CN111165446B - Semi-submersible type fishing robot for sea cucumber culture - Google Patents
Semi-submersible type fishing robot for sea cucumber culture Download PDFInfo
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- CN111165446B CN111165446B CN202010131564.4A CN202010131564A CN111165446B CN 111165446 B CN111165446 B CN 111165446B CN 202010131564 A CN202010131564 A CN 202010131564A CN 111165446 B CN111165446 B CN 111165446B
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- 241000251511 Holothuroidea Species 0.000 title claims abstract description 76
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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 fishing robot for sea cucumber cultivation, which comprises a lower cylinder body; the semi-submersible fishing robot for sea cucumber cultivation is characterized in that the first stepping motor is arranged in the middle of the lower surface of the lower cylinder body, the sea cucumber can be caught in a harmless mode, meanwhile, the fishing efficiency is high, the damage to the bodies of fishing personnel due to water temperature and water pressure during sea cucumber fishing can be effectively avoided, 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 negative pressure can be quickly pumped into the conical collecting cylinder through the arrangement of the first submersible pump, the sea cucumber can enter the conical collecting cylinder along with water flow, the conical collecting nozzle can extend to a far position due to the arrangement of the first rotary arm and the second rotary arm, the sea cucumber is conveniently located through the arrangement of the underwater camera, the balance plate can be unfolded through the fifth hydraulic telescopic rod, and the equipment can be kept balanced during semi-submersible.
Description
Technical Field
The invention relates to the technical field of marine product catching equipment, in particular to a semi-submersible type catching robot for sea cucumber cultivation.
Background
In recent years, with the increase of economy, the living standard of people is remarkably improved. According to the current trend, robots are widely applied to agriculture and animal husbandry for harvesting, picking, breeding and cleaning, and enter lives of people. For the field of aquaculture, the application of robots is limited due to special environment, high technical requirements and the like.
Sea cucumber belongs to Holothuridae (Holothurida), is a marine echinoderm living at sea to 8000 meters, has been six hundred million years old to date, and is eaten by seafloor algae and plankton. Sea cucumber grows full of meat thorns throughout the body and is widely spread in the world's oceans. The variety of coastal south China sea is more, more than twenty kinds of sea cucumbers can be eaten, and the sea cucumbers are named as ginseng, bird's nest and shark fins, so that the sea cucumbers are one of eight precious products in the world. Sea cucumber is not only a precious food, but also a precious medicinal material, and is recorded in the "materia medica schema and Lesion of materia medica": sea cucumber has sweet and salty taste, tonifies kidney, benefits essence, takes in urine, strengthens yang and treats flaccidity, warms nature and nourishes enough enemy ginseng, so the sea cucumber has the effects of improving memory, delaying gonad aging, preventing arteriosclerosis, resisting tumor and the like, and the sea cucumber gradually enters a common people dining table along with popularization of sea cucumber value knowledge.
The China is the world sea cucumber producing country and the sea cucumber consuming country. Sea cucumber has the characteristics of high protein, low fat and the like. In recent years, along with the rapid expansion of sea cucumber markets, the demand of sea cucumber fishing operation is also increasing. Currently, sea cucumber harvesting is mainly performed by diving a diver (commonly called as a frog) into the water for manual fishing.
Because of the characteristics of the life habit of the sea cucumbers, the sea cucumbers are caught only in spring and autumn, the water temperature is low, the water temperature and the water pressure during sea cucumber catching can cause great harm to the bodies of frogmans, the people who are engaged in sea cucumber catching work are basically middle-aged and elderly people, the young generation is little willing to engage in father work, and the labor cost for sea cucumber catching is relatively high. Meanwhile, the sea cucumber catching device in the prior art is inconvenient to operate, time and labor are wasted, the sea cucumber catching efficiency is low, the sea cucumber catching effect is not good, because the existing catching equipment mainly adopts mechanical pliers to clamp the sea cucumber, and because the individual sizes of the sea cucumbers are different, when the mechanical pliers are adopted to catch the sea cucumbers, the damage to the sea cucumbers is large, and the sea cucumbers are possibly clamped and crushed carelessly.
