阅读说明：本技术 海参捕捞装置 (Sea cucumber catching device ) 是由 杨璐嘉 马兴 常宇豪 梁昊毓 牟泽辉 于 2020-05-19 设计创作，主要内容包括：本发明海参捕捞装置,涉及自动化水产捕捞技术领域,尤其涉及自动化海参捕捞装置。本发明包括：抓取传送机构、海参收集装置、机械臂和遥控无人潜水器；遥控无人潜水器用于安装机械臂和海参收集装置,其具有水下推进装置能够携带其上的设备在水下进行三维立体机动；海参收集装置装于遥控无人潜水器的内部；机械臂装于遥控无人潜水器的前部；抓取传送机构装于机械臂的前端。本发明的技术方案解决了现有技术中的现有海参捕捞装置工作效率低；搅动泥砂、干扰作业同时破坏海底生态环境等问题。(The invention discloses a sea cucumber catching device, relates to the technical field of automatic aquatic product catching, and particularly relates to an automatic sea cucumber catching device. The invention comprises the following steps: the device comprises a grabbing and conveying mechanism, a sea cucumber collecting device, a mechanical arm and a remote control unmanned submersible; the remote control unmanned submersible is used for installing a mechanical arm and a sea cucumber collecting device, and is provided with an underwater propulsion device which can carry equipment on the underwater propulsion device to carry out three-dimensional maneuvering underwater; the sea cucumber collecting device is arranged inside the remote control unmanned submersible; the mechanical arm is arranged at the front part of the remote control unmanned submersible; the grabbing and conveying mechanism is arranged at the front end of the mechanical arm. The technical scheme of the invention solves the problems that the existing sea cucumber catching device in the prior art has low working efficiency; stirring the mud and sand, interfering the operation and destroying the ecological environment of the seabed and the like.)

1. A sea cucumber catching device is characterized by comprising: the device comprises a grabbing and conveying mechanism (1), a sea cucumber collecting device (2), a mechanical arm (3) and a remote control unmanned submersible vehicle (4);

the remote control unmanned submersible (4) is used for installing the mechanical arm (3) and the sea cucumber collecting device (2), and is provided with an underwater propulsion device which can carry equipment on the underwater propulsion device to perform three-dimensional maneuvering underwater;

the sea cucumber collecting device (2) is arranged inside the remote-control unmanned submersible (4);

the mechanical arm (3) is arranged at the front part of the remote control unmanned submersible (4);

the grabbing and conveying mechanism (1) is arranged at the front end of the mechanical arm (3).

2. The sea cucumber catching device according to claim 1, wherein the sea cucumber collecting device (2) comprises: the device comprises a collecting bin (201), a water pump (202), a bidirectional water outlet (203), a net bag (204) and a hose (205);

the net bag (204) is fixedly arranged inside the remote-control unmanned submersible (4);

the collection bin (201) is arranged at the top of the net bag (204) and is communicated with the net bag (204), and the sea cucumbers collected by the collection bin (201) fall into the net bag (204);

one end of the hose (205) is connected with an opening at the front end of the collection bin (201), and the other end of the hose passes through the mechanical arm (3) to be connected with the grabbing and conveying mechanism (1);

the water pump (202) is arranged at an opening at the rear end of the collecting bin (201) and used for providing power for pumping seawater, and a bidirectional water outlet (203) is arranged at the tail part of the water pump (202) for draining water.

3. The sea cucumber catching device as claimed in claim 2, wherein the collecting bin (201) comprises: the device comprises a bin body (2011), a sensor (2012), a torsion spring (2013), a one-way collecting bin door (2014) and a filter screen (2015);

the bin body (2011) is arranged at the top of the net bag (204), and the internal space can contain one to three heads of sea cucumbers; the bottom of the bin body (2011) is communicated with the net bag (204);

the front inlet part of the bin body (2011) is connected with the hose (205), and the rear port part is provided with the water pump (202);

the sensor (2012) is arranged at an inlet of the bin body (2011) and is used for detecting whether sea cucumbers enter the bin or not and counting the sea cucumbers;

the collection bin one-way door (2014) is hinged to the bottom of the bin body (2011) and a channel between the collection bin one-way door and the net bag (204), can only be opened downwards, and a torsion spring (2013) is installed at the hinged position; the device is closed when negative pressure exists in the sea cucumber extracting bin body, and is opened under the action of the torsion spring when the negative pressure disappears after the sea cucumber is extracted, and the sea cucumber falls into the net bag (204) at the moment, so that the sea cucumber is automatically separated from the seawater;

the filter screen (2015) is arranged at the rear port of the bin body (2011), and the front end of the inlet of the water pump (202) can pass seawater and stop sea cucumbers.

