CN113277034A - Underwater robot for marine product fishing - Google Patents
Underwater robot for marine product fishing Download PDFInfo
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- CN113277034A CN113277034A CN202110539252.1A CN202110539252A CN113277034A CN 113277034 A CN113277034 A CN 113277034A CN 202110539252 A CN202110539252 A CN 202110539252A CN 113277034 A CN113277034 A CN 113277034A
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- underwater robot
- ship body
- capturing device
- enclosing plate
- rudder
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 28
- 238000012806 monitoring device Methods 0.000 claims abstract description 15
- 210000000078 claw Anatomy 0.000 claims description 18
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 10
- 229910052802 copper Inorganic materials 0.000 claims description 10
- 239000010949 copper Substances 0.000 claims description 10
- 238000012544 monitoring process Methods 0.000 abstract description 11
- 230000036544 posture Effects 0.000 abstract description 8
- 230000033001 locomotion Effects 0.000 abstract description 6
- 238000005096 rolling process Methods 0.000 abstract description 4
- 230000007613 environmental effect Effects 0.000 description 6
- 238000009364 mariculture Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000009360 aquaculture Methods 0.000 description 3
- 244000144974 aquaculture Species 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000007405 data analysis Methods 0.000 description 2
- 238000009313 farming Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 238000009304 pastoral farming Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
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- 239000003643 water by type Substances 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
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- 238000011160 research Methods 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 230000004083 survival effect Effects 0.000 description 1
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Classifications
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- 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
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
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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
- 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
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
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- 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
- B63C7/00—Salvaging of disabled, stranded, or sunken vessels; Salvaging of vessel parts or furnishings, e.g. of safes; Salvaging of other underwater objects
- B63C7/16—Apparatus engaging vessels or objects
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- 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
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- 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
- B63G8/38—Arrangement of visual or electronic watch equipment, e.g. of periscopes, of radar
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- 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
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
- B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
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- 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)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Radar, Positioning & Navigation (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an underwater robot for marine fishing, which comprises a ship body, a capturing device, a driving device and a monitoring device, wherein the driving device is connected with the ship body, the monitoring device is arranged on the ship body, the capturing device comprises a rudder frame I, a steering engine I, a motor frame, a speed reducing motor, a shaft system, a hinge and a regular dodecahedron capturing device, the steering engine I is connected with the ship body through the rudder frame I, the motor frame is respectively connected with the steering engine I and the speed reducing motor, the speed reducing motor is connected with the regular dodecahedron capturing device through the shaft system, and the hinge is arranged on the regular dodecahedron capturing device. The invention can work in the water depth of 300 meters, has good hydrodynamic performance compared with a frame type underwater robot, has a main body structure provided with a shaftless propeller, can finish the motion postures of heaving, advancing and retreating, bow turning, transverse movement, rolling, rotation and the like under water, has rapidness and maneuverability, can finish the work quickly and efficiently, and improves the working efficiency of operations such as underwater monitoring, underwater grabbing, fishing and the like.
Description
Technical Field
The invention relates to an underwater robot, in particular to an underwater robot for marine fishing.
Background
With the gradual improvement of the living standard of residents in China since the 21 st century, the demand for aquatic products gradually rises, so that the consumption of natural resources is increased year by year, the marine fishery is a main way for increasing the quality and the yield of the aquatic products, and the deep sea culture mode gradually becomes a development trend of the global fishery. Ocean farming gradually occupies an important position in the fishery field of China, and the vigorous development of ocean fishery and matched equipment is a necessary strategic selection for developing the needs and fishery.
Among various deep sea culture modes, cage culture has numerous advantages, such as fast capital gain, short culture period, convenient management, convenient fishing, strong adaptability and more convenient popularization of the cage culture mode, thereby gaining the recognition of fishermen. However, the difficulty of monitoring the state of marine aquaculture is also increased by the increase of the offshore distance and the depth from the water surface of the aquaculture net cage. If the water depth and water area conditions of the net frame arrangement do not accord with the optimum living environment of the cultured marine organisms, the economic benefit of marine net frame culture is greatly reduced. Therefore, the method has important significance for the research of the intelligent net frame culture.
