CN110122438A - A kind of exploration of pump suction type marine product and finishing device - Google Patents
A kind of exploration of pump suction type marine product and finishing device Download PDFInfo
- Publication number
- CN110122438A CN110122438A CN201910545604.7A CN201910545604A CN110122438A CN 110122438 A CN110122438 A CN 110122438A CN 201910545604 A CN201910545604 A CN 201910545604A CN 110122438 A CN110122438 A CN 110122438A
- Authority
- CN
- China
- Prior art keywords
- frame
- fishing
- steering engine
- suction pipe
- gripper
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000002184 metal Substances 0.000 claims abstract description 11
- 238000010521 absorption reaction Methods 0.000 claims abstract description 6
- 239000000203 mixture Substances 0.000 claims description 8
- 238000013461 design Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 239000007788 liquid Substances 0.000 claims description 2
- 230000000630 rising effect Effects 0.000 claims description 2
- 230000035807 sensation Effects 0.000 claims description 2
- 230000001737 promoting effect Effects 0.000 claims 1
- 239000007787 solid Substances 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 9
- 238000009434 installation Methods 0.000 abstract description 2
- 238000011161 development Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 241000251511 Holothuroidea Species 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 239000000956 alloy Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009432 framing Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 235000014102 seafood Nutrition 0.000 description 1
Classifications
-
- 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
- A01K79/00—Methods or means of catching fish in bulk not provided for in groups A01K69/00 - A01K77/00, e.g. fish pumps; Detection of fish; Whale fishery
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Marine Sciences & Fisheries (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Mechanical Means For Catching Fish (AREA)
Abstract
The present invention relates to a kind of explorations of pump suction type marine product and finishing device caught for exploration of ocean resources and fishery.Its technical solution is: the present apparatus is made of frame, arresting agency, propulsion system, transportation system and image capturing system, and frame is made of frame pillar, horizontal gird and frame base；The propeller of propulsion system is assemblied on the angle of four, frame upper side top by electric machine support；The fishing collecting box of transportation system is assemblied between the horizontal gird of frame equipped with metal mesh, and horizontal suction pipe is mounted in frame bottom end, and the vertical absorption tube of lift suction pump connects fishing collecting box；The camera of image capturing system is respectively assembled on frame pillar；The steering mechanism of arresting agency is connect with steering engine bracket with mechanical arm, and entire arresting agency is fixed on frame base with metal column.The present invention uses four-degree-of-freedom mechanical arm, can work in complex environment in water；Using pump installation is drawn, improve work efficiency；The present apparatus is structurally reasonable, reduces cost of labor.
Description
Technical field
Exploration of ocean resources fishing is realized using multi-degree-of-freemechanical mechanical arm and lift suction pump cooperation the present invention relates to a kind of
Pump suction type marine product exploration and finishing device, for marine product exploration and fishery catch field.
Background technique
With the raising of national life level, seafood products are increasingly by national favor, the need of the marine products such as sea cucumber
Ask that supply falls short of demand.China's marine resources are that economy development of coastal area is indispensable as the primary industry in marine economy
A part.The fishing work of marine product at present is still to be caught due to seabed based on artificial and detected environment complexity, heavy workload,
Term underwater operation has very big damage to staff's body, and with the development of industrial automation, machine fishing is gradually replaced
Artificial fishing operation is imperative.
At present underwater robot resource detection, water quality detection, military investigation, in terms of have wide application
Prospect, but the underwater robot for fishery products fishing is still at an early stage, grasps in this regard compared to foreign countries
Technology, China is also in the backward stage.The underwater fishing robot of future robot Co., Ltd, Weihai in Shandong province design copies dust suction
Device principle, maximum can pick up the biology of 2kg, but its working efficiency can only achieve artificial 1/3；" the flood dragon that China is independently studied
Submerged depth is very big for dragon number ", and there are two manipulators for assembly, capable of expansion and contraction, and movement range can be as accurate as centimetre, but volume is huge
Greatly, movement is not flexible, and cost is high, is currently only used for scientific research.With the development of sea fishery, it is high to be badly in need of a work
The high underwater finishing device of effect, cost performance, to substitute the artificial underwater operation for carrying out danger.
Summary of the invention
The purpose of the present invention is: in order to overcome the shortcomings of the existing underwater Fishing technology in market, realize underwater fishery fishing with
The exploration of marine environment has provided a kind of exploration of pump suction type marine product and finishing device, to replace artificial carrying out related water
Lower work.