4. The sea cucumber catching device according to claim 1, wherein the mechanical arm (3) comprises: the device comprises a grabbing and conveying mechanism mounting seat (301), a small arm (302), a large arm (303), a mechanical arm push rod motor (304), a shoulder (305) and a base (306);

the base (206) is fixedly arranged on the remote control unmanned submersible (4) and is positioned in front of the net bag (204);

the shoulder (305) is movably connected to the base (306) and is driven by a motor independently, so that the shoulder can rotate independently relative to the base (306);

the rear end of the large arm (303) is movably connected to the shoulder (305) and is connected with a mechanical arm push rod motor (304); the mechanical arm push rod motor (304) is connected between the large arm (303) and the shoulder (305) and is used for pushing the large arm (303) to move relative to the shoulder (305);

the rear end of the small arm (302) is movably connected to the front end of the large arm (303) and is independently driven by a motor, so that the small arm (302) can rotate relative to the large arm (303);

the grabbing and conveying mechanism mounting base (301) is movably connected to the front end of the small arm (302), is driven by a motor independently and is used for fixing the grabbing and conveying mechanism (1) so that the grabbing and conveying mechanism (1) can rotate relative to the small arm (302).

5. The sea cucumber catching device as claimed in claim 1, wherein the catching and transferring mechanism comprises: the mechanism comprises a mechanism base (101), a guide rail (102), a sliding sleeve (103), a push rod motor (105) and a grabbing and conveying claw;

the mechanism base (101) is arranged at the front end of the grabbing and conveying mechanism mounting seat (301); a large-diameter through hole is designed in the mechanism base (101), the front part of the through hole is outwards expanded to be in a bell mouth shape and is used for collecting and passing seawater and sea cucumbers;

the sliding sleeve (103) is arranged outside the mechanism base (101) through the guide rail (102) and moves back and forth on the mechanism base (101) under the guidance of the guide rail (102);

the push rod motor (105) is fixedly arranged at the rear part of the mechanism base (101), and a push rod of the push rod motor is connected with the sliding sleeve (103) to push the sliding sleeve (103) to move linearly along the guide rail (102);

the upper part and the lower part of the sliding sleeve (103) are respectively provided with a grabbing conveying claw, and the two grabbing conveying claws can grab sea cucumbers and send the grabbed sea cucumbers into the mechanism base (101) through a horn mouth.

6. The sea cucumber catching device as claimed in claim 5, wherein the grabbing and conveying claws are two claws symmetrically arranged at the upper and lower parts of the mechanism base (101), and each grabbing and conveying claw comprises: 4 sliding sleeve connecting rods (104), two connecting rods (106), two finger end connecting rods (107), two inner side connecting rods (108), two outer side connecting rods (109), a plurality of synchronous pulleys (110), a synchronous belt (111), a transmission belt (112) and a synchronous belt motor (113);

the 4 sliding sleeve connecting rods (104) are symmetrically hinged to the upper part or the lower part of the two sides of the sliding sleeve (103) respectively in the front and the rear, and the front and the rear sliding sleeve connecting rods (104) are parallel to each other;

the rear ends of the two side link rods (106) are hinged with the middle parts of the two outer side connecting rods (109) and the two sliding sleeve connecting rods (104) at the front part of each side through hinge shafts; the rear ends of the two-rod connecting rod frame (109) are hinged with the two sliding sleeve connecting rods (104) at the rear part of each side through hinge shafts; the middle parts of the two side link rods (106) are hinged with the sliding sleeve (103) to play a supporting role; the front ends of the two side link frames (106) are hinged to the rear ends of the inner side connecting rods (108) through hinge shafts, the front ends of the inner side connecting rods (108) are hinged to one end of the finger end connecting rod (107) through hinge shafts, and the other end of the finger end connecting rod (107) is hinged to the front ends of the two connecting rod frames (109) through hinge shafts;

four hinge shafts at the two ends of the inner connecting rod (108), the front end and the middle part of the outer connecting rod (109) are provided with synchronous pulleys (110) and synchronous belts (111); the outer side of the synchronous belt (111) is provided with patterns or irregular bulges and is used for driving the device to grab the bell mouth of the mechanism base (101) for backward movement of the sea cucumber;

and a transmission belt wheel is arranged outside a hinge shaft in the middle of the outer connecting rod (109) and is connected with the output end of a synchronous belt motor (113) arranged at the rear part of the outer connecting rod (109) through a transmission belt (112).