A great trend of the development of the marine facility fishery is deep-sea cage culture, foreign cage culture has a history for many years, high efficiency and high income brought by the deep-sea cage culture are favored by fishermen, culture serialization and scale are formed up to now, and part of national cage culture replaces fishing and becomes a main support of aquaculture. At present, still many marine product screen frame breed still adopt traditional artifical observation or some large tracts of land waters screen frame breed and adopt unmanned aerial vehicle monitoring, nevertheless to deep sea screen frame breed, the degree of difficulty of its monitoring is compared in shallow sea or surface of water screen frame and is bred and be more than a lot more.
New technologies for open-ocean farming can solve these problems to a large extent. Open mariculture is an emerging concept, and means that a submerged cage is utilized to carry out deep sea culture, so that the influence on the surrounding marine environment is reduced to the maximum extent. Open mariculture is largely analogous to free grazing on land, where "grazing" is more flexible and areas with appropriate ocean currents or moderate seawater conditions can be selected for mariculture. In particular, open mariculture employs ecosystem-level mariculture techniques to solve various problems encountered in conventional mariculture.
The existing ocean-catching robots often have the following disadvantages: the deep sea screen frame monitoring depth of water is shallow, and the scope is relatively, can damage the marine product when snatching the marine product, and working range is little, and work efficiency is low, the unable real-time feedback condition under water.
Disclosure of Invention
The purpose of the invention is as follows: in order to overcome the defects in the prior art, the invention aims to provide the underwater robot which can finish complex motions underwater, is quick and efficient and is used for marine fishing.
The technical scheme is as follows: the invention relates to an underwater robot for marine product fishing, which comprises a ship body, a capturing device, a driving device and a monitoring device, wherein the driving device is connected with the ship body, the monitoring device is arranged on the ship body, the capturing device comprises a rudder frame I, a steering engine I, a motor frame, a speed reducing motor, a shaft system, a hinge and a regular dodecahedron capturing device, the steering engine I is connected with the ship body through the rudder frame I, the motor frame is respectively connected with the steering engine I and the speed reducing motor, the speed reducing motor is connected with the regular dodecahedron capturing device through the shaft system, the hinge is arranged on the regular dodecahedron capturing device, marine product biological capturing can be completed, and basic actions such as rotation, contraction and the like can be realized within a certain range.
Further, the regular dodecahedron capture device comprises a bottom plate and flexible claws, wherein the bottom plate is connected with the flexible claws, and the flexible claws are connected with the hinges through copper columns. The flexible claw comprises a first enclosing plate, a second enclosing plate and a third enclosing plate, the first enclosing plate is connected with the bottom plate, and the second enclosing plate is connected with the first enclosing plate and the third enclosing plate respectively. The first enclosing plate and the second enclosing plate are regular pentagons. The third enclosing plate is in a regular triangle shape. The capturing device further comprises a rotating disc. The rotating disc, the speed reducing motor, the bottom plate and the hinge are arranged below the bottom plate, the speed reducing motor rotates to drive the rotating disc to rotate, the relative position of the hinge joint on the rotating disc and the copper column on the flexible claw changes to drive the hinge to move, and the hinge outside the regular dodecahedron capturing device moves to generate a pulling and pressing effect to enable the flexible claw to be opened or closed.
Further, the ship body comprises a model cabin, platforms, a sealed cabin and a circular tube buckle, the platforms are located on two sides of the model cabin and are connected into a whole through the model cabin, and the sealed cabin is connected with the model cabin through the circular tube buckle.
Furthermore, the driving device comprises a ducted propeller, a shaftless propeller, a fixed rudder, a rotating rudder, a second steering engine frame and a gyroscope, the ducted propeller is perpendicular to the platform, the shaftless propeller is arranged on a middle section of the ship body, the fixed rudder and the second steering engine are arranged at the tail of the ship body, the rotating rudder is connected with the second steering engine, and the gyroscope is arranged in the ship body. The steering engine II is connected with the tail of the ship body through a rudder frame II. The driving device can enable the underwater robot to finish moving postures of heaving, advancing and retreating, stem turning, transverse moving, rolling, rotation and the like, and can automatically enable the moving posture to return to the right state when the moving posture has deviation.
Further, monitoring devices includes depth of water sensor, temperature sensor, PH sensor, turbidity sensor, high definition digtal camera under water and searchlight under water, connects in the connecting hole on the sealed cabin through signal transmission line, can snatch marine product biology and make, reads marine product biology's living environment parameter in real time, feeds back to host computer interface.
Furthermore, the monitoring device and the driving device are connected with the controller, and the monitoring device and the driving device of the underwater robot are connected with the controller on land through an umbilical cable to realize communication and real-time transmission of monitoring numerical control.