The present invention acquires underwater environment information by the way of lift suction pump and gripper cooperating, through dual camera,
Control multi-degree-of-freemechanical mechanical arm and absorption pump work are quickly made a response, and achieve the purpose that submarine target is accurately caught.
In order to achieve the above object, the invention adopts the following technical scheme:
A kind of exploration of pump suction type marine product and finishing device, be by frame, arresting agency, propulsion system, transportation system and
Image capturing system composition, it is characterised in that: the frame is by four frame pillar C1, C2, C3, C4 (13,14,15,16), two
Root horizontal gird C5, C6 (17,18) and frame base (46) composition；The propulsion system by propeller A1, A2, A3, A4, A5,
A6 (1,2,3,4,5,6) composition, propeller A1, A2, A3, A4 (1,2,3,4) respectively with electric machine support B1, B2, B3, B4 (7,8,
9,10) it is assemblied in four, frame upper side top angle, propeller A5, A6 (5,6) are assembled with electric machine support B5, B6 (11,12) respectively
On the inside of frame pillar C1, C2 (13,14) both sides；The transportation system is by fishing collecting box (19), vertical suction pipe (20), water
Flat suction pipe (21) and lift suction pump (22) composition, fishing collecting box (19) are equipped with metal mesh (47), are assemblied in the level of frame
Between crossbeam C5 (17) and horizontal gird C6 (18), horizontal suction pipe (21) is assemblied in frame bottom end, horizontal suction pipe (21) one
End is fixed in the frame base (46) immediately below mechanical arm (23), and the other end connects lift suction pump (22), lift suction pump (22) top
Fishing collecting box (19) is connected with vertical suction pipe (20)；Described image acquisition system is made of camera D1, D2 (42,43),
Camera D1, D2 (42,43) are respectively assembled on frame pillar C3, C4 (15,16), and camera carries out Image Acquisition simultaneously in water
Underwater environmental information data feedback is given to the embedded microprocessor being mounted on device, microprocessor issues instruction control machine
Fishing behavior is realized in tool arm (23) and lift suction pump (22) work；The arresting agency is by mechanical arm (23) and steering mechanism (49) group
At steering mechanism (49) is connect with steering engine bracket (30) with mechanical arm (23), and will entirely arrest machine with six roots of sensation metal column (24)
Structure is fixed on frame base (46).
Arresting agency is made of mechanical arm (23) and steering mechanism (49)；Mechanical arm (23) include link mechanism (48),
Gripper G1, G2 (39,40) and steering engine component；Above-mentioned steering engine component include steering engine E1, E2, E3, E4, E5 (25,26,27,28,
29)；Aforementioned link mechanism (48) includes (31) connecting rod F1, connecting rod F2 (32), and two connecting rods are mutually interconnected with steering engine E3 (27)
It connects, steering engine E3 (27) rotates the angle between controls connecting rod F1 (31) and connecting rod F2 (32), effectively arrests range to expand, even
The other end of bar F1 (31) is connected to the line shaft of (26) steering engine E2, and connecting rod F2 (32) connects gripper connection with steering engine E4 (28)
Sell (38), steering engine E5 (29) be connected in belonging on gripper G1 (39), and with gear conjugate control gripper G1 (39)；Turning machine
Structure (49) is by upper plate (33), upper ball grooves (34), lower ball grooves (36), ball (35) and lower roof plate (37) composition, ball
(35) it is placed between ball grooves (34) and lower ball grooves (36) and is packaged, upper ball grooves (34) and upper plate (33) are fixed
Connection, lower ball grooves (36) are fixedly connected with lower roof plate (37)；The fuselage of steering engine E2 (26) is fixed on steering engine bracket (30)
On top plate (33), so that link mechanism (48) be made effectively to be connect with steering mechanism (49)；Steering engine E5 (29) controls gripper
The gear (41) of G1 (39) tail portion rotates, and gripper G1 (39) and gripper G2 (40) rotate with it the opening and closing for realizing clamping jaw, machine
Machinery claw G1 (39), gripper G2 (40) and steering engine E5 (29) are assemblied on gripper connecting pin (38).
