阅读说明：本技术 一种海下鲍鱼自动夹取采集设备 (Automatic clamping and collecting equipment for undersea abalones ) 是由 李鹃 于 2020-12-24 设计创作，主要内容包括：本发明公开的一种海下鲍鱼自动夹取采集设备,包括捕捞壳体,所述捕捞壳体内包括储存腔、动力槽,所述动力槽内设有尺寸检测机构,所述捕捞壳体右端设有机械爪机构,所述动力槽后端固定设有第三固定块,本发明结构简单,具有较高的一体化程度,捕捞人员不用亲自下海,只需要操作本发明寻找海底礁石处的鲍鱼,利用机械爪将鲍鱼从礁石上取下,自动检测鲍鱼尺寸是否符合标准,将符合标准的鲍鱼储存到储存腔中,将不合规格的鲍鱼原地放生,机械爪上设有恒力弹簧,有效保证机械爪对鲍鱼壳的作用力处于合适范围,避免鲍鱼壳的损坏。(The invention discloses automatic clamping and collecting equipment for undersea abalones, which comprises a catching shell, wherein the catching shell comprises a storage cavity and a power groove, a size detection mechanism is arranged in the power groove, a mechanical claw mechanism is arranged at the right end of the catching shell, and a third fixed block is fixedly arranged at the rear end of the power groove.)

1. The utility model provides an automatic clamp of undersea abalone gets collection equipment, includes catches the casing, its characterized in that: the fishing shell comprises a storage cavity and a power groove;

the fishing device is characterized in that a size detection mechanism is arranged in the power groove, a mechanical claw mechanism is arranged at the right end of the fishing shell, a third fixed block is fixedly arranged at the rear end of the power groove, a fifth rotating shaft and a fourth rotating shaft are sequentially arranged between the left end and the right end of the third fixed block from top to bottom, a fourth gear and a first worm are sequentially and fixedly arranged on the fifth rotating shaft from left to right, a second gear and a third gear are sequentially and fixedly arranged on the fourth rotating shaft from left to right, the second gear can be meshed with the fourth gear, the meshing condition between the second gear and the fourth gear is poor, the fourth rotating shaft has short displacement and can break the meshing state, a first motor is fixedly arranged at the lower end of the third fixed block, a first motor shaft is rotatably arranged at the left end of the first motor, a first gear is fixedly arranged at the left end of the first motor shaft, and can be meshed with the third gear, a fourth spring is connected between a ring on the fourth rotating shaft and the right end of the third fixed block, a fourth fixed block is fixedly arranged at the rear end of the power groove, a third rotating shaft is rotatably arranged between the left end and the right end of the fourth fixed block, friction discs are respectively fixedly arranged at the left end of the third rotating shaft and the right end of the fourth rotating shaft, the left and right friction discs can be mutually meshed, a fifth gear and a second bevel gear are sequentially fixedly arranged on the third rotating shaft from left to right, a first vertically symmetrical transmission shaft is fixedly arranged at the left end of the fourth fixed block, vertically symmetrical second worm gears are respectively fixedly arranged on the upper and lower first transmission shafts, a first nut is slidably arranged on the upper first transmission shaft, the internal thread of the first nut can be meshed with the external thread on the first transmission shaft, and the first nut can slide in a sliding groove at the rear end of the power groove, a second nut is arranged on the first transmission shaft at the lower side in a sliding manner, the internal thread of the second nut can be meshed with the external thread on the first transmission shaft, the first nut can slide in a sliding groove at the rear end of the power groove, the first nut is positioned at the right side of the fifth fixed block, the second nut is positioned at the left side of the fifth fixed block, the first nut and the second nut can both push the fifth fixed block to move, the inner end wall of the fishing shell is fixedly provided with a first fixed block which is vertically symmetrical, because the vertical structural position relationship of the part is completely symmetrical, the first fixed block and related parts are exemplified at the upper side, the right end of the first fixed block is fixedly provided with a limiting block, the first fixed block is provided with a first sliding groove, a first sliding block is arranged in the first sliding groove in a sliding manner, and a second sliding block is arranged in the sliding groove on the first sliding block, be connected between second slider upper end and its place spout upper end and be equipped with the sixth spring, the fixed rack bar that is equipped with in first slider rear end, gag lever post rear end from the top down rotates in proper order and is equipped with ninth axis of rotation, second worm-wheel axle, the fixed fourth belt pulley, the eighth gear that is equipped with in proper order after to in the ninth axis of rotation, the eighth gear can with the rack bar meshing, last fixed second worm, the fifth belt pulley of being equipped with in proper order after to in the second worm-wheel axle, the second worm can with the second worm-wheel meshing, the fifth belt pulley with it is equipped with the belt to connect between the fourth belt pulley.