The working principle is as follows: the underwater robot can gradually carry out depth-fixing monitoring at different depths after reaching an appointed working sea area, if a target marine organism exists in the depth, a regular dodecahedron capturer positioned at the lower end of the bow part of a ship body of the underwater robot can capture the target marine organism, a water depth sensor, a water temperature sensor, a PH sensor and a turbidity sensor positioned on the ship body of the underwater robot read the environmental parameters of the marine organism, and after being analyzed by a data analysis system, the obtained relevant information is displayed on an upper computer interface of the underwater robot by taking a cable as a carrier through a data transmission system, and the obtained information is stored in a corresponding cloud disk. Corresponding researchers summarize a series of parameters read by pictures, videos and sensors displayed on an upper computer interface, and the marine products and the culture modes suitable for culture at different depths are summarized. If the underwater robot does not capture and identify corresponding marine organisms after reaching the target depth, the controller can control the underwater robot to continuously submerge to a certain depth, and the marine organisms in the deep sea area and the living environment of the marine organisms are monitored.
Has the advantages that: compared with the prior art, the invention has the following remarkable characteristics:
1. an integral underwater robot capable of working within 300 m of maximum water depth is designed, compared with a frame type underwater robot, the integral underwater robot has good hydrodynamic performance, and a shaftless propeller is mounted on a main body structure of the integral underwater robot, so that the integral underwater robot can finish moving postures of heaving, advancing and retreating, bow turning, transverse moving, rolling, rotating and the like under water, and both rapidness and maneuverability are taken into consideration, thereby finishing the work quickly and efficiently and improving the working efficiency of operations such as underwater monitoring, underwater grabbing, catching and the like;
2. the regular dodecahedron capturing device is arranged, the rotating disc, the speed reducing motor, the bottom plate and the hinge are arranged below the bottom plate of the capturing device, the speed reducing motor rotates to drive the rotating disc to rotate, the relative positions of the hinge joint on the rotating disc and the copper column on the flexible claw are changed to drive the hinge to move, the hinge outside the regular dodecahedron capturing device moves to generate a pulling and pressing effect to open or close the flexible claw, the capturing device forms a complete and closed regular dodecahedron in a closed state, a target marine organism can be captured in a perfect and undamaged manner, the marine organism does not fall off in the return process, and the regular dodecahedron capturing device has a good practical value;
3. the monitoring device is arranged, so that the water area where the marine products are grabbed can be monitored while the marine products are grabbed, the measured data are fed back to the display interface of the land control box in real time, and the method is favorable for researchers and marine product culturists to analyze and summarize the most suitable environmental parameters for the survival of the marine products, so that the economic benefit of deep sea screen frame cultivation is improved;
4. need not artificial dive to go to catch, sample etc. be favorable to reducing intensity of labour and use cost, can improve the operation security, realize the target of intelligent marine product fishing and marine product waters environmental monitoring.
Drawings
FIG. 1 is a side view of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a bottom view of the present invention;
FIG. 4 is a cross-sectional view of the present invention;
FIG. 5 is a front view of the present invention;
FIG. 6 is a rear view of the present invention;
FIG. 7 is a rear view of the open state of the regular dodecahedron trap 27 of the present invention;
FIG. 8 is a front view of the dodecahedron trap 27 of the present invention in an open state;
FIG. 9 is a front view of a closed state of a regular dodecahedron trap 27 of the present invention;
FIG. 10 is a rear view of a closed state of a regular dodecahedron trap 27 of the present invention; .
Detailed Description
Referring to fig. 1 to 6, the underwater robot for marine fishing comprises a land controller and an underwater integrated system, wherein a control program of the controller is the prior art, the underwater integrated system comprises a ship body 1, a capturing device 2, a driving device 3 and a monitoring device 4, and the underwater robot integrated system is connected with the land controller through an umbilical cable to realize communication and real-time transmission of monitoring numerical control. The capturing device 2 is positioned at the lower end of the bow of the underwater robot, the capturing device 2 is responsible for the capturing task of marine organisms, the marine organisms can be captured intact, the marine organisms cannot fall off in the process of returning to the water surface, basic actions such as rotation and contraction can be realized in a certain range, and marine organisms at more positions can be captured. Monitoring devices 4 arrange in underwater robot's hull 1 part, can be when snatching marine product biology, read marine product living environment parameter in real time, and the feedback is at host computer interface, and the researcher of being convenient for and marine product breeder carry out the analysis summary to the most suitable environmental parameter of marine product living to improve the economic benefits that deep sea screen frame was bred.