7. The sea cucumber catching device according to claim 3, wherein one end of the hose (205) is connected to the front opening of the bin body (2011), and the other end of the hose passes through the inside of the small arm (302), is connected to the grabbing and conveying mechanism mounting seat (301), is communicated with the outlet of the grabbing and conveying mechanism (1), and is used for conveying seawater and sea cucumbers from the grabbing and conveying mechanism (1) to the sea cucumber collecting device (2).

Technical Field

The invention discloses a sea cucumber catching device, relates to the technical field of automatic aquatic product catching, and particularly relates to an automatic sea cucumber catching device.

Background

In recent years, with the improvement of the living standard of people, the demand of sea cucumber products is increasing, and the sea cucumber industry becomes an important component of the marine fishery economy in China. However, the main sea cucumber catching means is manual catching at present, so that the operation risk is high, and the catching efficiency is low. The existing sea cucumber catching device mainly comprises two types: mechanical arm type and removable type.

The mechanical arm type catching device takes a sea cucumber catching robot as the name of the invention and takes a sea cucumber catching device disclosed in patent application No. 20181141552 as an example, the main working mode of the mechanical arm type catching device extends out of the mechanical arm, the sea cucumber is grabbed by the mechanical arm arranged at the front end of the mechanical arm, and then the mechanical arm is retracted to place the sea cucumber into a collecting container carried by the device. Due to the influence of factors such as seawater resistance and the like, the reciprocating motion of the telescopic mechanical arm usually consumes a large amount of time during working, so that the fishing efficiency is low.

The invention discloses a removable catching device, which is named as a robot for automatically catching sea cucumbers, and is disclosed in the patent application No. 201910464977. The sea cucumber catching device disclosed by 1 is used as an example, and the main working mode is that a water suction pump arranged on the device is used for pumping seawater to force the seawater to flow, so that sea cucumbers attached to the sea bed are driven to enter the device. However, this work agitates the sand and mud in the sea bottom, which greatly reduces the visibility under water, interferes with the operation of the device itself, and also destroys the ecological environment in the sea bottom. Therefore, the existing sea cucumber catching device can not meet the use requirements.

Aiming at the problems in the prior art, a novel sea cucumber catching device is researched and designed, so that the problem in the prior art is very necessary to be overcome.

Disclosure of Invention

The existing sea cucumber catching device provided according to the prior art has low working efficiency; stirring mud and sand, disturbing operation and destroying the ecological environment of the sea bottom, and the like, thereby providing the sea cucumber catching device. The invention mainly adopts the design of combining grabbing and conveying, separating the sea cucumbers from the seabed by a certain height and then extracting the sea cucumbers, thereby reducing the movement distance required by a mechanical arm to complete grabbing action and realizing efficient fishing of the sea cucumbers; meanwhile, disturbance to water flow near the seabed is reduced through the design, so that seabed silt is hardly stirred, and the problem of insufficient underwater visibility of the extraction type sea cucumber catching device is solved.

The technical means adopted by the invention are as follows:

a sea cucumber fishing device comprises: the device comprises a grabbing and conveying mechanism, a sea cucumber collecting device, a mechanical arm and a remote control unmanned submersible;

further, the remote control unmanned submersible is used for installing a mechanical arm and a sea cucumber collecting device, and is provided with an underwater propelling device which can carry equipment on the underwater propelling device to perform three-dimensional maneuvering underwater;

further, the sea cucumber collecting device is arranged inside the remote control unmanned submersible;

further, the mechanical arm is arranged at the front part of the remote control unmanned submersible;

further, the grabbing and conveying mechanism is arranged at the front end of the mechanical arm.

Further, the sea cucumber collecting device comprises: the collecting bin, the water pump, the two-way water outlet, the net bag and the hose are arranged;

furthermore, the net bag is fixedly arranged inside the remote control unmanned submersible;

furthermore, the collecting bin is arranged at the top of the net bag and communicated with the net bag, and the sea cucumbers collected by the collecting bin fall into the net bag;

furthermore, one end of the hose is connected to an opening at the front end of the collecting bin, and the other end of the hose penetrates through the mechanical arm to be connected with the grabbing and conveying mechanism;

furthermore, the water pump is arranged at the opening at the rear end of the collecting bin and used for providing power for pumping seawater, and a bidirectional water outlet is arranged at the tail part of the water pump for draining water.