2. The automatic clamping and collecting device for the undersea abalones according to claim 1, characterized in that: the rear end of the power groove is rotationally provided with first rotating shafts which are bilaterally symmetrical, the left first rotating shaft and the right first rotating shaft are respectively fixedly provided with push rods which are bilaterally symmetrical, a first belt pulley is fixedly arranged on the first rotating shaft, a sixth rotating shaft is rotatably arranged at the rear end of the power groove, a first worm wheel and a third belt pulley are fixedly arranged on the sixth rotating shaft from front to back in sequence, the first worm can be meshed with the first worm wheel, a belt is connected between the third belt pulley and the first belt pulley on the left side, a second rotating shaft is rotatably arranged at the rear end of the power groove, first bevel gear, second belt pulley are fixedly equipped with in proper order from the front to the back in the second axis of rotation, second belt pulley and right side it is equipped with the belt to connect between the first belt pulley, the right side the push rod with it is equipped with the third spring to connect between the power groove upper end, first bevel gear can with the meshing of second bevel gear.

3. The automatic clamping and collecting device for the undersea abalones according to claim 1, characterized in that: a second fixed block is fixedly arranged at the lower end of the fishing shell, a first fixed shaft is fixedly arranged on the second fixed block, a fifth gear is fixedly arranged on the first fixed shaft, a first rotating block is rotatably arranged on the first fixed shaft, a second motor is fixedly arranged at the left end of the first rotating block, a second motor shaft is rotatably arranged at the front end of the second motor, a first hydraulic rod is fixedly arranged at the left end of the second motor and can drive the second motor shaft to move back and forth, a sixth gear is fixedly arranged at the front end of the second motor shaft, a seventh rotating shaft is rotatably arranged at the rear end of the first rotating block, a third bevel gear and a seventh gear are sequentially and fixedly arranged on the seventh rotating shaft from front to back, the sixth gear can be respectively meshed with the fifth gear and the seventh gear, and an eighth rotating shaft is rotatably arranged at the right end of the first rotating block, the eighth rotating shaft is sequentially fixedly provided with a fourth bevel gear and a second rotating block from left to right, the fourth bevel gear can be meshed with the third bevel gear, a second hydraulic rod is fixedly arranged on the second rotating block, first slide rods which are vertically symmetrical are arranged in slide grooves of the second rotating block in a vertically symmetrical mode respectively in a sliding mode, a first connecting rod is hinged between the first slide rod and the second hydraulic rod, a clamping jaw rod is hinged to the first slide rod, a fifth spring is connected between the clamping jaw rod and the first slide rod, and a spring scraper is fixedly arranged at the lower end of a mechanical jaw at the right end of the clamping jaw rod.

4. The automatic clamping and collecting device for the undersea abalones according to claim 1, characterized in that: the rear end of the power groove is fixedly provided with two limiting rods which are bilaterally symmetrical, the lower end of the power groove is hinged with two one-way doors which are bilaterally symmetrical, and a first spring is respectively connected between the two one-way doors and the fishing shell.

5. The automatic clamping and collecting device for the undersea abalones according to claim 1, characterized in that: the left end of the storage cavity is hinged with a flip door.

Technical Field

The invention relates to the field of automatic clamping equipment, in particular to automatic clamping and collecting equipment for undersea abalones.