Propulsion system be by propeller A1, A2, A3, A4, A5, A6 (1,2,3,4,5,6) and electric machine support B1, B2, B3,
B4, B5, B6 (7,8,9,10,11,12) are constituted, and each propeller is made of screw blade (44) and brushless motor (45), spiral
Blade (44) is mounted in the shaft of brushless motor (45), and the shaft rotation of brushless motor (45) drives screw blade (44) rotation
Generate thrust, four groups of propeller A1, A2, A3, A4 (1,2,3,4) be separately mounted to electric machine support B1, B2, B3, B4 (7,8,9,
10) on；Electric machine support B1, B2, B3, B4 (7,8,9,10) are assemblied in framework top quadrangle, provide rising thrust for device；It promotes
Device A5, A6 (5,6) are assemblied on the inside of frame pillar C1, C2 (13,14) both sides by electric machine support B5, B6 (11,12), are device
The thrust of forward-reverse and steering is provided.
Transportation system includes fishing collecting box (19), vertical suction pipe (20), horizontal suction pipe (21) and lift suction pump (22)；
Above-mentioned fishing collecting box (19) is assemblied between the horizontal gird C5 (17) of frame and horizontal gird C6 (18), and material is metal mesh
(47), the liquid for excluding to absorb and retain the sample of fishing；Vertical suction pipe (20) vertical connection fishing collecting box (19)
With lift suction pump (22), lift suction pump (22) is assemblied in frame bottom end, is horizontally arranged and connects horizontal suction pipe (21) tail end, for inhaling
Take fishing target；Horizontal suction pipe (21) nozzle is fixed in the frame base (46) of the underface of mechanical arm (23), gripper
G1 (39) is thrown to object is grabbed near horizontal suction pipe (21) nozzle, and is opened simultaneously lift suction pump (22), and nozzle model is drawn
Interior all items are enclosed, avoid object is free from running away, lift suction pump (22) passes the object of absorption by vertical suction pipe (20)
It send to fishing collecting box (19), fishing collecting box (19) shape is netted hollow design, can filter mud or sundries and protect
The fishery products for staying fishing, are finally completed fishing operation.
The beneficial effects of the present invention are: (1) present invention fully takes into account the complexity of underwater environment, using four-degree-of-freedom machine
Tool arm, stable structure is reasonable, and pose adjustment is convenient and efficient, and crawl range is wide, can work in complex environment under water；
(2) present invention increases absorption pump configuration, realizes lift suction pump and gripper on the basis of reinforcing mechanical arm crawl structure
It is particularly suitable for the capture work of the fishery products such as sea cucumber using pump installation is drawn in conjunction with work, improves work efficiency；(3) originally
Invention debugging facilitates easily controllable, reasonable in design, efficient work, precisely stablizes, instead of manually carrying out underwater operation, effectively
Protection staff life security and health, significantly reduce cost of labor.
Detailed description of the invention
Fig. 1 is the overall schematic of the exploration of pump suction type marine product and finishing device of the invention；
Fig. 2 is the top view of the present apparatus；
Fig. 3 is the side view of the present apparatus；
Fig. 4 is the structural schematic diagram of present apparatus transportation system；
Fig. 5 is the structural schematic diagram of present apparatus framing component；
Fig. 6 is the structural schematic diagram of present apparatus arresting agency.
Figure label explanation: 1, propeller A1,2, propeller A2,3, propeller A3,4, propeller A4,5, propeller A5,
6, propeller A6,7, electric machine support B1,8, electric machine support B2,9, electric machine support B3,10, electric machine support B4,11, electric machine support
B5,12, electric machine support B6,13, frame pillar C1,14, frame pillar C2,15, frame pillar C3,16, frame pillar C4,17,
Horizontal gird C5,18, horizontal gird C6,19, fishing collecting box, 20, vertical suction pipe, 21, horizontal suction pipe, 22, lift suction pump,
23, mechanical arm, 24, metal column, 25, steering engine E1,26, steering engine E2,27, steering engine E3,28, steering engine E4,29, steering engine E5,30, steering engine
Bracket, 31, connecting rod F1,32, connecting rod F2,33, upper plate, 34, upper ball grooves, 35, ball, 36, lower ball grooves, 37, lower roof plate,
38, gripper connecting pin, 39, gripper G1,40, gripper G2,41, gear, 42, camera D1,43, camera D2,44, spiral shell
Revolve blade, 45, brushless motor, 46, frame base, 47, metal mesh, 48, link mechanism, 49, steering mechanism.