Further, the collection bin comprises: the device comprises a bin body, a sensor, a torsion spring, a one-way door of a collecting bin and a filter screen;

furthermore, the bin body is arranged at the top of the net bag, and the internal space can contain one to three heads of sea cucumbers; the bottom of the bin body is communicated with the net bag;

furthermore, the inlet part at the front end of the bin body is connected with a hose, and the water pump is arranged at the rear end opening part;

further, the sensor is arranged at the inlet of the bin body and used for detecting whether the sea cucumbers are put into the bin or not and counting the sea cucumbers;

furthermore, the collection bin one-way door is hinged to the bottom of the bin body and a channel between the collection bin one-way door and the net bag and can only be opened downwards, and a torsion spring is arranged at the hinged position; the device is closed when negative pressure exists in the sea cucumber extracting bin body, and is opened under the action of the torsion spring when the negative pressure disappears after the sea cucumber is extracted, and the sea cucumber falls into the net bag, so that the sea cucumber is automatically separated from the seawater;

furthermore, the filter screen is arranged at the rear port of the bin body and at the front end of the water pump inlet, and can pass through seawater and block sea cucumbers.

Further, the robot arm includes: the grabbing and conveying mechanism comprises a grabbing and conveying mechanism mounting seat, a small arm, a large arm, a mechanical arm push rod motor, a shoulder and a base;

furthermore, the base is fixedly arranged on the remote control unmanned submersible and positioned in front of the net bag;

furthermore, the shoulder part is movably connected to the base and is independently driven by a motor, so that the shoulder part can independently rotate relative to the base;

furthermore, the rear end of the large arm is movably connected to the shoulder and is connected with a mechanical arm push rod motor; the mechanical arm push rod motor is connected between the large arm and the shoulder and used for pushing the large arm to move relative to the shoulder;

furthermore, the rear end of the small arm is movably connected with the front end of the large arm and is independently driven by a motor, so that the small arm can rotate relative to the large arm;

furthermore, a grabbing and conveying mechanism mounting seat (movably connected to the front end of the small arm and independently driven by a motor) is used for fixing the grabbing and conveying mechanism, so that the grabbing and conveying mechanism can rotate relative to the small arm.

Further, the grasping and conveying mechanism includes: the mechanism comprises a mechanism base, a guide rail, a sliding sleeve, a push rod motor and a grabbing and conveying claw;

further, the mechanism base is arranged at the front end of the grabbing and conveying mechanism mounting seat; a large-diameter through hole is designed in the mechanism base, and the front part of the through hole is outwards expanded to be in a bell mouth shape and used for collecting and passing seawater and sea cucumbers;

furthermore, the sliding sleeve is arranged outside the mechanism base through a guide rail and moves back and forth on the mechanism base under the guidance of the guide rail;

furthermore, a push rod motor is fixedly arranged at the rear part of the mechanism base, and a push rod of the push rod motor is connected with the sliding sleeve to push the sliding sleeve to move linearly along the guide rail;

furthermore, the upper part and the lower part of the sliding sleeve are respectively provided with a grabbing and conveying claw, and the two grabbing and conveying claws can grab the sea cucumbers and send the grabbed sea cucumbers into the mechanism base through the bell mouths.

Further, snatch the transfer claw and be two symmetries and adorn in the upper and lower part of mechanism's base, every snatchs the transfer claw and all includes: 4 sliding sleeve connecting rods, two connecting rod links, two finger end connecting rods, two inner side connecting rods, two outer side connecting rods, a plurality of synchronous belt wheels, a synchronous belt, a transmission belt and a synchronous belt motor;

furthermore, 4 sliding sleeve connecting rods are symmetrically hinged on the upper part or the lower part of the two sides of the sliding sleeve respectively in the front and the back, and the sliding sleeve connecting rods in the front and the back are parallel to each other;

furthermore, the rear ends of the two side link rods are hinged with the middle parts of the two outer side connecting rods and the two sliding sleeve connecting rods at the front part of each side through hinge shafts; the rear ends of the two-rod connecting rod frame are hinged with the two sliding sleeve connecting rods at the rear part of each side through a hinge shaft; the middle parts of the two side link rods are hinged with the sliding sleeve to play a supporting role; the front ends of the two link rods are hinged to the rear ends of the inner side connecting rods through hinge shafts, the front ends of the inner side connecting rods are hinged to one ends of the finger end connecting rods through hinge shafts, and the other ends of the finger end connecting rods are hinged to the front ends of the two link rod frames through hinge shafts;

furthermore, four hinge shafts at the two ends of the inner connecting rod and the front end and the middle part of the outer connecting rod are provided with synchronous belt wheels and synchronous belts; the outer side of the synchronous belt is provided with patterns or irregular bulges and is used for driving the device to grab the bell mouth of the mechanism base for backward movement of the sea cucumbers;

furthermore, a transmission belt wheel is arranged outside the hinge shaft in the middle of the outer side connecting rod and is connected with the output end of a synchronous belt motor arranged at the rear part of the outer side connecting rod through a transmission belt.

Furthermore, one end of the hose is connected with the opening at the front end of the bin body, and the other end of the hose penetrates through the inner part of the small arm, is connected with the mounting seat of the grabbing and conveying mechanism and is communicated with the outlet of the grabbing and conveying mechanism, so that the seawater and the sea cucumbers are conveyed to the sea cucumber collecting device from the grabbing and conveying mechanism.

The using process of the invention is as follows:

the remote control unmanned submersible moves on the seabed by a certain height according to a set path, a camera on the remote control unmanned submersible acquires a seabed image, and the position of the sea cucumber entering the visual field of the camera is determined. After the camera on the remote control unmanned underwater vehicle acquires the sea cucumber position, the mechanical arm adjusts the position and the grabbing angle of the grabbing and conveying device relative to the remote control unmanned underwater vehicle according to the sea cucumber position, so that the sea cucumber is positioned between the openings at the front end of the grabbing and conveying device, and then the push rod motor pushes the sliding sleeve to move forwards. When the push rod motor pushes the sliding sleeve to move forwards, the inner connecting rods on the two sides are folded towards the middle in parallel, the distance between the synchronous belts on the two sides is reduced, and the sea cucumbers can be clamped by the grabbing and conveying mechanism. After the grabbing and conveying mechanism clamps the sea cucumbers, the synchronous belt motor rotates to drive the inner synchronous belt to move backwards, and the sea cucumbers can be conveyed backwards to the bell mouth of the mechanism base. When the sea cucumbers are conveyed to the bell mouth of the mechanism base, the sea water is pumped by the water pump of the sea cucumber collecting device, negative pressure is formed in the collecting bin at the moment, the one-way door of the collecting bin overcomes the elasticity of the torsion spring at the hinge and is closed, and then the sea cucumbers can be sucked into the through hole of the mechanism base and enter the collecting bin through the hose. After the sensor arranged at the front part of the collecting bin senses that the sea cucumbers enter the collecting bin, the sensor sends a signal to stop the water pump. After the water pump stops working, the negative pressure in the collecting bin disappears, the one-way door of the collecting bin is opened under the action of the torsion spring at the hinge, and the sea cucumbers can fall into the net bag.

Compared with the prior art, the invention has the following advantages:

1. according to the sea cucumber catching device, the grabbing device and the conveying device are combined, so that grabbing actions and conveying actions can be completed at one time, the process that the mechanical arm stretches out to grab the sea cucumbers and retracts to place the sea cucumbers into the containing device is avoided, and the working efficiency of the sea cucumber catching device is improved.

2. According to the sea cucumber catching device, the catching and catching mode and the extracting and catching mode are combined, the sea cucumbers are separated from the seabed by a certain height by using the catching and conveying device, and then the sea cucumbers are sucked into the sea cucumber collecting device through the pipeline by using the extracting device, so that the sediment on the seabed is prevented from being stirred, and the problem that the sight line is interfered when the device works is solved.

In conclusion, the technical scheme of the invention solves the problem that the existing sea cucumber catching device has low working efficiency; stirring the mud and sand, interfering the operation and destroying the ecological environment of the seabed and the like.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is an isometric view of the present invention;

FIG. 2 is a schematic view of a sea cucumber collecting device and a robot according to the present invention;

FIG. 3 is a schematic view of a collection chamber according to the present invention;

FIG. 4 is a schematic view of the gripping and transporting mechanism of the present invention.

In the figure: 1. the device comprises a grabbing conveying mechanism 101, a mechanism base 102, a guide rail 103, a sliding sleeve 104, a sliding sleeve connecting rod 105, a push rod motor 106, a connecting rod 107, a finger end connecting rod 108, an inner connecting rod 109, an outer connecting rod 110, a synchronous pulley 111, a synchronous belt 112, a transmission belt 113, a synchronous belt motor 2, a sea cucumber collecting device 201, a collecting bin 2011, a bin body 2012, a sensor 2013, a torsion spring 2014, a one-way collecting bin door 2015, a filter screen 202, a water pump 203, a two-way water outlet 204, a net bag 205, a hose 3, a mechanical arm 301, a grabbing conveying mechanism mounting seat 302, a small arm 303, a large arm 304, a mechanical arm push rod motor 305, a shoulder 306, a base.

Detailed Description

It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, 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. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses. 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.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. Any specific values in all examples shown and discussed herein are to be construed as exemplary only and not as limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the directional terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc., are generally based on the orientation or positional relationship shown in the drawings, and are used for convenience of description and simplicity of description only, and in the absence of any contrary indication, these directional terms are not intended to indicate and imply that the device or element so referred to must have a particular orientation or be constructed and operated in a particular orientation, and therefore should not be considered as limiting the scope of the present invention: the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

As shown in fig. 1, the present invention provides a sea cucumber catching device comprising: the device comprises a grabbing and conveying mechanism 1, a sea cucumber collecting device 2, a mechanical arm 3 and a remote control unmanned submersible 4; the remote control unmanned submersible 4 is used for mounting a mechanical arm 3 and a sea cucumber collecting device 2, and is provided with an underwater propulsion device which can carry equipment thereon to carry out three-dimensional maneuvering underwater; the sea cucumber collecting device 2 is arranged inside the remote-control unmanned submersible 4; the mechanical arm 3 is arranged at the front part of the remote control unmanned submersible 4; the grabbing and conveying mechanism 1 is arranged at the front end of the mechanical arm 3.

As shown in fig. 2 and 3, the sea cucumber collecting device 2 includes: a collecting bin 201, a water pump 202, a bidirectional water outlet 203, a net bag 204 and a hose 205; the net bag 204 is fixedly arranged inside the remote-control unmanned submersible 4; the collecting bin 201 is arranged at the top of the net bag 204 and is communicated with the net bag 204, and the sea cucumbers collected by the collecting bin 201 fall into the net bag 204; one end of the hose 205 is connected to the opening at the front end of the collection bin 201, and the other end of the hose passes through the mechanical arm 3 and is connected with the grabbing and conveying mechanism 1; the water pump 202 is arranged at the opening at the rear end of the collection bin 201 and used for providing power for pumping seawater, and a bidirectional water outlet 203 is arranged at the tail part of the water pump 202 for draining water.

As shown in fig. 3, the collection bin 201 includes: a bin body 2011, a sensor 2012, a torsion spring 2013, a collection bin one-way door 2014 and a filter screen 2015; the bin 2011 is arranged at the top of the net bag 204, and the internal space can contain one to three heads of sea cucumbers; the bottom of the bin 2011 is communicated with the net bag 204; the inlet part at the front end of the bin body 2011 is connected with the hose 205, and the water pump 202 is arranged at the rear end port part; the sensor 2012 is installed at an inlet of the bin 2011 and is used for detecting whether sea cucumbers are put into the bin and counting the sea cucumbers; the collection bin one-way door 2014 is hinged to the bottom of the bin body 2011 and a channel between the collection bin one-way door 2014 and the net bag 204, can only be opened downwards, and a torsion spring 2013 is installed at the hinged position; the device is closed when negative pressure exists in the sea cucumber extracting bin body, and is opened under the action of the torsion spring when the negative pressure disappears after the sea cucumber is extracted, and the sea cucumber falls into the net bag 204 at the moment, so that the sea cucumber is automatically separated from the seawater; the filter screen 2015 is arranged at the rear port of the bin body 2011 and at the front end of the inlet of the water pump 202, seawater can pass through the filter screen 2015 and block sea cucumbers.

As shown in fig. 2, the robot arm 3 includes: a grabbing and conveying mechanism mounting seat 301, a small arm 302, a large arm 303, a mechanical arm push rod motor 304, a shoulder 305 and a base 306; the base 206 is fixedly arranged at the front part of the net bag 204; the shoulder 305 is movably connected to the base 306 and is driven by a motor independently, so that the shoulder can rotate independently relative to the base 306; the rear end of the large arm 303 is movably connected to the shoulder 305 and is connected with a mechanical arm push rod motor 304; the mechanical arm push rod motor 304 is connected between the large arm 303 and the shoulder 305 and is used for pushing the large arm 303 to move relative to the shoulder 305; the rear end of the small arm 302 is movably connected to the front end of the large arm 303 and is independently driven by a motor, so that the small arm 302 can rotate relative to the large arm 303; the grabbing and conveying mechanism mounting base 301 is movably connected to the front end of the small arm 302 and is driven by a motor independently, and is used for fixing the grabbing and conveying mechanism 1 so that the grabbing and conveying mechanism 1 can rotate relative to the small arm 302.

As shown in fig. 4, the grasping and conveying mechanism includes: the mechanism comprises a mechanism base 101, a guide rail 102, a sliding sleeve 103, a push rod motor 105 and a grabbing and conveying claw; the mechanism base 101 is arranged at the front end of the grabbing and conveying mechanism mounting seat 301; a large-diameter through hole is designed in the mechanism base 101, and the front part of the through hole is outwards expanded to be in a bell mouth shape and used for collecting and passing seawater and sea cucumbers; the sliding sleeve 103 is arranged outside the mechanism base 101 through the guide rail 102 and moves back and forth on the mechanism base 101 under the guidance of the guide rail 102; a push rod motor 105 is fixedly arranged at the rear part of the mechanism base 101, and a push rod of the push rod motor is connected with the sliding sleeve 103 to push the sliding sleeve 103 to move linearly along the guide rail 102; the upper part and the lower part of the sliding sleeve 103 are respectively provided with a grabbing and conveying claw, and the two grabbing and conveying claws can grab sea cucumbers and send the grabbed sea cucumbers into the mechanism base 101 through a bell mouth.

As shown in fig. 4, the two gripping and conveying claws are symmetrically arranged at the upper and lower parts of the mechanism base 101, and each gripping and conveying claw includes: 4 sliding sleeve connecting rods 104, two connecting rods 106, two finger end connecting rods 107, two inner connecting rods 108, two outer connecting rods 109, a plurality of synchronous belt wheels 110, a synchronous belt 111, a transmission belt 112 and a synchronous belt motor 113; the 4 sliding sleeve connecting rods 104 are symmetrically hinged at the front and the back of the upper part or the lower part of the two sides of the sliding sleeve 103 respectively, and the front and the back sliding sleeve connecting rods 104 are parallel to each other; the rear ends of the two side link rods 106 are hinged with the middle parts of the two outer side connecting rods 109 and the two sliding sleeve connecting rods 104 at the front part of each side through hinge shafts; the rear end of the two-rod connecting rod frame 109 is hinged with the two sliding sleeve connecting rods 104 at the rear part of each side through a hinge shaft; the middle parts of the two side link rods 106 are hinged with the sliding sleeve 103 to play a supporting role; the front ends of the two link rods 106 are hinged to the rear ends of the inner side link rods 108 through hinge shafts, the front ends of the inner side link rods 108 are hinged to one end of the finger end link rod 107 through hinge shafts, and the other end of the finger end link rod 107 is hinged to the front ends of the two link rod frames 109 through hinge shafts; four hinge shafts at the two ends of the inner connecting rod 108 and the front end and the middle part of the outer connecting rod 109 are provided with synchronous pulleys 110 and synchronous belts 111; the outer side of the synchronous belt 111 is provided with patterns or irregular bulges and is used for driving the device to grab the bell mouth of the mechanism base 101 for backward movement of the sea cucumbers; the outside of the hinge shaft in the middle of the outside link 109 is provided with a driving belt wheel which is connected with the output end of a synchronous belt motor 113 arranged at the rear part of the outside link 109 through a driving belt 112.

As shown in fig. 2, one end of the hose 205 is connected to the front end opening of the bin 2011, and the other end thereof passes through the inside of the small arm 302, is connected to the mounting seat 301 of the grabbing and conveying mechanism, and is communicated with the outlet of the grabbing and conveying mechanism 1, so as to convey seawater and sea cucumbers from the grabbing and conveying mechanism 1 to the sea cucumber collecting device 2.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.