Background

As is well known, abalones usually grow at submarine reefs with low water temperature, wild or stocked abalones can only be collected by a fisher diving into the seabed, the reefs flow surging in the dark, a certain safety risk exists during diving, the risk of suffering from diving diseases also exists during long-term diving, partial abalone collection also needs to be measured and approved in situ to meet the size requirement, mechanical catching means is lacked, the fisher is in a dangerous environment for a long time during manual diving and catching, a certain risk exists, and therefore, an automatic clamping and collecting device for the abalones under the sea needs to be designed to solve the problems.

Disclosure of Invention

The invention aims to provide automatic clamping and collecting equipment for undersea abalones, which is used for overcoming the defects in the prior art.

The invention is realized by the following technical scheme. The invention relates to automatic clamping and collecting equipment for undersea abalones, which comprises a catching shell, wherein a storage cavity and a power groove are arranged in the catching shell;

the fishing device is characterized in that a size detection mechanism is arranged in the power groove, a mechanical claw mechanism is arranged at the right end of the fishing shell, a third fixed block is fixedly arranged at the rear end of the power groove, a fifth rotating shaft and a fourth rotating shaft are sequentially arranged between the left end and the right end of the third fixed block from top to bottom, a fourth gear and a first worm are sequentially and fixedly arranged on the fifth rotating shaft from left to right, a second gear and a third gear are sequentially and fixedly arranged on the fourth rotating shaft from left to right, the second gear can be meshed with the fourth gear, the meshing condition between the second gear and the fourth gear is poor, the fourth rotating shaft has short displacement and can break the meshing state, a first motor is fixedly arranged at the lower end of the third fixed block, a first motor shaft is rotatably arranged at the left end of the first motor, a first gear is fixedly arranged at the left end of the first motor shaft, and can be meshed with the third gear, a fourth spring is connected between a ring on the fourth rotating shaft and the right end of the third fixed block, a fourth fixed block is fixedly arranged at the rear end of the power groove, a third rotating shaft is rotatably arranged between the left end and the right end of the fourth fixed block, friction discs are respectively fixedly arranged at the left end of the third rotating shaft and the right end of the fourth rotating shaft, the left and right friction discs can be mutually meshed, a fifth gear and a second bevel gear are sequentially fixedly arranged on the third rotating shaft from left to right, a first vertically symmetrical transmission shaft is fixedly arranged at the left end of the fourth fixed block, vertically symmetrical second worm gears are respectively fixedly arranged on the upper and lower first transmission shafts, a first nut is slidably arranged on the upper first transmission shaft, the internal thread of the first nut can be meshed with the external thread on the first transmission shaft, and the first nut can slide in a sliding groove at the rear end of the power groove, a second nut is arranged on the first transmission shaft at the lower side in a sliding manner, the internal thread of the second nut can be meshed with the external thread on the first transmission shaft, the first nut can slide in a sliding groove at the rear end of the power groove, the first nut is positioned at the right side of the fifth fixed block, the second nut is positioned at the left side of the fifth fixed block, the first nut and the second nut can both push the fifth fixed block to move, the inner end wall of the fishing shell is fixedly provided with a first fixed block which is vertically symmetrical, because the vertical structural position relationship of the part is completely symmetrical, the first fixed block and related parts are exemplified at the upper side, the right end of the first fixed block is fixedly provided with a limiting block, the first fixed block is provided with a first sliding groove, a first sliding block is arranged in the first sliding groove in a sliding manner, and a second sliding block is arranged in the sliding groove on the first sliding block, be connected between second slider upper end and its place spout upper end and be equipped with the sixth spring, the fixed rack bar that is equipped with in first slider rear end, gag lever post rear end from the top down rotates in proper order and is equipped with ninth axis of rotation, second worm-wheel axle, the fixed fourth belt pulley, the eighth gear that is equipped with in proper order after to in the ninth axis of rotation, the eighth gear can with the rack bar meshing, last fixed second worm, the fifth belt pulley of being equipped with in proper order after to in the second worm-wheel axle, the second worm can with the second worm-wheel meshing, the fifth belt pulley with it is equipped with the belt to connect between the fourth belt pulley.