Specific embodiment
It is described further below with reference to pair apparatus of the present invention of Fig. 1,2,3,4,5,6.
As shown in Figure 1, Figure 2, Figure 3 shows, the exploration of pump suction type marine product and finishing device, mainly by frame, arresting agency, propulsion
System, transportation system and image capturing system composition；When it carries out the work such as marine product exploration and fishery fishing under water, push away
Brushless motor (45) driving whole device into system reaches target location, and carries out the adjustment of posture, finds most suitable work
Make angle and carries out follow-up work；After device reaches target location, camera D1, D2 (42,43) carry out Image Acquisition and will be underwater
Environmental data feed back to the embedded microprocessor being mounted on device, thus issue instruction control mechanical arm (23) and draw
It pumps (22) work and realizes fishing behavior；Mechanical arm (23) and lift suction pump (22) receive after arresting instruction, progress of making a response immediately
Work is arrested, mechanical arm (23) is stretched over target location rapidly, and it is grabbed and is sent near horizontal suction pipe (21) nozzle,
Lift suction pump (22) starts the capture target near work absorption nozzle immediately, and is sent to and is caught by vertical suction pipe (20)
Collecting box (19) interior storage is fished out, the netted hollow out setting of fishing collecting box (19) can retain capture target object and accidentally suction is discharged
Sundries is finally completed fishing operation, and the material of fishing collecting box (19) is metal, can adapt to complicated underwater environment.
As shown in figure 5, frame uses alloy material, integral strength is improved, six propellers are assemblied in four apex angles and two
It on a pillar, respectively drives device and carries out up and down motion and divertical motion in water, propeller uses high-power brushless motor, drives
Amount of power is big, can guarantee device stable movement under water.
As shown in fig. 6, the link mechanism (48) of mechanical arm (23) realizes flexible rotation by the mutual hinge of steering engine, when work
Link mechanism (48) is responsible for the stretching, extension and contraction of mechanical arm entirety, and steering mechanism (49) is able to drive entire mechanical arm and carries out 360
Degree rotates and is accurately fixed on any angle, such that accurately the target of any position within radius is stretched in crawl.
Specific embodiment described above is used to illustrate this patent rather than the range of limitation this patent, the skill of any this field
Art personnel equivalent changes and modifications made under the premise of not departing from the conceptions and principles of this patent, belong to this patent system
Protection scope.
Claims (4)
1. a kind of pump suction type marine product exploration and finishing device, are by frame, arresting agency, propulsion system, transportation system and figure
As acquisition system forms, it is characterised in that: the frame is by four frame pillar C1, C2, C3, C4 (13,14,15,16), two
Horizontal gird C5, C6 (17,18) and frame base (46) composition；The propulsion system is by propeller A1, A2, A3, A4, A5, A6
(1,2,3,4,5,6) form, propeller A1, A2, A3, A4 (1,2,3,4) respectively with electric machine support B1, B2, B3, B4 (7,8,9,
10) it is assemblied in four, frame upper side top angle, propeller A5, A6 (5,6) are assemblied in electric machine support B5, B6 (11,12) respectively
On the inside of frame pillar C1, C2 (13,14) both sides；The transportation system is by fishing collecting box (19), vertical suction pipe (20), level
Suction pipe (21) and lift suction pump (22) composition, fishing collecting box (19) are equipped with metal mesh (47), and the level for being assemblied in frame is horizontal
Between beam C5 (17) and horizontal gird C6 (18), horizontal suction pipe (21) is assemblied in frame bottom end, horizontal suction pipe (21) one end
It is fixed on the frame base (46) immediately below mechanical arm (23) Nei, the other end connects lift suction pump (22), and lift suction pump (22) top is used
Vertical suction pipe (20) connection fishing collecting box (19)；Described image acquisition system is made of camera D1, D2 (42,43), is taken the photograph
As head D1, D2 (42,43) are respectively assembled on frame pillar C3, C4 (15,16)；The arresting agency is by mechanical arm (23) and turns
It is formed to mechanism (49), steering mechanism (49) is connect with steering engine bracket (30) with mechanical arm (23), and with six roots of sensation metal column (24)
Entire arresting agency is fixed on frame base (46).