The ship body 1 is of a bilateral symmetry structure, the ship body 1 comprises a model cabin 11, platforms, sealed cabins 13 and circular tube buckles 14, the platforms are located on two sides of the cylindrical model cabin 11, and the model cabin 11 is connected into an integral structure. The sealed cabin 13 is fixed at the middle part of the molded cabin 11 through a round pipe buckle 14.
The capturing device 2 comprises a rudder frame I21, a rudder frame I22, a motor frame 23, a speed reducing motor 24, a shaft system 25, a hinge 26 and a regular dodecahedron capturing device 27, the regular dodecahedron capturing device 27 is connected to the lower side of the bow of the ship body 1 of the underwater robot through the rudder frame I21, the rudder frame I21 is fixed to the rudder frame I22, the rudder frame I23 is connected to the first steering frame 22, and the waterproof speed reducing motor 24 is connected with the regular dodecahedron capturing device 27 through the shaft system 25 and fixed in the motor frame I23.
The driving device 3 comprises a ducted propeller 31, a shaftless propeller 32, a fixed rudder 33, a rotating rudder 34, a second steering engine 35, a second steering engine frame 36 and a gyroscope 37. The ducted propellers 31 are arranged vertically on the platform on both sides of the hull 1 and the shaftless propellers 32 are arranged around the platform at an angle of 45 degrees to the mid-transverse section of the hull 1. The fixed rudder 33 is arranged above the tail of the ship body 1 along the tail molded line, the rotating rudder 34 is connected to the second waterproof steering engine 35, and the second waterproof steering engine 35 is fixed on the inner side of the tail of the ship body 1 through the second rudder rack 36. The gyroscope 37 is connected to a connection hole in the sealed cabin 13 at a central position inside the hull 1 through a connection line. The driving device 3 can enable the underwater robot to finish movement postures of heaving, advancing and retreating, bow turning, transverse moving, rolling, turning and the like, and can automatically enable the movement postures to return to the right positions when the movement postures have deviation.
Referring to fig. 7 to 10, the regular dodecahedral capturing device 27 of the capturing device 2 comprises a base plate 271 and five flexible claws, wherein the base plate 271 is connected with the flexible claws, the capturing device 2 further comprises copper posts 28 and a rotating disc 29, and the flexible claws are connected with a hinge 26 through the copper posts 28. Each flexible claw comprises a first enclosing plate 272, a second enclosing plate and a third enclosing plate 274, the centers of the first enclosing plate 272, the second enclosing plate and the third enclosing plate 274 are respectively provided with a copper column 28, the first enclosing plate 272 is hinged with the bottom plate 271 through a hinge 26 and the copper column 28, and the second enclosing plate is hinged with the first enclosing plate 272 and the third enclosing plate 274 through the hinge 26 and the copper column 28. The first enclosing plate 272 and the second enclosing plate are regular pentagons, and the third enclosing plate 274 is a regular triangle. The rotating disc 29 and the speed reducing motor 24 arranged below the bottom plate 271 of the capturing device are connected with the bottom plate 271 and the hinge 26, the speed reducing motor 24 rotates to drive the rotating disc 29 to rotate, the relative position of the hinge joint on the rotating disc 29 and the copper column 28 on the flexible claw changes to drive the hinge 26 to move, the external hinge 26 of the regular dodecahedron capturing device 27 moves to generate a pulling and pressing effect to enable the flexible claw to be opened or closed, and when the regular dodecahedron capturing device 27 is in a closed state, the triangular third enclosing plates 274 are spliced together to form a completely closed regular dodecahedron structure.
After the underwater robot reaches a designated working sea area, depth-fixing monitoring can be carried out at different depths step by step, if a target marine organism exists at the depth, a regular dodecahedron capturer 27 positioned at the lower end of the partial bow part of a ship body 1 of the underwater robot can capture the target marine organism, and meanwhile, a water depth sensor 41, a water temperature sensor 42, a PH sensor 43 and a turbidity sensor 44 positioned on the ship body 1 of the underwater robot read environmental parameters of the marine organism, and after the environmental parameters are analyzed by a data analysis system, obtained relevant information is displayed on an upper computer interface of the underwater robot by taking a cable as a carrier through a data transmission system, and the obtained information is stored in a corresponding cloud disk. Corresponding researchers summarize a series of parameters read by pictures, videos and sensors displayed on an upper computer interface, and the marine products and the culture modes suitable for culture at different depths are summarized. If the underwater robot does not capture and identify corresponding marine organisms after reaching the target depth, the controller can control the underwater robot to continuously submerge to a certain depth, and the marine organisms in the deep sea area and the living environment of the marine organisms are monitored.
Claims (10)
1. The utility model provides an underwater robot for marine product is caught which characterized in that: the ship body capturing device comprises a ship body (1), a capturing device (2), a driving device (3) and a monitoring device (4), wherein the driving device (3) is connected with the ship body (1), the monitoring device (4) is arranged on the ship body (1), the capturing device (2) comprises a rudder frame I (21), a steering engine I (22), a motor frame (23), a speed reducing motor (24), a shaft system (25), a hinge (26) and a regular dodecahedron capturing device (27), the steering engine I (22) is connected with the ship body (1) through the rudder frame I (21), the motor frame (23) is respectively connected with the steering engine I (22) and the speed reducing motor (24), the speed reducing motor (24) is connected with the regular dodecahedron capturing device (27) through the shaft system (25), and the hinge (26) is arranged on the regular dodecahedron capturing device (27).
2. An underwater robot for marine fishing according to claim 1, wherein: the regular dodecahedron trap (27) comprises a base plate (271) and flexible claws, wherein the base plate (271) is connected with the flexible claws, and the flexible claws are connected with hinges through copper columns (28).
3. An underwater robot for marine fishing according to claim 2, wherein: the flexible claw comprises a first enclosing plate (272), a second enclosing plate (273) and a third enclosing plate (274), wherein the first enclosing plate (272) is connected with the bottom plate (271), and the second enclosing plate (273) is respectively connected with the first enclosing plate (272) and the third enclosing plate (274).
4. A subsea robot for marine fishing, according to claim 3, characterized in that: the first enclosing plate (272) and the second enclosing plate (273) are regular pentagons.
5. A subsea robot for marine fishing, according to claim 3, characterized in that: the third enclosing plate (274) is in a regular triangle shape.
6. An underwater robot for marine fishing according to claim 1, wherein: the ship body (1) comprises a model cabin (11), a platform (12), a sealed cabin (13) and a circular tube buckle (14), wherein the platform (12) is located on two sides of the model cabin (11) and connected into a whole through the model cabin (11), and the sealed cabin (13) is connected with the model cabin (11) through the circular tube buckle (14).
7. An underwater robot for marine fishing according to claim 6, wherein: drive arrangement (3) include ducted propeller (31), shaftless propeller (32), fixed rudder (33), rotate rudder (34), steering wheel two (35), steering wheel frame two (36) and gyroscope (37), ducted propeller (31) set up with platform (12) perpendicularly, shaftless propeller (32) set up on the well section of hull (1), fixed rudder (33), steering wheel two (35) set up at the hull afterbody, it links to each other with steering wheel two (35) to rotate rudder (34), gyroscope (37) set up in hull (1).
8. An underwater robot for marine fishing according to claim 7, wherein: and the second steering engine (35) is connected with the tail part of the ship body (1) through a second rudder rack (36).
9. An underwater robot for marine fishing according to claim 1, wherein: the monitoring device (4) comprises a water depth sensor (41), a water temperature sensor (42), a PH sensor (43), a turbidity sensor (44), an underwater high-definition camera (45) and an underwater searchlight (46).
10. An underwater robot for marine fishing according to claim 1, wherein: and the monitoring device (4) and the driving device (3) are connected with the controller.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110539252.1A CN113277034B (en) | 2021-05-18 | 2021-05-18 | Underwater robot for marine product fishing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110539252.1A CN113277034B (en) | 2021-05-18 | 2021-05-18 | Underwater robot for marine product fishing |
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| CN113277034A true CN113277034A (en) | 2021-08-20 |
| CN113277034B CN113277034B (en) | 2022-12-30 |
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| CN202110539252.1A Active CN113277034B (en) | 2021-05-18 | 2021-05-18 | Underwater robot for marine product fishing |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023206690A1 (en) * | 2022-04-25 | 2023-11-02 | 胡灵芝 | Submersible probe robot, fishing net unit, flow guide plate unit and fishing method |
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