Preferably, the rear end of the power groove is provided with a first rotating shaft which is bilaterally symmetrical, the left first rotating shaft and the right first rotating shaft are respectively provided with a push rod which is bilaterally symmetrical, the first rotating shaft is fixedly provided with a first belt pulley, the rear end of the power groove is provided with a sixth rotating shaft, the sixth rotating shaft is sequentially and fixedly provided with a first worm gear and a third belt pulley from front to back, the first worm can be meshed with the first worm gear, a belt is connected between the third belt pulley and the first belt pulley on the left side, the rear end of the power groove is provided with a second rotating shaft, the second rotating shaft is sequentially and fixedly provided with a first bevel gear and a second belt pulley from front to back, the second belt pulley and the right first belt pulley are connected with a belt, and a third spring is connected between the push rod and the upper end of the power groove, the first bevel gear is capable of meshing with the second bevel gear.

Preferably, a second fixing block is fixedly arranged at the lower end of the fishing shell. A first fixing shaft is fixedly arranged on the second fixing block, a fifth gear is fixedly arranged on the first fixing shaft, a first rotating block is rotatably arranged on the first fixing shaft, a second motor is fixedly arranged at the left end of the first rotating block, a second motor shaft is rotatably arranged at the front end of the second motor, a first hydraulic rod is fixedly arranged at the left end of the second motor and can drive the second motor shaft to move back and forth, a sixth gear is fixedly arranged at the front end of the second motor shaft, a seventh rotating shaft is rotatably arranged at the rear end of the first rotating block, a third bevel gear and a seventh gear are fixedly arranged on the seventh rotating shaft from front to back, the sixth gear can be respectively meshed with the fifth gear and the seventh gear, an eighth rotating shaft is rotatably arranged at the right end of the first rotating block, and a fourth bevel gear is fixedly arranged on the eighth rotating shaft from left to right, The fourth bevel gear can be meshed with the third bevel gear, a second hydraulic rod is fixedly arranged on the second rotating block, first slide rods which are vertically symmetrical are respectively arranged in vertically symmetrical slide grooves of the second rotating block in a sliding mode, a first connecting rod is hinged between the first slide rods and the second hydraulic rod, a clamping claw rod is hinged to the first slide rods, a fifth spring is connected between the clamping claw rod and the first slide rods, and a spring scraper is fixedly arranged at the lower end of a mechanical claw at the right end of the clamping claw rod.

Preferably, the rear end of the power groove is fixedly provided with two limiting rods which are bilaterally symmetrical, the lower end of the power groove is hinged with two one-way doors which are bilaterally symmetrical, and first springs are respectively connected between the two one-way doors and the fishing shell.

Preferably, the left end of the storage cavity is hinged with a flip door.

The invention has the beneficial effects that: the invention has simple structure and higher integration degree, fishing personnel do not need to go into the sea in person, only need to operate the invention to search the abalones at the seabed reef, take the abalones off the reef by using the mechanical claw, automatically detect whether the sizes of the abalones meet the standard or not, store the abalones meeting the standard into the storage cavity, and release the abalones which do not meet the standard in situ, the mechanical claw is provided with the constant force spring, thereby effectively ensuring that the acting force of the mechanical claw on the abalone shell is in a proper range and avoiding the damage of the abalone shell.

Drawings

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

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is a schematic view of the structure A-A of FIG. 1;

fig. 3 is an enlarged schematic view of the structure B in fig. 1.

Detailed Description

The invention will now be described in detail with reference to fig. 1-3, wherein for ease of description the orientations described hereinafter are now defined as follows: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.