2. marine product exploration according to claim 1 and finishing device, it is characterised in that: the arresting agency is by machinery
Arm (23) and steering mechanism (49) are constituted；Mechanical arm (23) includes link mechanism (48), gripper G1, G2 (39,40) and steering engine
Component；Above-mentioned steering engine component includes steering engine E1, E2, E3, E4, E5 (25,26,27,28,29)；Aforementioned link mechanism (48) includes
Connecting rod F1 (31), connecting rod F2 (32), two connecting rods are connected with each other with steering engine E3 (27), the other end connection of connecting rod F1 (31)
Line shaft in (26) steering engine E2, connecting rod F2 (32) connect gripper connecting pin (38) with steering engine E4 (28), and steering engine E5 (29) is solid
On gripper G1 (39) belonging to being connected in, and with gear conjugate control gripper G1 (39)；Steering mechanism (49) includes upper plate
(33), upper ball grooves (34), lower ball grooves (36), ball (35) and lower roof plate (37), ball (35) are placed on ball grooves
(34) it is packaged between lower ball grooves (36), upper ball grooves (34) are fixedly connected with upper plate (33), lower ball grooves (36)
It is fixedly connected with lower roof plate (37)；The fuselage of steering engine E2 (26) is fixed on upper plate (33) with steering engine bracket (30), to make
Link mechanism (48) is effectively connect with steering mechanism (49)；The gear of steering engine E5 (29) control gripper G1 (39) tail portion
(41) it rotates, gripper G1 (39) and gripper G2 (40) rotate with it the opening and closing for realizing clamping jaw, gripper G1 (39), gripper
G2 (40) and steering engine E5 (29) are assemblied on gripper connecting pin (38).
3. marine product exploration according to claim 1 and finishing device, it is characterised in that: the propulsion system is by promoting
Device A1, A2, A3, A4, A5, A6 (1,2,3,4,5,6) and electric machine support B1, B2, B3, B4, B5, B6 (7,8,9,10,11,12) structure
At each propeller is made of screw blade (44) and brushless motor (45), and screw blade (44) is mounted on brushless motor (45)
Shaft on, the rotation of the shaft of brushless motor (45) drives screw blade (44) rotation to generate thrust, four groups of propeller A1, A2,
A3, A4 (1,2,3,4) are separately mounted on electric machine support B1, B2, B3, B4 (7,8,9,10)；Electric machine support B1, B2, B3, B4
(7,8,9,10) are assemblied in frame top quadrangle, provide rising thrust for device；Propeller A5, A6 (5,6) pass through electric machine support
B5, B6 (11,12) are assemblied on the inside of frame pillar C1, C2 (13,14) both sides, provide pushing away for forward-reverse and steering for device
Power.
4. marine product exploration according to claim 1 and finishing device, it is characterised in that: the transportation system includes fishing
Collecting box (19), vertical suction pipe (20), horizontal suction pipe (21) and lift suction pump (22)；Above-mentioned fishing collecting box (19) is assemblied in
Between the horizontal gird C5 (17) and horizontal gird C6 (18) of frame, material is metal mesh (47), the liquid for excluding to draw
And retain the sample of fishing；Vertical suction pipe (20) vertical connection fishing collecting box (19) and lift suction pump (22), lift suction pump (22)
It is assemblied in frame bottom end, is horizontally arranged and connects horizontal suction pipe (21) tail end, for drawing fishing target；Horizontal suction pipe
(21) nozzle is fixed in the frame base (46) of the underface of mechanical arm (23), and gripper G1 (39) will grab object dispensing
It near to horizontal suction pipe (21) nozzle, opens simultaneously lift suction pump (22), draws all items within the scope of nozzle, avoid object
Free to run away, the object of absorption is sent to fishing collecting box (19), fishing by vertical suction pipe (20) by lift suction pump (22)
Collecting box (19) shape is netted hollow design, can filter mud or sundries and retain the fishery products of fishing, final complete
