaged in the sea cucumber catching work are basically middle-aged and old people at present, young generations are rarely willing to engage in the work of parents, and the labor cost for the sea cucumber catching is high. Meanwhile, the sea cucumber catching device in the prior art is inconvenient to operate, time-consuming and labor-consuming, the catching efficiency of the sea cucumbers is low, the catching effect is not good, the existing catching equipment mostly adopts mechanical tongs to clamp the sea cucumbers, and the sea cucumbers are greatly damaged when the mechanical tongs are used for catching the sea cucumbers due to different sizes of the sea cucumbers, so that the sea cucumbers can be crushed carelessly.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides a semi-submersible type fishing robot for holothurian culture, can perform harmless fishing on holothurians, has high fishing efficiency, can effectively avoid the damage of water temperature and water pressure to the bodies of fishing personnel when the holothurians are fished, and can effectively solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a semi-submersible type fishing robot for holothurian culture comprises a lower cylinder body; the middle part of the lower surface of the lower barrel is provided with a first stepping motor, the output shaft of the first stepping motor is connected with a first propulsion pump, the lower end of the outer side surface of the lower barrel is provided with an annular cavity, the upper end of the inner side surface of the annular cavity is provided with a second submersible pump and an air inlet pipe, the air inlet pipe is provided with a first electromagnetic valve, the lower end of the inner side surface of the annular cavity is provided with a liquid inlet pipe, the liquid inlet pipe is provided with a second electromagnetic valve, the lower end of the outer side surface of the lower barrel is provided with a discharge grid, the inner side surface of the lower barrel is sleeved with a collecting net bag which is fixedly connected with the lower barrel through a binding belt, the upper end of the outer side surface of the lower barrel is sleeved with an upper barrel, the upper barrel is fixedly connected with the lower barrel through a positioning bolt, the lower end of, the upper end surface of the upper barrel body is provided with a circular operating platform, the upper surface of the circular operating platform is provided with a conical collecting barrel, the upper end surface of the conical collecting barrel is provided with a first submersible pump, a liquid inlet pipe of the first submersible pump is connected with the upper end surface of the conical collecting barrel, the upper end of the inner side surface of the conical collecting barrel is provided with a filter screen, the upper end of the outer side surface of the conical collecting barrel is provided with a feed pipe, the feed pipe is arranged in a tangent way with the outer side surface of the conical collecting barrel, the filter screen is arranged above the feed pipe, the circular operating platform is rotatably connected with an annular pressing plate through a hinge arranged on the lower surface of the circular operating platform, the upper surface of the annular pressing plate is provided with a sealing gasket, one side of the lower surface of the circular operating platform, which is close to the annular pressing plate, a second hydraulic telescopic rod is arranged between the outer side surface of the first rotating arm and the upper surface of the annular positioning plate, the first rotating arm is rotatably connected with a second rotating arm through a hinge arranged at the lower end of the outer side surface of the first rotating arm, a first hydraulic telescopic rod is arranged between the outer side surface of the second rotating arm and the outer side surface of the first rotating arm, the second rotating arm is rotatably connected with a conical collecting nozzle through a hinge arranged at the lower end of the outer side surface of the second rotating arm, a bucket is arranged at the front end of the conical collecting nozzle, a discharging pipe is arranged at the rear end of the conical collecting nozzle, an underwater camera is arranged at the upper end of the outer side surface of the conical collecting nozzle, a positioning plate is arranged at one side, close to the conical collecting nozzle, of the outer side surface of the second rotating arm, the outer side surface of the positioning plate is connected with the outer side surface, the upper end of the flow guide pipe is connected with the feeding pipe through a corrugated pipe.
Further, the liquid inlet of the second submersible pump extends to the bottom of the inner side surface of the annular cavity through a conduit, and the liquid outlet of the second submersible pump extends to the outside through a conduit.
Furthermore, the liquid inlet pipe is communicated with the outside, and the air inlet pipe is connected with the external mother ship through an air guide pipe.
Furthermore, the lower cylinder body is fixedly connected with an annular base through a protective bracket arranged at the lower end of the outer side surface of the lower cylinder body.
Further, the lateral surface of annular cavity is equipped with the rectangular channel, and the quantity of rectangular channel is four, and four rectangular channel evenly distributed are at the lateral surface of annular cavity, and the rectangular channel is connected with the balance plate through the hinge rotation that sets up in its inboard upper end, is equipped with fifth hydraulic telescoping rod between the lateral surface upper end of balance plate and the medial surface upper end of rectangular channel, and fifth hydraulic telescoping rod's input is connected with external power source's output electricity through external control switch.
Furthermore, a cable sleeve pipe is arranged in the middle of the upper surface of the circular operating platform, and a lifting ring is arranged on the upper end face of the cable sleeve pipe.
Furthermore, the number of the conical collecting cylinders is four, and the four conical collecting cylinders are uniformly distributed on the periphery of the upper surface of the circular operating platform.
Furthermore, the annular pressure plate is arranged right below the conical collecting barrel, and the discharge hole of the conical collecting barrel can be plugged when the annular pressure plate is closed.
Furthermore, waterproof equipment is selected for use by the first hydraulic telescopic rod, the second hydraulic telescopic rod, the first stepping motor, the third hydraulic telescopic rod, the underwater camera, the second stepping motor, the fourth hydraulic telescopic rod, the first electromagnetic valve and the second electromagnetic valve.
Furthermore, the input ends of the first propulsion pump, the first submersible pump, the first hydraulic telescopic rod, the second hydraulic telescopic rod, the first stepping motor, the third hydraulic telescopic rod, the underwater camera, the second stepping motor, the second propeller, the fourth hydraulic telescopic rod, the second submersible pump, the first electromagnetic valve and the second electromagnetic valve are electrically connected with the output end of the external switch through an external power supply.
Compared with the prior art, the invention has the beneficial effects that: the semi-submersible type fishing robot for holothurian culture has the following advantages:
1. this semi-submerged formula fishing robot for holothurian culture can carry out injury-free fishing to the sea cucumber, and it is higher to catch efficiency simultaneously, can effectively avoid temperature and water pressure when the sea cucumber is caught all can be to the injury of catching personnel health, can shovel the sea cucumber into third hydraulic telescoping rod's inside through the scraper bowl, can guide the sea cucumber through the honeycomb duct.
2. The negative pressure can be taken out into the inside of toper collecting vessel fast in the setting of first immersible pump for the sea cucumber can enter into the inside of toper collecting vessel along with rivers, and the setting of first swinging boom combination second swinging boom makes toper collecting nozzle can stretch and visit far away.
3. The underwater camera is convenient for searching and positioning sea cucumbers, the balance plate can be unfolded through the fifth hydraulic telescopic rod, the equipment can be kept balanced when the equipment is semi-submerged through the balance plate, the annular base can protect the propelling device by combining with the protective support, the equipment can be kept balanced after water is discharged, and the arrangement of the drainage grid facilitates the drainage of sand and stones.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a left side view of the present invention;
FIG. 4 is a cross-sectional view of the present invention;
FIG. 5 is a schematic view of the internal structure of a cone-shaped collecting cylinder;
fig. 6 is a partially enlarged view of a portion a.
In the figure: 1 annular positioning plate, 2 lower cylinder bodies, 3 annular cavity bodies, 4 first propulsion pumps, 5 upper cylinder bodies, 6 circular operating tables, 7 conical collecting cylinders, 8 first submersible pumps, 9 feed pipes, 10 draft tubes, 11 first hydraulic telescopic rods, 12 first rotating arms, 13 second hydraulic telescopic rods, 14 first stepping motors, 15 second rotating arms, 16 third hydraulic telescopic rods, 17 positioning plates, 18 discharge pipes, 19 conical collecting nozzles and 20 buckets, 21 underwater camera, 22 second step motor, 23 second propeller, 24 cable sleeve, 25 annular pressing plate, 26 fourth hydraulic telescopic rod, 27 vertical plate, 28 rectangular groove, 29 balance plate, 30 fifth hydraulic telescopic rod, 31 drainage grid, 32 annular base, 33 protective support, 34 collecting net bag, 35 second submersible pump, 36 first electromagnetic valve, 37 air inlet pipe, 38 liquid inlet pipe, 39 second electromagnetic valve, 40 filter screen.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-6, the present invention provides a technical solution: a semi-submersible type fishing robot for holothurian culture comprises a lower cylinder body 2; the middle part of the lower surface of the lower barrel body 2 is provided with a first step motor 14, the output shaft of the first step motor 14 is connected with a first propulsion pump 4, the lower end of the outer side surface of the lower barrel body 2 is provided with an annular cavity 3, the upper end of the inner side surface of the annular cavity 3 is provided with a second submersible pump 35 and an air inlet pipe 37, the liquid inlet of the second submersible pump 35 extends to the bottom of the inner side surface of the annular cavity 3 through a conduit, the liquid outlet of the second submersible pump 35 extends to the outside through a conduit, the air inlet pipe 37 is provided with a first electromagnetic valve 36, the lower end of the inner side surface of the annular cavity 3 is provided with a liquid inlet pipe 38, the liquid inlet pipe 38 is provided with a second electromagnetic valve 39, the liquid inlet pipe 38 is communicated with the outside, the air inlet pipe 37 is connected with an external mother ship through an air guide pipe, the lower end, the collecting net bag 34 is fixedly connected with the lower barrel 2 through a binding belt, the lower barrel 2 is fixedly connected with an annular base 32 through a protective support 33 arranged at the lower end of the outer side face of the lower barrel 2, the annular base 32 is combined with the protective support 33 to protect a propelling device and keep the equipment balanced after water is discharged, the upper barrel 5 is sleeved at the upper end of the outer side face of the lower barrel 2, the upper barrel 5 is fixedly connected with the lower barrel 2 through a positioning bolt, the outer side face of the annular cavity 3 is provided with four rectangular grooves 28, the four rectangular grooves 28 are uniformly distributed on the outer side face of the annular cavity 3, the rectangular grooves 28 are rotatably connected with a balance plate 29 through hinges arranged at the upper end of the inner side face of the rectangular grooves 28, a fifth hydraulic telescopic rod 30 is arranged between the upper end of the outer side face of the balance plate 29 and the upper end of the inner side face of the rectangular grooves 28, and the balance plate, the input end of a fifth hydraulic telescopic rod 30 is electrically connected with the output end of an external power supply through an external control switch, the lower end of the outer side surface of an upper barrel 5 is provided with an annular positioning plate 1, the middle part of the lower surface of the annular positioning plate 1 is provided with two second stepping motors 22 which are symmetrically arranged, the output shaft of the second stepping motor 22 is connected with a second propeller 23, the upper end surface of the upper barrel 5 is provided with a circular operation table 6, the middle part of the upper surface of the circular operation table 6 is provided with a cable sleeve 24, the upper end surface of the cable sleeve 24 is provided with a lifting ring, the upper surface of the circular operation table 6 is provided with four conical collecting barrels 7, the four conical collecting barrels 7 are uniformly distributed around the upper surface of the circular operation table 6, the upper end surface of each conical collecting barrel 7 is provided with a first submersible pump 8, and the first submersible pump 8 can rapidly pump the inside of each conical, so that sea cucumbers can enter the conical collecting barrel 7 along with water flow, a liquid inlet pipe of a first submersible pump 8 is connected with the upper end face of the conical collecting barrel 7, a filter screen 40 is arranged at the upper end of the inner side face of the conical collecting barrel 7, a feed pipe 9 is arranged at the upper end of the outer side face of the conical collecting barrel 7, the feed pipe 9 is arranged in a tangent manner with the outer side face of the conical collecting barrel 7, the filter screen 40 is arranged above the feed pipe 9, a circular operating platform 6 is rotatably connected with an annular pressing plate 25 through a hinge arranged on the lower surface of the circular operating platform 6, the annular pressing plate 25 is arranged right below the conical collecting barrel 7, a discharge hole of the conical collecting barrel 7 can be blocked when the annular pressing plate 25 is closed, a sealing gasket is arranged on the upper surface of the annular pressing plate 25, a vertical plate 27 is arranged on one side, close to the annular, the circular operation table 6 is rotatably connected with a first rotating arm 12 through a hinge arranged on the edge of the upper surface of the circular operation table, a second hydraulic telescopic rod 13 is arranged between the outer side surface of the first rotating arm 12 and the upper surface of the annular positioning plate 1, the first rotating arm 12 is rotatably connected with a second rotating arm 15 through a hinge arranged at the lower end of the outer side surface of the first rotating arm, a first hydraulic telescopic rod 11 is arranged between the outer side surface of the second rotating arm 15 and the outer side surface of the first rotating arm 12, the second rotating arm 15 is rotatably connected with a conical collecting nozzle 19 through a hinge arranged at the lower end of the outer side surface of the second rotating arm, the conical collecting nozzle 19 can extend to a distance by combining the arrangement of the first rotating arm 12 and the second rotating arm 15, the front end of the conical collecting nozzle 19 is provided with a bucket 20, sea cucumbers can be shoveled into the third hydraulic telescopic rod 16 through the bucket 20, the rear end of, the underwater camera 21 is arranged to facilitate finding and positioning of sea cucumbers, a positioning plate 17 is arranged on one side, close to the conical collecting nozzle 19, of the outer side surface of the second rotating arm 15, the outer side surface of the positioning plate 17 is connected with the outer side surface of the conical collecting nozzle 19 through a third hydraulic telescopic rod 16, the second rotating arm 15 and the first rotating arm 12 are both connected with a guide pipe 10 in a clamping mode through positioning grooves formed in the outer side surfaces of the second rotating arm 15 and the first rotating arm 12, the sea cucumbers can be guided through the guide pipe 10, the lower end of the guide pipe 10 is connected with a discharge pipe 18 through a corrugated pipe, the upper end of the guide pipe 10 is connected with a feed pipe 9 through the corrugated pipe, the first hydraulic telescopic rod 11, the second hydraulic telescopic rod 13, the first stepping motor 14, the third hydraulic telescopic rod 16, the underwater camera 21, the second stepping motor 22, the fourth hydraulic telescopic rod 26, First immersible pump 8, first hydraulic telescoping rod 11, second hydraulic telescoping rod 13, first step motor 14, third hydraulic telescoping rod 16, underwater camera 21, second step motor 22, second propeller 23, fourth hydraulic telescoping rod 26, second immersible pump 35, first solenoid valve 36 and second solenoid valve 39's input all is connected through external power source and external switch's output electricity, this a semi-submerged formula fishing robot for holothurian cultivation, can carry out the injury-free fishing to the sea cucumber, it is higher to catch efficiency simultaneously, can effectively avoid temperature and water pressure when the sea cucumber is caught all can be to the injury of catching personnel health.
When in use: an air inlet pipe 37 extends to a mother ship through a guide pipe, the sea cucumber collecting device is connected with the mother ship through a cable, an external power supply is connected, the sea cucumber collecting device is carried to a sea cucumber culture area by the mother ship, the sea cucumber collecting device is thrown into water, an external control switch controls a fifth hydraulic telescopic rod 30 to extend, a balance plate 29 is propped open by the fifth hydraulic telescopic rod 30, the stability of the sea cucumber collecting device is kept by the balance plate 29, when the sea cucumber collecting device needs to submerge, a second electromagnetic valve 39 is opened, external sea water enters the annular cavity 3 through a liquid inlet pipe 38, the sea cucumber collecting device begins to sink, when the sea cucumber collecting device needs to float upwards, a first electromagnetic valve 36 is opened, the second electromagnetic valve 39 is closed, water in the annular cavity 3 is pumped out by a second submersible pump 35, when sea cucumber is caught, underwater information is collected by an underwater camera 21, the caught information is sent to a receiver on the mother ship, an operator observes the underwater environment through a display arranged on the, after the sea cucumbers are seen, an operator can send the bucket 20 to the sea cucumber position by controlling the extension and retraction of the first hydraulic telescopic rod 11 and the second hydraulic telescopic rod 13, the bucket 20 can shovel the sea cucumbers into the conical collecting nozzle 19 by controlling the extension and retraction of the third hydraulic telescopic rod 16, meanwhile, the first submersible pump 8 works, the sea cucumbers in the conical collecting nozzle 19 enter the conical collecting barrel 7 through the first hydraulic telescopic rod 11 and the feeding pipe 9 along with water flow, after a certain amount of sea cucumbers enter the conical collecting barrel 7, the fourth hydraulic telescopic rod 26 is contracted to open the annular pressing plate 25, the sea cucumbers in the conical collecting nozzle 19 immediately fall into the collecting net bag 36, after the sea cucumbers are caught, the sea cucumber collecting device is pulled back to a mother ship, and the upper barrel 5 is opened to take out the collecting net bag 34.
It is noted that the external control switch controls the first propulsion pump 4, the first submersible pump 8, the first hydraulic telescopic rod 11, the second hydraulic telescopic rod 13, the first stepping motor 14, the third hydraulic telescopic rod 16, the underwater camera 21, the second stepping motor 22, the second propeller 23, the fourth hydraulic telescopic rod 26, the second submersible pump 35, the first electromagnetic valve 36 and the second electromagnetic valve 39 to work by the methods commonly used in the prior art.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. A semi-submerged formula fishing robot for holothurian culture which characterized in that: comprises a lower cylinder body (2); the lower barrel is characterized in that a first step motor (14) is arranged in the middle of the lower surface of the lower barrel (2), an output shaft of the first step motor (14) is connected with a first propulsion pump (4), an annular cavity (3) is arranged at the lower end of the outer side surface of the lower barrel (2), a second submersible pump (35) and an air inlet pipe (37) are arranged at the upper end of the inner side surface of the annular cavity (3), a first electromagnetic valve (36) is arranged on the air inlet pipe (37), a liquid inlet pipe (38) is arranged at the lower end of the inner side surface of the annular cavity (3), a second electromagnetic valve (39) is arranged on the liquid inlet pipe (38), a drainage grid (31) is arranged at the lower end of the outer side surface of the lower barrel (2), a collection net bag (34) is sleeved on the inner side surface of the lower barrel (2), the collection net bag (34) is fixedly connected with the lower barrel (2) through a binding belt, an upper barrel (5) is sleeved, an annular positioning plate (1) is arranged at the lower end of the outer side surface of an upper barrel (5), two symmetrically arranged second stepping motors (22) are arranged in the middle of the lower surface of the annular positioning plate (1), the output shaft of the second stepping motor (22) is connected with a second propeller (23), a circular operating platform (6) is arranged on the upper end surface of the upper barrel (5), a conical collecting barrel (7) is arranged on the upper surface of the circular operating platform (6), a first submersible pump (8) is installed on the upper end surface of the conical collecting barrel (7), a liquid inlet pipe of the first submersible pump (8) is connected with the upper end surface of the conical collecting barrel (7), a filter screen (40) is arranged at the upper end of the inner side surface of the conical collecting barrel (7), a feeding pipe (9) is arranged at the upper end of the outer side surface of the conical collecting barrel (7), the feeding pipe (9) and the outer side surface of the conical collecting, the circular operation table (6) is rotatably connected with an annular pressure plate (25) through a hinge arranged on the lower surface of the circular operation table, a sealing gasket is arranged on the upper surface of the annular pressure plate (25), a vertical plate (27) is arranged on one side, close to the annular pressure plate (25), of the lower surface of the circular operation table (6), a fourth hydraulic telescopic rod (26) is arranged between the lower surface of the annular pressure plate (25) and the outer side surface of the vertical plate (27), the circular operation table (6) is rotatably connected with a first rotating arm (12) through a hinge arranged on the edge of the upper surface of the circular operation table, a second hydraulic telescopic rod (13) is arranged between the outer side surface of the first rotating arm (12) and the upper surface of the annular positioning plate (1), a second rotating arm (15) is rotatably connected with a hinge arranged on the lower end of the outer side surface of the first rotating arm (12), a first hydraulic telescopic, the second rotating arm (15) is connected with a conical collecting nozzle (19) through a hinge arranged at the lower end of the outer side face of the second rotating arm in a rotating mode, a bucket (20) is arranged at the front end of the conical collecting nozzle (19), a discharging pipe (18) is arranged at the rear end of the conical collecting nozzle (19), an underwater camera (21) is arranged at the upper end of the outer side face of the conical collecting nozzle (19), a positioning plate (17) is arranged on one side, close to the conical collecting nozzle (19), of the outer side face of the second rotating arm (15), the outer side face of the positioning plate (17) is connected with the outer side face of the conical collecting nozzle (19) through a third hydraulic telescopic rod (16), the second rotating arm (15) and the first rotating arm (12) are connected with a flow guide pipe (10) through a positioning groove arranged on the outer side face of the second rotating arm in a clamping mode, the lower.
2. The semi-submersible type fishing robot for holothurian culture according to claim 1, characterized in that: the liquid inlet of the second submersible pump (35) extends to the bottom of the inner side surface of the annular cavity (3) through a conduit, and the liquid outlet of the second submersible pump (35) extends to the outside through a conduit.
3. The semi-submersible type fishing robot for holothurian culture according to claim 1, characterized in that: the liquid inlet pipe (38) is communicated with the outside, and the air inlet pipe (37) is connected with an external mother ship through an air guide pipe.
4. The semi-submersible type fishing robot for holothurian culture according to claim 1, characterized in that: the lower cylinder (2) is fixedly connected with an annular base (32) through a protective bracket (33) arranged at the lower end of the outer side surface of the lower cylinder.
5. The semi-submersible type fishing robot for holothurian culture according to claim 1, characterized in that: the lateral surface of annular cavity (3) is equipped with rectangular channel (28), the quantity of rectangular channel (28) is four, four rectangular channel (28) evenly distributed are at the lateral surface of annular cavity (3), rectangular channel (28) are connected with balance plate (29) through the hinge rotation that sets up in its inboard side upper end, be equipped with fifth hydraulic telescoping rod (30) between the lateral surface upper end of balance plate (29) and the medial surface upper end of rectangular channel (28), the input of fifth hydraulic telescoping rod (30) is connected through external control switch and external power source's output electricity.
6. The semi-submersible type fishing robot for holothurian culture according to claim 1, characterized in that: the middle of the upper surface of the circular operating platform (6) is provided with a cable sleeve pipe (24), and the upper end surface of the cable sleeve pipe (24) is provided with a lifting ring.
7. The semi-submersible type fishing robot for holothurian culture according to claim 1, characterized in that: the number of the conical collecting cylinders (7) is four, and the four conical collecting cylinders (7) are uniformly distributed on the periphery of the upper surface of the circular operating platform (6).
8. The semi-submersible type fishing robot for holothurian culture according to claim 1, characterized in that: the annular pressing plate (25) is arranged right below the conical collecting cylinder (7), and the discharge hole of the conical collecting cylinder (7) can be plugged when the annular pressing plate (25) is closed.
9. The semi-submersible type fishing robot for holothurian culture according to claim 1, characterized in that: the underwater camera is characterized in that the first hydraulic telescopic rod (11), the second hydraulic telescopic rod (13), the first stepping motor (14), the third hydraulic telescopic rod (16), the underwater camera (21), the second stepping motor (22), the fourth hydraulic telescopic rod (26), the first electromagnetic valve (36) and the second electromagnetic valve (39) are all made of waterproof equipment.
10. The semi-submersible type fishing robot for holothurian culture according to claim 1, characterized in that: the input ends of the first propulsion pump (4), the first submersible pump (8), the first hydraulic telescopic rod (11), the second hydraulic telescopic rod (13), the first stepping motor (14), the third hydraulic telescopic rod (16), the underwater camera (21), the second stepping motor (22), the second propeller (23), the fourth hydraulic telescopic rod (26), the second submersible pump (35), the first electromagnetic valve (36) and the second electromagnetic valve (39) are all electrically connected with the output end of an external switch through an external power supply.
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| CN202010131564.4A CN111165446B (en) | 2020-02-28 | 2020-02-28 | Semi-submersible type fishing robot for sea cucumber culture |
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| CN202010131564.4A CN111165446B (en) | 2020-02-28 | 2020-02-28 | Semi-submersible type fishing robot for sea cucumber culture |
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| CN111165446B CN111165446B (en) | 2023-05-30 |
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| CN112956456A (en) * | 2021-02-01 | 2021-06-15 | 青岛黄海学院 | Sea cucumber capturing device and method based on deep learning and underwater positioning |
| CN114766414A (en) * | 2022-05-26 | 2022-07-22 | 国信中船(青岛)海洋科技有限公司 | Cultivation ship with cultivation cabin seawater partition intelligent cleaning system and cleaning method |
| NL2035270A (en) * | 2022-08-17 | 2024-02-27 | Hangzhou City Univ | Underwater collection device based on flexible manipulator |
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