With reference to the accompanying drawings 1-3, the automatic clamping and collecting device for the undersea abalone comprises a catching shell 10, wherein the catching shell 10 comprises a storage cavity 12 and a power groove 16, a size detection mechanism 90 is arranged in the power groove 16, a gripper mechanism 85 is arranged at the right end of the catching shell 10, a third fixed block 41 is fixedly arranged at the rear end of the power groove 16, a fifth rotating shaft 42 and a fourth rotating shaft 33 are sequentially and rotatably arranged between the left end and the right end of the third fixed block 41 from top to bottom, a fourth gear 40 and a first worm 43 are sequentially and fixedly arranged on the fifth rotating shaft 42 from left to right, a second gear 38 and a third gear 39 are sequentially and fixedly arranged on the fourth rotating shaft 33 from left to right, the second gear 38 can be meshed with the fourth gear 40, the meshing condition between the second gear 38 and the fourth gear 40 is poor, the fourth rotating shaft 33 can be in a meshing state by short displacement, a first motor 35 is fixedly arranged at the lower end of the third fixed block 41, a first motor shaft 36 is rotatably arranged at the left end of the first motor 35, a first gear 37 is fixedly arranged at the left end of the first motor shaft 36, the first gear 37 can be meshed with the third gear 39, a fourth spring 34 is connected between a ring on the fourth rotating shaft 33 and the right end of the third fixed block 41, a fourth fixed block 74 is fixedly arranged at the rear end of the power groove 16, a third rotating shaft 29 is rotatably arranged between the left end and the right end of the fourth fixed block 74, friction discs 80 are respectively fixedly arranged at the left end of the third rotating shaft 29 and the right end of the fourth rotating shaft 33, the left friction disc and the right friction disc 80 can be mutually meshed, a fifth gear 48 and a second bevel gear 28 are fixedly arranged on the third rotating shaft 29 from left to right in sequence, and a first vertically symmetrical transmission shaft 75 is fixedly arranged at the left end of the, upper and lower two fixed second worm wheel 76 that is equipped with longitudinal symmetry respectively on the first transmission shaft 75, the upside slide on the first transmission shaft 75 and be equipped with first nut 77, the internal thread of first nut 77 can with the external screw thread meshing on the first transmission shaft 75, first nut 77 can slide in the spout of power groove 16 rear end, the downside slide on the first transmission shaft 75 and be equipped with second nut 79, the internal thread of second nut 79 can with the external screw thread meshing on the first transmission shaft 75, first nut 77 can slide in the spout of power groove 16 rear end, first nut 77 is located the fifth fixed block 78 right side, second nut 79 is located the fifth fixed block 78 left side, first nut 77 with second nut 79 can both promote the fifth fixed block 78 and remove, it is equipped with longitudinal symmetry's first fixed block 20 to catch to fix on the interior end wall of casing 10, because the position relationship of the upper and lower structures of the part is completely symmetrical, for example, the first fixed block 20 and the related parts thereof on the upper side are illustrated, the right end of the first fixed block 20 is fixedly provided with a limit block 23, the first fixed block 20 is provided with a first sliding chute 21, the first sliding chute 21 is internally provided with a first sliding block 64 in a sliding manner, the sliding chute on the first sliding block 64 is internally provided with a second sliding block 66 in a sliding manner, a sixth spring 65 is connected between the upper end of the second sliding block 66 and the upper end of the sliding chute where the second sliding block is located, the rear end of the first sliding block 64 is fixedly provided with a rack bar 67, the rear end of the limit bar 15 is sequentially provided with a ninth rotating shaft 70 and a second worm shaft 73 from top to bottom in a rotating manner, the ninth rotating shaft 70 is sequentially and fixedly provided with a fourth belt pulley 69 and an eighth gear 68 from front to back, the eighth gear 68 can be meshed with the rack bar 67, and the second worm, And a fifth belt pulley 71, wherein the second worm 72 can be meshed with the second worm wheel 76, and a belt is connected between the fifth belt pulley 71 and the fourth belt pulley 69.

Beneficially, the rear end of the power groove 16 is rotatably provided with first rotating shafts 18 which are bilaterally symmetrical, push rods 17 which are bilaterally symmetrical are respectively fixedly arranged on the left first rotating shaft 18 and the right first rotating shaft 18, the first rotating shaft 18 is fixedly provided with a first belt pulley 19, the rear end of the power groove 16 is rotatably provided with a sixth rotating shaft 45, the sixth rotating shaft 45 is fixedly provided with a first worm gear 44 and a third belt pulley 46 from front to back, the first worm 43 can be meshed with the first worm gear 44, a belt is connected between the third belt pulley 46 and the first belt pulley 19 on the left side, the rear end of the power groove 16 is rotatably provided with a second rotating shaft 27, the second rotating shaft 27 is fixedly provided with a first bevel gear 26 and a second belt pulley 25 from front to back, a belt is connected between the second belt pulley 25 and the first belt pulley 19 on the right side, a third spring 24 is connected between the push rod 17 on the right side and the upper end of the power groove 16, the first bevel gear 26 is capable of meshing with the second bevel gear 28.

Advantageously, a second fixing block 30 is fixedly arranged at the lower end of the fishing shell 10. The second fixed block 30 is fixedly provided with a first fixed shaft 47, the first fixed shaft 47 is fixedly provided with a fifth gear 48, the first fixed shaft 47 is rotatably provided with a first rotating block 31, the left end of the first rotating block 31 is fixedly provided with a second motor 52, the front end of the second motor 52 is rotatably provided with a second motor shaft 50, the left end of the second motor 52 is fixedly provided with a first hydraulic rod 51, the first hydraulic rod 51 can drive the second motor shaft 50 to move back and forth, the front end of the second motor shaft 50 is fixedly provided with a sixth gear 49, the rear end of the first rotating block 31 is rotatably provided with a seventh rotating shaft 54, the seventh rotating shaft 54 is fixedly provided with a third bevel gear 55 and a seventh gear 53 from front to back in sequence, the sixth gear 49 can be respectively meshed with the fifth gear 48 and the seventh gear 53, the right end of the first rotating block 31 is rotatably provided with an eighth rotating shaft 57, the eighth rotating shaft 57 is sequentially fixedly provided with a fourth bevel gear 56 and a second rotating block 32 from left to right, the fourth bevel gear 56 can be meshed with the third bevel gear 55, the second rotating block 32 is fixedly provided with a second hydraulic rod 58, vertically symmetrical first sliding rods 59 are respectively arranged in vertically symmetrical sliding grooves of the second rotating block 32 in a sliding manner, a first connecting rod 63 is hinged between the first sliding rod 59 and the second hydraulic rod 58, a clamping jaw rod 60 is hinged on the first sliding rod 59, a fifth spring 61 is connected between the clamping jaw rod 60 and the first sliding rod 59, and a spring scraper 62 is fixedly arranged at the lower end of a mechanical jaw at the right end of the clamping jaw rod 60.

Beneficially, two limiting rods 15 which are bilaterally symmetrical are fixedly arranged at the rear end of the power groove 16, two unidirectional doors 14 which are bilaterally symmetrical are hinged at the lower end of the power groove 16, and first springs 13 are respectively connected between the two unidirectional doors 14 and the fishing shell 10.

Advantageously, the left end of the storage chamber 12 is hinged with a flap door 11.

The use steps herein are described in detail below with reference to fig. 1-3:

in the initial state, the second spring 22 and the sixth spring 65 are in a relaxed state, the first spring 13 is in an accumulated state, and the third spring 24 is in a stretched state.

When a fishing person controls the device to move in water to search for abalones according to sensors such as a camera on the device, when a target is confirmed, the device stops beside a reef where the target abalones are located so that the mechanical claws are located on two sides of the abalones, the second motor 52 is started to drive the second motor shaft 50 to rotate, the second motor shaft 50 drives the sixth gear 49 to rotate, the sixth gear 49 rotates around the fifth gear 48 to drive the first rotating block 31 to rotate around the first fixed shaft 47, the first rotating block 31 rotates around the first fixed shaft 47 to adjust the pitch angle of the mechanical claws, the first hydraulic rod 51 is shortened to drive the second motor shaft 50 to move downwards, the second motor shaft 50 moves downwards to drive the sixth gear 49 to be meshed with the seventh gear 53, because the resistance between the first rotating block 31 and the first fixed shaft 47 is large, the first rotating block 31 cannot rotate around the first fixed shaft 47 after the fifth gear 48 is disengaged from the sixth gear 49, the second motor 52 is started to drive the second motor shaft 50 to rotate, the second motor shaft 50 drives the sixth gear 49 to rotate, the sixth gear 49 drives the seventh gear 53 to rotate, the seventh gear 53 drives the seventh rotating shaft 54 to rotate, the seventh rotating shaft 54 drives the fourth bevel gear 56 to rotate, the fourth bevel gear 56 drives the eighth rotating shaft 57 to rotate, the eighth rotating shaft 57 drives the second rotating block 32 to rotate, the second rotating block 32 rotates to drive the mechanical claw to adjust the inclination angle, after the mechanical claw is adjusted to a proper angle, the second hydraulic rod 58 extends to drive the first connecting rods 63 to move rightwards, the two first connecting rods 63 move rightwards to drive the two first sliding rods 59 to move towards the center side, the first sliding rods 59 move to drive the clamping jaw rods 60 to move towards each other to clamp the abalone shell, the clamping jaw rods 60 move towards each other to clamp the abalone shell, and the clamping jaw rods 60 move to drive the electric spring scrapers 62 to, the spring scraper plate 62 is inserted into a gap between the foot part of the abalone and the reef under the action force of the spring scraper plate, the force of the clamping jaw rod 60 is controlled by the fifth spring 61 to keep constant force, and the abalone shell is prevented from being damaged due to overlarge force of the second hydraulic rod 58.

When the second rotating block 32 is controlled to rotate back through the transmission route, the first rotating block 31 rotates upwards to a position at a ninety degree angle with the second fixing block 30, if the abalone shell can contact and press the upper second slider 66, taking the upper second slider 66 and its related transmission components as an example, the upper second slider 66 is pressed to drive the first slider 64 to move upwards, the first slider 64 moves upwards to drive the rack bar 67 to move upwards until the rack bar 67 is blocked by the third spring 24, the rack bar 67 moves upwards to drive the eighth gear 68 to rotate, the eighth gear 68 rotates to drive the ninth rotating shaft 70 to rotate, the ninth rotating shaft 70 rotates to drive the fourth belt pulley 69 to rotate, the fourth belt pulley 69 rotates to drive the fifth belt pulley 71 to rotate through a belt, the fifth belt pulley 71 rotates to drive the second worm gear shaft 73 to rotate, the second worm gear shaft 73 rotates to drive the second worm 72 to rotate, and the second worm 72 rotates to drive the second worm gear 76 to rotate, the second worm wheel 76 rotates to drive the first transmission shaft 75 to rotate, the first transmission shaft 75 rotates to drive the first nut 77 to move leftwards, the first nut 77 moves leftwards to push the fifth fixing block 78 to move leftwards, the fifth fixing block 78 moves leftwards to drive the left telescopic part of the third rotating shaft 29 to move leftwards, the left telescopic part of the third rotating shaft 29 moves leftwards to drive the right friction disc 80 to move leftwards, the right friction disc 80 moves leftwards to be engaged with the left friction disc 80 to drive the left friction disc 80 to move leftwards continuously, the left friction disc 80 moves leftwards to drive the fourth rotating shaft 33 to move leftwards, the fourth rotating shaft 33 moves leftwards to drive the second gear 38 to move leftwards, the fourth rotating shaft 33 moves leftwards to press the fourth spring 34, and the fourth rotating shaft 33 moves leftwards to drive the second gear 38 to move left;

similarly, if the abalone shell can contact and press the lower second sliding block 66, the lower first sliding block 64 moves downwards to drive the second nut 79 to move leftwards, but the second nut 79 does not contact the right friction disc 80 at the rightmost end when moving to the leftmost end;

therefore, when the abalone shell cannot simultaneously drive the upper first sliding block 64 and the lower first sliding block 64 to reach the corresponding side limiting block 23, the size of the abalone is not up to standard, the first nut 77 cannot push the fifth fixing block 78 to enable the last second gear 38 and the fourth gear 40 to be disengaged, when the upper side is up to standard and the lower side is not up to standard, the first nut 77 moves leftwards to drive the fifth fixing block 78 to move leftwards, the position of the second nut 79 moving leftwards cannot limit the fifth fixing block 78 to continue moving leftwards, the mechanism generates interference, the first nut 77 cannot continue to drive the fifth fixing block 78 to move leftwards, when the upper side is not up to standard and the lower side is up to standard, the second nut 79 moves leftwards to have no influence on the fifth fixing block 78, the first nut 77 has insufficient leftward displacement distance, and the second gear 38 is not enough to be disengaged from the fourth gear 40.

When the size of the abalone reaches the standard, the second gear 38 is disengaged from the fourth gear 40, the left and right friction disks 80 are engaged with each other, the first motor 35 is started to drive the first motor shaft 36 to rotate, the first motor shaft 36 rotates to drive the first gear 37 to rotate, the first gear 37 rotates to drive the third gear 39 to rotate, the third gear 39 rotates to drive the fourth rotating shaft 33 to rotate, the fourth rotating shaft 33 rotates to drive the third rotating shaft 29 to rotate through the friction disks 80, the third rotating shaft 29 rotates to drive the second bevel gear 28 to rotate, the second bevel gear 28 rotates to drive the first bevel gear 26 to rotate, the first bevel gear 26 rotates to drive the second rotating shaft 27 to rotate, the second rotating shaft 27 rotates to drive the second belt pulley 25 to rotate, the second belt pulley 25 rotates to drive the right first belt pulley 19 to rotate through a belt, the right first belt pulley 19 rotates to drive the right first rotating shaft 18 to rotate, the first right rotating shaft 18 rotates to drive the right push rod 17 to rotate, the right push rod 17 rotates to push the abalone leftwards, at the moment, the second hydraulic rod 58 shortens, the mechanical claw opens, the abalone shell extrudes the upper and lower second sliding blocks 66, so that the upper and lower second sliding blocks 66 slide towards both sides in the sliding grooves and press the sixth springs 65, respectively, the second sliding blocks 66 move towards both sides so that the abalones can continue to move to the left to the upper end of the one-way door 14 under the action of the right first rotating shaft 18, the one-way door 14 rotates downwardly under the action of the weight of the abalone to open so that the abalone enters the storage chamber 12, the one-way door 14 is rotated upward to be closed by the first spring 13 until it comes into contact with the stopper rod 15, because the abalone enters the storage cavity 12, the first sliding block 64 resets after losing pressure, the first sliding block 64 resets to drive the left and right friction disks 80 to separate, and at the moment, the right first rotating shaft 18 rotates upwards to reset under the action of the third spring 24.

When the size of the abalone is not up to the standard, the left friction disc 80 and the right friction disc 80 are not meshed, the second gear 38 is meshed with the fourth gear 40, the first motor 35 is started to drive the first motor shaft 36 to rotate, the first motor shaft 36 rotates to drive the first gear 37 to rotate, the first gear 37 rotates to drive the third gear 39 to rotate, the third gear 39 rotates to drive the fourth rotating shaft 33 to rotate, the fourth rotating shaft 33 rotates to drive the second gear 38 to rotate, the second gear 38 rotates to drive the fourth gear 40 to rotate, the fourth gear 40 rotates to drive the fifth rotating shaft 42 to rotate, the fifth rotating shaft 42 rotates to drive the first worm 43 to rotate, the first worm 43 rotates to drive the first worm wheel 44 to rotate, the first worm wheel 44 rotates to drive the sixth rotating shaft 45 to rotate, the sixth rotating shaft 45 rotates to drive the third belt pulley 46 to rotate, the third belt pulley 46 rotates to drive the first belt pulley 19 to rotate through a, first belt pulley 19 rotates and drives first axis of rotation 18 and rotate, and first axis of rotation 18 rotates and drives push rod 17 and rotate, and push rod 17 rotates and promotes the abalone right, and second hydraulic stem 58 shortens this moment, and the gripper is opened and is made the abalone to be pushed back to the sea right and give birth to.

The first motor 35 and the second motor 52 rotate reversely to drive the components to reset for next capture.

After the completion of the catching, the catching personnel open the flip door 11 and take out the abalone in the storage cavity 12.

The invention has the beneficial effects that: the invention has simple structure and higher integration degree, fishing personnel do not need to go into the sea in person, only need to operate the invention to search the abalones at the seabed reef, take the abalones off the reef by using the mechanical claw, automatically detect whether the sizes of the abalones meet the standard or not, store the abalones meeting the standard into the storage cavity, and release the abalones which do not meet the standard in situ, the mechanical claw is provided with the constant force spring, thereby effectively ensuring that the acting force of the mechanical claw on the abalone shell is in a proper range and avoiding the damage of the abalone shell.

The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.