At fishing operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910545604.7A CN110122438A (en) | 2019-06-22 | 2019-06-22 | A kind of exploration of pump suction type marine product and finishing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910545604.7A CN110122438A (en) | 2019-06-22 | 2019-06-22 | A kind of exploration of pump suction type marine product and finishing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110122438A true CN110122438A (en) | 2019-08-16 |
Family
ID=67579105
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910545604.7A Pending CN110122438A (en) | 2019-06-22 | 2019-06-22 | A kind of exploration of pump suction type marine product and finishing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110122438A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111587850A (en) * | 2020-05-19 | 2020-08-28 | 大连理工大学 | Sea cucumber catching device |
| WO2021092708A1 (en) * | 2019-11-11 | 2021-05-20 | 杨旭 | Underwater fishing and engineering machine, and operation method therefor |
| CN112977769A (en) * | 2021-02-08 | 2021-06-18 | 日照梦方舟智能科技有限责任公司 | Crawler-type underwater mining and catching robot |
| CN113026703A (en) * | 2021-04-29 | 2021-06-25 | 广东海洋大学 | Water surface fishing type mechanical arm |
| CN114304090A (en) * | 2022-01-12 | 2022-04-12 | 桂林电子科技大学 | Underwater grabbing robot with openable basket |
Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5361528A (en) * | 1993-05-25 | 1994-11-08 | Peacock Francis E N | Trawling system and trawl device for shrimp |
| KR200449749Y1 (en) * | 2010-06-08 | 2010-08-11 | 김재연 | A submarine robot for collecting seafood |
| CN103535330A (en) * | 2013-11-04 | 2014-01-29 | 钟定胜 | Sinking-floating control device and multi-working-condition sea cucumber search fishing device capable of sinking and floating |
| CN203643238U (en) * | 2014-01-04 | 2014-06-11 | 吉林大学 | In-situ test observation platform for testing micro-mechanical property of portable five-freedom-degree material |
| CN203897082U (en) * | 2014-06-12 | 2014-10-29 | 岳兴宝 | Underwater fishing device |
| CN204599019U (en) * | 2015-05-14 | 2015-09-02 | 大连赫海科技有限公司 | Unmanned operation aquaculture robot under water |
| CN105123637A (en) * | 2015-06-23 | 2015-12-09 | 山东科技大学 | Underwater absorption type catching apparatus and working method thereof |
| CN105643589A (en) * | 2016-03-08 | 2016-06-08 | 北京工业大学 | Autonomous obstacle removal type intelligent vehicle system |
| CN107037127A (en) * | 2017-04-01 | 2017-08-11 | 西南石油大学 | A kind of complex probe formula underwater robot weld defect detection means |
| CN107410232A (en) * | 2017-04-25 | 2017-12-01 | 青岛森科特智能仪器有限公司 | A kind of comprehensive sea cucumber catching device |
| CN107897137A (en) * | 2017-11-24 | 2018-04-13 | 哈尔滨工业大学 | A kind of open-shelf comprehensive sea cucumber fishing robot |
| CN107914846A (en) * | 2017-12-11 | 2018-04-17 | 武汉大学 | A kind of robot for being adapted to underwater fishing operation |
| CN108076885A (en) * | 2017-11-29 | 2018-05-29 | 昆明理工大学 | A kind of gardens pruning machine people |
| CN108207827A (en) * | 2018-03-02 | 2018-06-29 | 周佰平 | A kind of colored clam fishing robot |
| CN108835055A (en) * | 2018-07-05 | 2018-11-20 | 上海查派机器人科技有限公司 | Catch robot |
| CN109774818A (en) * | 2019-02-28 | 2019-05-21 | 西安建筑科技大学 | A kind of omnidirectional's intelligent material conveying vehicle and its operating method |
| CN210113971U (en) * | 2019-06-22 | 2020-02-28 | 西南石油大学 | Pump suction type marine product exploration and catching device |
-
2019
- 2019-06-22 CN CN201910545604.7A patent/CN110122438A/en active Pending
Patent Citations (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5361528A (en) * | 1993-05-25 | 1994-11-08 | Peacock Francis E N | Trawling system and trawl device for shrimp |
| KR200449749Y1 (en) * | 2010-06-08 | 2010-08-11 | 김재연 | A submarine robot for collecting seafood |
| CN103535330A (en) * | 2013-11-04 | 2014-01-29 | 钟定胜 | Sinking-floating control device and multi-working-condition sea cucumber search fishing device capable of sinking and floating |
| CN203643238U (en) * | 2014-01-04 | 2014-06-11 | 吉林大学 | In-situ test observation platform for testing micro-mechanical property of portable five-freedom-degree material |
| CN203897082U (en) * | 2014-06-12 | 2014-10-29 | 岳兴宝 | Underwater fishing device |