Disclosure of Invention
The invention aims to overcome the existing defects, and provides the semi-submersible type fishing robot for sea cucumber cultivation, which can be used for fishing sea cucumbers without damage, has higher fishing efficiency, can effectively avoid the damage to the bodies of fishing personnel caused by water temperature and water pressure during sea cucumber fishing, and can effectively solve the problems in the background technology.
In order to achieve the above purpose, the present invention provides the following technical solutions: a semi-submersible fishing robot for sea cucumber cultivation comprises a lower cylinder; the middle part of the lower surface of the lower cylinder is provided with a first stepping motor, an 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 cylinder 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 cylinder is provided with a drainage grating, the inner side surface of the lower cylinder is sleeved with a collecting net bag, the collecting net bag is fixedly connected with the lower cylinder through a binding belt, the upper end of the outer side surface of the lower cylinder is sleeved with an upper cylinder, the upper cylinder is fixedly connected with the lower cylinder through a positioning bolt, the lower end of the outer side surface of the upper cylinder is provided with an annular positioning plate, the middle part of the lower surface of the annular positioning plate is provided with two symmetrically arranged second stepping motors, and the output shaft of the second stepping motor is connected with a second propeller, the upper end face of the upper cylinder body is provided with a circular operation table, the upper surface of the circular operation table is provided with a conical collection cylinder, the upper end face of the conical collection cylinder is provided with a first submersible pump, a liquid inlet pipe of the first submersible pump is connected with the upper end face of the conical collection cylinder, the upper end of the inner side face of the conical collection cylinder is provided with a filter screen, the upper end of the outer side face of the conical collection cylinder is provided with a feed pipe, the feed pipe is tangentially arranged with the outer side face of the conical collection cylinder, the filter screen is arranged above the feed pipe, the circular operation table is rotationally connected with an annular pressing plate through a hinge arranged on the lower surface of the circular operation table, the upper surface of the annular pressing plate is provided with a sealing gasket, one side of the lower surface of the circular operation table, which is close to the annular pressing plate, is provided with a vertical plate, a fourth hydraulic telescopic rod is arranged between the lower surface of the annular pressing plate and the outer side face of the vertical plate, the circular operation table is rotationally connected with a first rotating arm through a hinge arranged at the edge of the upper surface of the circular operation table, the second hydraulic telescopic rod is arranged between the outer side face of the first rotary arm and the upper surface of the annular locating plate, the first rotary arm is rotationally connected with the second rotary arm through a hinge arranged at the lower end of the outer side face of the first rotary arm, the first hydraulic telescopic rod is arranged between the outer side face of the second rotary arm and the outer side face of the first rotary arm, the second rotary arm is rotationally connected with the conical collecting nozzle through a hinge arranged at the lower end of the outer side face of the second rotary arm, the front end of the conical collecting nozzle is provided with the bucket, the rear end of the conical collecting nozzle is provided with the discharging pipe, the upper end of the outer side face of the conical collecting nozzle is provided with the underwater camera, one side, close to the conical collecting nozzle, of the outer side face of the second rotary arm is provided with the locating plate, the outer side face of the locating plate is connected with the outer side face of the conical collecting nozzle through a third hydraulic telescopic rod, the lower end of the guide pipe is connected with the discharging pipe through the corrugated pipe, and the upper end of the guide pipe is connected with the feeding pipe through the corrugated pipe.
Further, the liquid inlet of the second submersible pump extends to the bottom of the inner side face of the annular cavity through the guide pipe, and the liquid outlet of the second submersible pump extends to the outside through the guide pipe.
Further, 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.
Further, the lower cylinder 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.
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 in 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 medial surface upper end, is equipped with the fifth hydraulic telescoping rod between the medial surface upper end of balance plate and the medial surface upper end of rectangular channel, and the input of fifth hydraulic telescoping rod is connected with external power source's output electricity through outside control switch.
Further, a cable sleeve is arranged in the middle of the upper surface of the circular operation table, and a lifting ring is arranged on the upper end face of the cable sleeve.
Further, the number of the conical collecting barrels is four, and the four conical collecting barrels are uniformly distributed around the upper surface of the circular operation table.
Further, the annular pressing plate is arranged right below the conical collecting cylinder, and the discharge hole of the conical collecting cylinder can be plugged when the annular pressing plate is closed.
Further, 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 are all waterproof materials.
Further, 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 fishing robot for sea cucumber cultivation has the following advantages:
1. the semi-submersible fishing robot for sea cucumber cultivation can be used for fishing sea cucumbers without damage, meanwhile, fishing efficiency is high, the damage to bodies of fishing personnel caused by water temperature and water pressure during sea cucumber fishing can be effectively avoided, sea cucumbers can be shoveled into the third hydraulic telescopic rod through the bucket, and the sea cucumbers can be guided through the guide pipe.
2. The setting of first immersible pump can be fast with the inside of toper collection section of thick bamboo negative pressure of taking out for the sea cucumber can enter into the inside of toper collection section of thick bamboo along with rivers, and the setting of first swinging boom combination second swinging boom makes the toper collection mouth can stretch out to the distance.
3. The setting of camera has under water made things convenient for the seeking of sea cucumber to fix a position, can expand the balance board through the fifth hydraulic telescoping rod, can make equipment keep balance when semi-submerged through the balance board, and annular base combines the setting of protection support both can protect advancing device, can make this equipment keep balance again after the play water, and the setting of excreteing the grid has made things convenient for the drainage of sand and stone.
Drawings
FIG. 1 is a schematic diagram of the structure 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 conical collection cylinder;
fig. 6 is a partially enlarged schematic illustration at a.
In the figure: the device comprises a ring-shaped locating plate, a lower cylinder body, a ring-shaped cavity body, a first pushing pump 4, an upper cylinder body 5, a round operating platform 6, a conical collecting cylinder 7, a first submersible pump 8, a feeding pipe 9, a honeycomb duct 10, a first hydraulic telescopic rod 11, a first rotary arm 12, a second hydraulic telescopic rod 13, a first stepping motor 14, a second rotary arm 15, a third hydraulic telescopic rod 16, a locating plate 17, a discharging pipe 18, a conical collecting nozzle 19, a bucket 20, a underwater camera 21, a second stepping motor 22, a second pushing device 23, a cable sleeve pipe 24, a ring-shaped pressing plate 25, a fourth hydraulic telescopic rod 26, a vertical plate 27, a rectangular slot 28, a balancing plate 29, a fifth hydraulic telescopic rod 30, a drain grille 31, a ring-shaped base 32, a protective bracket 33, a collecting net bag 34, a second submersible pump 35, a first electromagnetic valve 36, an air inlet pipe 37, a liquid inlet pipe 38, a second electromagnetic valve 39 and a filter screen 40.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1-6, the present invention provides a technical solution: a semi-submersible fishing robot for sea cucumber cultivation comprises a lower cylinder 2; the middle part of the lower surface of the lower cylinder 2 is provided with a first stepping motor 14, an output shaft of the first stepping motor 14 is connected with a first propulsion pump 4, the lower end of the outer side surface of the lower cylinder 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, a liquid inlet of the second submersible pump 35 extends to the bottom of the inner side surface of the annular cavity 3 through a guide pipe, a liquid outlet of the second submersible pump 35 extends to the outside through the guide pipe, 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 of the outer side surface of the lower cylinder 2 is provided with a drainage grid 31, the arrangement of the drainage grid 31 facilitates the drainage of sand and stone, the inner side surface of the lower cylinder 2 is sleeved with a collection net bag 34, the collecting net bag 34 is fixedly connected with the lower cylinder 2 through a binding belt, 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 2, the annular base 32 is combined with the protective bracket 33 to protect a propelling device, the device can keep balance after water is discharged, the upper end of the outer side surface of the lower cylinder 2 is sleeved with the upper cylinder 5, the upper cylinder 5 is fixedly connected with the lower cylinder 2 through a positioning bolt, the outer side surface of the annular cavity 3 is provided with rectangular grooves 28, the number of the rectangular grooves 28 is four, the four rectangular grooves 28 are uniformly distributed on the outer side surface of the annular cavity 3, the rectangular grooves 28 are rotationally connected with a balance plate 29 through a hinge arranged at the upper end of the inner side surface of the rectangular grooves 28, a fifth hydraulic telescopic rod 30 is arranged between the upper end of the outer side surface of the balance plate 29 and the upper end of the inner side surface of the rectangular grooves 28, the balance plate 29 can be unfolded through the fifth hydraulic telescopic rod 30, the input end of the 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 the upper cylinder 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 symmetrically arranged second stepping motors 22, the output shaft of each second stepping motor 22 is connected with a second propeller 23, the upper end surface of the upper cylinder 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 conical collection cylinders 7, the number of the conical collection cylinders 7 is four, the four conical collection cylinders 7 are uniformly distributed on the periphery of the upper surface of the circular operation table 6, the upper end surface of the conical collection cylinders 7 is provided with a first submersible pump 8, the arrangement of the first submersible pump 8 can rapidly pump the inside the conical collection cylinders 7 into negative pressure, the sea cucumbers can enter the inside the conical collection cylinders 7 along with water flow, a liquid inlet pipe of each first submersible pump 8 is connected with the upper end surface of the conical collection cylinders 7, the upper end surface of the conical collection cylinders 7 is provided with a cable sleeve 24, the upper end surface of the conical collection cylinders 40 is provided with a lifting ring-shaped collection cylinder 7, the upper surface of the annular collection cylinder 25 is provided with a circular pressure plate 25, the annular collection plate 25 is arranged on the annular collection plate 25 and is arranged on the outer side of the annular collection cylinder 7, the annular collection cylinder 25 is arranged on the annular collection cylinder 25, the annular collection cylinder 25 is arranged on the annular collection cylinder 7, the annular collection cylinder 7 is arranged on the annular collection cylinder 7, the annular inlet plate 25 is close to the annular inlet plate 25, the annular inlet plate 25 is arranged on the annular inlet plate 25, the annular inlet plate 25 and the upper surface of the annular inlet pipe 25 is arranged on the annular inlet pipe and the upper surface of the inlet pump 7, and the inlet pump and the inlet pump. The round operation table 6 is rotationally connected with a first rotary arm 12 through a hinge arranged at the edge of the upper surface of the round operation table, a second hydraulic telescopic rod 13 is arranged between the outer side surface of the first rotary arm 12 and the upper surface of the annular positioning plate 1, the first rotary arm 12 is rotationally connected with a second rotary arm 15 through a hinge arranged at the lower end of the outer side surface of the first rotary arm 12, a first hydraulic telescopic rod 11 is arranged between the outer side surface of the second rotary arm 15 and the outer side surface of the first rotary arm 12, the second rotary arm 15 is rotationally connected with a conical collecting nozzle 19 through a hinge arranged at the lower end of the outer side surface of the second rotary arm 15, the first rotary arm 12 is combined with the second rotary arm 15 to enable the conical collecting nozzle 19 to stretch to a far distance, 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 conical collecting nozzle 19 is provided with a discharging pipe 18, the upper end of the outer side surface of the conical collecting nozzle 19 is provided with an underwater camera 21, the arrangement of the underwater camera 21 facilitates the searching and positioning of sea cucumbers, one side, close to the conical collecting nozzle 19, of the outer side surface of the second rotating arm 15 is provided with a positioning plate 17, 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 clamped with a guide pipe 10 through positioning grooves arranged on the outer side surface of the second rotating arm, the sea cucumbers can be guided through the guide pipe 10, the lower end of the guide pipe 10 is connected with a discharging pipe 18 through a corrugated pipe, the upper end of the guide pipe 10 is connected with a feeding pipe 9 through a 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, the first electromagnetic valve 36 and the second electromagnetic valve 39 are all waterproof materials, 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 propulsion 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 ends of an external switch through an external power supply.
When in use: the air inlet pipe 37 is extended to a mother ship through a conduit, the invention is connected with the mother ship through a cable, an external power supply is connected, the invention is carried to a sea cucumber culture area by the mother ship, the invention is put into water, the fifth hydraulic telescopic rod 30 is controlled to extend through an external control switch, the balance plate 29 is supported by the fifth hydraulic telescopic rod 30, the stability of the invention is kept by the balance plate 29, when the invention needs to be submerged, external sea water enters the interior of the annular cavity 3 through the liquid inlet pipe 38 through the second electromagnetic valve 39, the invention starts to be submerged, when the invention needs to be floated, the first electromagnetic valve 36 is opened, the second electromagnetic valve 39 is closed, meanwhile, the water in the annular cavity 3 is pumped out by the second submersible pump 35, when sea cucumber capturing is carried out, the underwater information is collected by the underwater camera 21, and the captured information is sent to a receiver on the mother ship, the operator observes the underwater environment through the display arranged on the receiver, after seeing the sea cucumbers, the operator sends the bucket 20 to the sea cucumbers by controlling the expansion and contraction of the first hydraulic telescopic rod 11 and the second hydraulic telescopic rod 13, the bucket 20 can scoop the sea cucumbers into the conical collecting nozzle 19 by controlling the expansion and contraction 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 cylinder 7 along with the water flow through the first hydraulic telescopic rod 11 and the feeding pipe 9, after a certain amount of sea cucumbers enter the conical collecting cylinder 7, the annular pressing plate 25 is opened by the contraction of the fourth hydraulic telescopic rod 26, the sea cucumbers in the conical collecting nozzle 19 fall into the collecting net bag 36, after fishing, the sea cucumbers are pulled back to the mother ship, the upper cylinder 5 is opened, and the collecting net bag 34 is taken out.
It is noted that the external control switch controls the operation 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 stepper motor 14, the third hydraulic telescopic rod 16, the underwater camera 21, the second stepper motor 22, the second propulsion 23, the fourth hydraulic telescopic rod 26, the second submersible pump 35, the first electromagnetic valve 36 and the second electromagnetic valve 39 by methods commonly used in the prior art.
Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein 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 robot of catching for sea cucumber cultivation, its characterized in that: comprises a lower cylinder (2); the lower surface middle part of lower barrel (2) is equipped with first step motor (14), the output shaft of first step motor (14) has first propulsion pump (4), the lateral surface lower extreme of lower barrel (2) is equipped with annular cavity (3), the medial surface upper end of annular cavity (3) is equipped with second immersible pump (35) and intake pipe (37), be equipped with first solenoid valve (36) on intake pipe (37), the medial surface lower extreme of annular cavity (3) is equipped with feed liquor pipe (38), be equipped with second solenoid valve (39) on feed liquor pipe (38), the lateral surface lower extreme of lower barrel (2) is equipped with drain grid (31), the medial surface of lower barrel (2) has cup jointed collection string bag (34), collection string bag (34) are through tie and lower barrel (2) fixed connection, the lateral surface upper end cover of lower barrel (2) has connected with upper barrel (5), upper barrel (5) are through locating bolt and lower barrel (2) fixed connection, the lateral surface lower extreme of upper barrel (5) is equipped with annular locating plate (1), the medial surface lower surface of annular locating plate (3) is equipped with feed liquor pipe (38), the second output shaft (22) of two symmetrical (22) has, the second step motor (22) is equipped with the second output shaft of step motor (22), the upper surface of the round operation table (6) is provided with a conical collection cylinder (7), the upper end surface of the conical collection cylinder (7) is provided with a first submersible pump (8), a liquid inlet pipe of the first submersible pump (8) is connected with the upper end surface of the conical collection cylinder (7), the upper end of the inner side surface of the conical collection cylinder (7) is provided with a filter screen (40), the upper end of the outer side surface of the conical collection cylinder (7) is provided with a feed pipe (9), the feed pipe (9) is tangentially arranged with the outer side surface of the conical collection cylinder (7), the filter screen (40) is arranged above the feed pipe (9), the round operation table (6) is rotatably connected with an annular pressing plate (25) through a hinge arranged on the lower surface of the round operation table (6), one side of the lower surface of the round operation table (6) close to the annular pressing plate (25) is provided with a vertical plate (27), a fourth hydraulic telescopic rod (26) is arranged between the lower surface of the annular pressing plate (25) and the outer side surface of the vertical plate (27), the round operation table (6) is rotatably connected with a first rotating arm (12) through a hinge arranged on the upper surface edge of the upper surface of the round operation table (12), the outer side surface of the first rotating arm (12) is rotatably connected with a second rotating arm (13) through a second hinge arranged on the outer side surface of the annular pressing plate (12), be equipped with first hydraulic telescoping rod (11) between the lateral surface of second swinging boom (15) and the lateral surface of first swinging boom (12), second swinging boom (15) are connected with toper collecting nozzle (19) through the hinge rotation that sets up at its lateral surface lower extreme, the front end of toper collecting nozzle (19) is equipped with scraper bowl (20), the rear end of toper collecting nozzle (19) is equipped with discharging pipe (18), the lateral surface upper end of toper collecting nozzle (19) is equipped with camera (21) under water, the lateral surface of second swinging boom (15) is close to one side of toper collecting nozzle (19) and is equipped with locating plate (17), the lateral surface of locating plate (17) links to each other with the lateral surface of toper collecting nozzle (19) through third hydraulic telescoping rod (16), second swinging boom (15) and first swinging boom (12) all have honeycomb duct (10) through the constant head tank joint that sets up at its lateral surface, the lower extreme of honeycomb duct (10) links to each other with discharging pipe (18) through the bellows, the upper end of honeycomb duct (10) links to each other with inlet pipe (9) through the bellows.
2. A semi-submersible fishing robot for sea cucumber culture as defined in claim 1, wherein: 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 guide pipe, and the liquid outlet of the second submersible pump (35) extends to the outside through the guide pipe.
3. A semi-submersible fishing robot for sea cucumber culture as defined in claim 1, wherein: the liquid inlet pipe (38) is communicated with the outside, and the air inlet pipe (37) is connected with the external mother ship through an air guide pipe.
4. A semi-submersible fishing robot for sea cucumber culture as defined in claim 1, wherein: the lower cylinder body (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 body.
5. A semi-submersible fishing robot for sea cucumber culture as defined in claim 1, wherein: the utility model discloses a hydraulic control device for the internal power supply, including annular cavity (3), rectangular channel (28) are equipped with to the lateral surface of annular cavity (3), and the quantity of rectangular channel (28) is four, and four rectangular channel (28) evenly distributed are in the lateral surface of annular cavity (3), and rectangular channel (28) are connected with balance plate (29) through the hinge rotation that sets up in its medial surface upper end, are equipped with fifth hydraulic telescoping rod (30) between the medial surface upper end of balance plate (29) and the medial surface upper end of rectangular channel (28), and the input of fifth hydraulic telescoping rod (30) is connected with external power supply's output electricity through outside control switch.
6. A semi-submersible fishing robot for sea cucumber culture as defined in claim 1, wherein: the middle part of the upper surface of the circular operation table (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. A semi-submersible fishing robot for sea cucumber culture as defined in claim 1, wherein: the number of the conical collecting barrels (7) is four, and the four conical collecting barrels (7) are uniformly distributed around the upper surface of the circular operation table (6).
8. A semi-submersible fishing robot for sea cucumber culture as defined in claim 1, wherein: the annular pressing plate (25) is arranged right below the conical collecting cylinder (7), and when the annular pressing plate (25) is closed, a discharge hole of the conical collecting cylinder (7) can be plugged.
9. A semi-submersible fishing robot for sea cucumber culture as defined in claim 1, wherein: waterproof equipment is selected from 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).
10. A semi-submersible fishing robot for sea cucumber culture as defined in claim 1, wherein: 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 propulsion device (23), the fourth hydraulic telescopic rod (26), the second submersible pump (35), the first electromagnetic valve (36) and the second electromagnetic valve (39) are electrically connected with the output end of the 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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| CN111165446B true CN111165446B (en) | 2023-05-30 |
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| CN112956456B (en) * | 2021-02-01 | 2022-07-12 | 青岛黄海学院 | Sea cucumber capturing method based on deep learning and underwater positioning |
| CN114766414B (en) * | 2022-05-26 | 2023-05-12 | 国信中船(青岛)海洋科技有限公司 | Breeding ship with breeding cabin seawater partition intelligent cleaning system and cleaning method |
| CN115465426A (en) * | 2022-08-17 | 2022-12-13 | 浙大城市学院 | Underwater collection device based on flexible mechanical arm |
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