| CN204599019U (en) * | 2015-05-14 | 2015-09-02 | 大连赫海科技有限公司 | Unmanned operation aquaculture robot under water |
| CN105123637A (en) * | 2015-06-23 | 2015-12-09 | 山东科技大学 | Underwater absorption type catching apparatus and working method thereof |
| CN105643589A (en) * | 2016-03-08 | 2016-06-08 | 北京工业大学 | Autonomous obstacle removal type intelligent vehicle system |
| CN107037127A (en) * | 2017-04-01 | 2017-08-11 | 西南石油大学 | A kind of complex probe formula underwater robot weld defect detection means |
| CN107410232A (en) * | 2017-04-25 | 2017-12-01 | 青岛森科特智能仪器有限公司 | A kind of comprehensive sea cucumber catching device |
| CN107897137A (en) * | 2017-11-24 | 2018-04-13 | 哈尔滨工业大学 | A kind of open-shelf comprehensive sea cucumber fishing robot |
| CN108076885A (en) * | 2017-11-29 | 2018-05-29 | 昆明理工大学 | A kind of gardens pruning machine people |
| CN107914846A (en) * | 2017-12-11 | 2018-04-17 | 武汉大学 | A kind of robot for being adapted to underwater fishing operation |
| CN108207827A (en) * | 2018-03-02 | 2018-06-29 | 周佰平 | A kind of colored clam fishing robot |
| CN108835055A (en) * | 2018-07-05 | 2018-11-20 | 上海查派机器人科技有限公司 | Catch robot |
| CN109774818A (en) * | 2019-02-28 | 2019-05-21 | 西安建筑科技大学 | A kind of omnidirectional's intelligent material conveying vehicle and its operating method |
| CN210113971U (en) * | 2019-06-22 | 2020-02-28 | 西南石油大学 | Pump suction type marine product exploration and catching device |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021092708A1 (en) * | 2019-11-11 | 2021-05-20 | 杨旭 | Underwater fishing and engineering machine, and operation method therefor |
| CN111587850A (en) * | 2020-05-19 | 2020-08-28 | 大连理工大学 | Sea cucumber catching device |
| CN111587850B (en) * | 2020-05-19 | 2022-01-14 | 大连理工大学 | Sea cucumber catching device |
| CN112977769A (en) * | 2021-02-08 | 2021-06-18 | 日照梦方舟智能科技有限责任公司 | Crawler-type underwater mining and catching robot |
| CN113026703A (en) * | 2021-04-29 | 2021-06-25 | 广东海洋大学 | Water surface fishing type mechanical arm |
| CN114304090A (en) * | 2022-01-12 | 2022-04-12 | 桂林电子科技大学 | Underwater grabbing robot with openable basket |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110122438A (en) | A kind of exploration of pump suction type marine product and finishing device | |
| CN203652095U (en) | Novel multifunctional underwater robot | |
| CN206171744U (en) | Automatic fishing robot of surface of water floater | |
| CN109229310A (en) | A kind of underwater outer round tube cleaning and detect robot | |
| CN104176200B (en) | Floater salvage boat | |
| CN103907574B (en) | Device for catching adopted by sub sea treasure | |
| CN107130575B (en) | Automatic material gathering and fishing device and method for water surface floater | |
| CN209080129U (en) | A kind of cleaning and detection robot for underwater facility circular tube structure | |
| CN109823490A (en) | A kind of modularization propeller cleaning device | |
| CN203952177U (en) | Sub sea treasure is adopted device for catching | |
| CN107985534A (en) | Underwater fishing machine fish | |
| CN109515659A (en) | A kind of underwater soft robot with Quick Acquisition sample | |
| CN110959374B (en) | Solar power generation diving bionic observation crab-like crab-removing robot | |
| CN106480864B (en) | A kind of marine float object collection device | |
| CN206305107U (en) | A kind of underwater cavitating cleaning robot | |
| CN105603948B (en) | Over-water floats collection device | |
| CN210113971U (en) | Pump suction type marine product exploration and catching device | |
| CN109774872A (en) | A kind of double driven type garbage on water cleaning intelligent robots | |
| CN110249791A (en) | A kind of tealeaves bud head unmanned plane picker and method | |
| CN108839784A (en) | tuna robot | |
| CN209382234U (en) | A kind of underwater long range tunnel detection robot | |
| CN208235477U (en) | A kind of water-surface cleaning device reducing cleaning dead angle | |
| CN115094853A (en) | Split type cleaning engineering ship and cleaning method | |
| CN207047813U (en) | A kind of water surface cleaning device | |
| CN111942552B (en) | Special recovery mechanical claw for underwater glider |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |