CN110402901B - Bionic squid living body capturing device and control method - Google Patents
Bionic squid living body capturing device and control method Download PDFInfo
- Publication number
- CN110402901B CN110402901B CN201910039195.3A CN201910039195A CN110402901B CN 110402901 B CN110402901 B CN 110402901B CN 201910039195 A CN201910039195 A CN 201910039195A CN 110402901 B CN110402901 B CN 110402901B
- Authority
- CN
- China
- Prior art keywords
- tentacle
- channel
- oil
- sealing
- soft elastic
- 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.)
- Active
Links
- 241000238366 Cephalopoda Species 0.000 title claims abstract description 29
- 238000000034 method Methods 0.000 title claims abstract description 26
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 20
- 238000007789 sealing Methods 0.000 claims abstract description 67
- 230000009471 action Effects 0.000 claims abstract description 9
- 239000003921 oil Substances 0.000 claims description 103
- 238000005452 bending Methods 0.000 claims description 9
- 238000002955 isolation Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 7
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 5
- 239000010720 hydraulic oil Substances 0.000 claims description 4
- 230000003592 biomimetic effect Effects 0.000 claims description 3
- 229920001971 elastomer Polymers 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000002360 preparation method Methods 0.000 claims description 3
- 239000005060 rubber Substances 0.000 claims description 3
- 230000007480 spreading Effects 0.000 claims description 3
- 229920002725 thermoplastic elastomer Polymers 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 239000000463 material Substances 0.000 claims description 2
- 230000035945 sensitivity Effects 0.000 abstract description 3
- 239000013013 elastic material Substances 0.000 abstract description 2
- 241000282414 Homo sapiens Species 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000000741 silica gel Substances 0.000 description 2
- 229910002027 silica gel Inorganic materials 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 235000001968 nicotinic acid Nutrition 0.000 description 1
Images
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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Marine Sciences & Fisheries (AREA)
- Animal Husbandry (AREA)
- Biodiversity & Conservation Biology (AREA)
- Investigating Or Analysing Materials By Optical Means (AREA)
Abstract
The invention discloses a bionic squid living body capturing device and a control method. The invention discloses a brand new deep sea living body capturing device based on the structural characteristics of tentacles, because the capturing tentacles are made of soft elastic materials, the damage to a target object is avoided when the living body is captured, and by arranging four soft elastic tentacles on a sealing box channel, each soft elastic tentacle is internally provided with three cavities, the tentacles can be bent in all directions, the capturing action of a three-dimensional space can be realized, and the sensitivity, the capturing precision and the capturing efficiency of the whole capturing device are very high.
Description
Technical Field
The invention relates to the technical field of biological bionic structures, in particular to a bionic squid deep sea capturing device and a control method.
Background
The squid is adapted, evolved and developed for five thousands of years, the long natural selection ensures that certain parts of the squid are skillfully and perfectly trained, the squid has the most reasonable and optimized structural characteristics, flexible movement characteristics and excellent adaptability under the marine complex environment, the squid is learned to the nature, and the design and development of novel catching and grabbing machinery are one of the important fields in recent years by adopting the principle of bionics. The squid tentacles have high flexibility and high sensitivity, and by virtue of the excellent tentacle structure, squids can often quickly grasp living things which are flexible in action and are tens of times heavier than the squid tentacles. Ocean resources are one of natural resources, and abundant resources available for human beings are reserved in wide ocean, and capture of ocean living matters is beneficial to analysis of ocean complex environments, so that development and utilization of the ocean resources by human beings are promoted. The existing fishing device is complex in structure, and damage to rare fishes in deep sea can be caused in the capturing process.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and designs a bionic squid living body capturing device and a control method.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
a bionic squid living body capturing device comprises a sealing box, a sealing box channel and a soft elastic tentacle;
the sealed box channel is fixed at the front end of the sealed box, a conical grid structure is arranged on the sealed box channel, one end of the conical grid structure is fixed on the inner wall of the front end of the sealed box channel, and the other end of the conical grid structure is positioned in the cavity of the sealed box channel;
an infrared camera is fixed on the outer side of the sealing box channel, four channel oil ways penetrating through the channel wall of the sealing box channel along the length direction are arranged in the sealing box channel, the four channel oil ways are symmetrically arranged, each channel oil way is correspondingly provided with a soft elastic tentacle,
each soft elastic feeler consists of a feeler main body and a feeler chuck; the tentacle main body is fixed at the front end of the sealing box channel through the sealing assembly, and a tentacle oil channel communicated with the channel oil channel is arranged in the tentacle main body; the tentacle chuck is fixed at the end of the tentacle main body, and a pressure sensor and a flow velocity sensor are fixed on the tentacle chuck.
Preferably, the device further comprises a hydraulic system and a microcontroller for controlling the hydraulic system to change the bending direction of the soft elastic tentacle so as to catch a living body, wherein the hydraulic system and the microcontroller are arranged on the shore or a ship;
an oil outlet of the hydraulic system is communicated with a channel oil way in the sealing box channel through an oil pipe;
the microcontroller is connected with the hydraulic system, the infrared camera, the pressure sensor and the flow rate sensor through cables.
Preferably, the channel oil way and the tentacle oil way are formed by three equal-sized cavities which are uniformly and symmetrically distributed along the circumferential direction, each cavity in the channel oil way is communicated with the corresponding cavity in the tentacle oil way, each cavity in the channel oil way is correspondingly connected with an oil pipe, and each oil pipe is provided with a throttle valve.
Preferably, the three cavities in the tentacle oil path penetrate through the whole length direction of the tentacle main body and meet at the front end top point of the tentacle chuck.
Preferably, the soft elastic tentacles are made of silica gel, rubber or thermoplastic elastomer materials.
Preferably, the seal assembly comprises an upper seal connector and a lower seal connector, and the upper seal connector is in threaded connection with the lower seal connector.
Preferably, the upper part of the sleeve body of the sealing upper connecting piece is provided with a first isolation part for dividing the internal cavity of the sealing upper connecting piece into three equal-sized cavities, and the inner wall of the lower part of the sleeve body is provided with internal threads;
the upper outer wall of the sealing lower connecting piece is provided with external threads, and a second isolation part for dividing the internal cavity of the sealing lower connecting piece into three equal-sized cavities is arranged in the sealing lower connecting piece.
Preferably, the seal box comprises a seal box body and a seal box end cover, wherein the seal box end cover is connected to one end part of the seal box body through a revolute pair, a seal clamping groove ring is arranged at the other end part of the seal box body, and the seal box channel buckle is fixed in the seal clamping groove ring.
The control method of the bionic squid living body capturing device specifically comprises the following steps:
the method comprises the steps that 1, an infrared camera transmits collected image data and water flow rate collected by a flow rate sensor to a microcontroller respectively, the microcontroller processes the received data and controls a hydraulic pump in a hydraulic system to start oil supply, and the hydraulic pump injects equal amount of hydraulic oil into different cavities in each channel oil way through an oil pipe, so that four soft elastic tentacles are in a straightening state with the same deformation amount, and preparation is made for the next grabbing action;
in the grabbing process, pressure sensors on all the soft elastic contact arms respectively detect the pressure between the contact arm clamping heads and the deep sea living body in real time, detected pressure signals are transmitted to a microcontroller, the microcontroller carries out logic judgment on the received signals, when the pressure reaches a set threshold value, the microcontroller controls the hydraulic system to input oil pressure between three cavities of all the soft elastic contact arms to be unchanged, and four soft elastic contact arms are matched to send the deep sea living body into a channel of a sealing box, so that the deep sea living body is stored in the sealing box, and grabbing work of the deep sea living body is completed.
The invention has the positive beneficial effects that: the invention discloses a brand new deep sea living body capturing device based on the structural characteristics of tentacles, because the capturing tentacles are made of soft elastic materials, the damage to a target object is avoided when the living body is captured, and by arranging four soft elastic tentacles on a sealing box channel, each soft elastic tentacle is internally provided with three cavities, the tentacles can be bent in all directions, the capturing action of a three-dimensional space can be realized, and the sensitivity, the capturing precision and the capturing efficiency of the whole capturing device are very high. The capturing device can be used for capturing living bodies with various shapes, volumes and masses, and is wide in application and very convenient in operation mode.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural view of a bionic squid living body capturing device.
FIG. 2 is a schematic diagram of the structure of a soft elastic antenna.
Fig. 3 is a schematic perspective view of the seal box channel.
FIG. 4 is a schematic elevational view of the seal box channel.
Fig. 5 is a schematic perspective view of the seal box.
Fig. 6 is a schematic view of the structure of the sealing case cover.
Fig. 7 is a schematic view of the structure of the upper seal connector.
Fig. 8 is a schematic view of the structure of the lower sealing connector.
Fig. 9 is a connection diagram of the biomimetic squid living body capturing device with the hydraulic system and the microcontroller.
The specific meanings of the reference numerals in the drawings are: 1 is a seal box, 2 is a seal box channel, 3 is a soft elastic tentacle, 4 is a seal box body, 5 is a seal box end cover, 6 is a seal clamping groove ring, 7 is a conical grid-shaped structure, 8 is a channel oil path, 9 is a tentacle main body, 10 is a tentacle clamping head, 11 is a tentacle oil path, 12 is a base, 13 is an infrared camera, 14 is a pressure sensor, 15 is a flow velocity sensor, 16 is a cable, 17 is an oil pipe joint, 18 is a seal upper connecting piece, 19 is a seal lower connecting piece, 20 is a first isolation part, and 21 is a second isolation part.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention is described below by means of specific embodiments shown in the accompanying drawings. It should be understood that the description is only illustrative and is not intended to limit the scope of the invention. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the present invention.
The bionic squid living body capturing device disclosed by the embodiment is described by referring to fig. 1-9, the tentacles are bent in all directions by controlling the oil pressure of the cavities in the soft elastic tentacles, so that the soft elastic tentacles can rapidly act, and when the tentacles capture deep sea living things, the captured living things are stored in the sealed boxes with unchanged pressure and temperature, and vital signs of the living things are effectively ensured.
The bionic squid living body capturing device comprises a sealing box 1, a sealing box channel 2 and a soft elastic tentacle 3.
The sealed box 1 is used for storing deep sea living bodies and can provide a constant-temperature and constant-pressure storage environment for the caught living bodies. The seal box 1 is a cylinder and is connected with the seal box channel 2. Specifically, seal box 1 includes seal box body 4 and seal box end cover 5, seal box end cover 5 passes through the revolute pair and connects in seal box body 4's one end, and seal box body 4's the other end is equipped with sealed draw-in groove ring 6, and seal box passageway 2 buckle is fixed in sealed draw-in groove ring 6.
The seal box channel 2 is of a cylindrical structure with a hollow interior and is fixed at the front end of the seal box 1. The bases are arranged below the seal box channel 2 and the seal box 1, and can support the capturing device.
The sealing box channel 2 is provided with a conical grid structure 7, one end of the conical grid structure 7 is fixed on the inner wall of the front end of the sealing box channel 2, and the other end of the conical grid structure is positioned in the cavity of the sealing box channel 2. The soft elastic tentacle 3 feeds the successfully captured living body into the seal box channel 2 from the round hole in the middle of the conical grid structure.
Four channel oil ways 8 penetrating through the channel wall of the sealing box channel 2 along the length direction are symmetrically arranged in the sealing box channel 2. Each channel oil way 8 is correspondingly provided with a soft elastic tentacle 3, namely, four soft elastic tentacles 3 with the same structure are fixed at the end part of the sealed box channel 2.
The soft elastic feeler 3 is composed of a feeler body 9 and a feeler-chuck 10. The tentacle main body 9 is fixed at the front end of the sealed box channel 2 through a sealing assembly, the tentacle main body 9 is cylindrical, and a tentacle oil circuit 11 communicated with the channel oil circuit 8 is arranged in the tentacle main body 9. The tentacle clamp head 10 is fixed at the end part of the tentacle main body 9, the tentacle clamp head 10 is bullet-shaped, the inner side surface of the tentacle clamp head is plane, and the pressure sensor 14 and the flow rate sensor 15 are fixed on the tentacle clamp head 10. In this embodiment, the soft elastic tentacle 3 may be made of silica gel, rubber or thermoplastic elastomer.
The seal assembly includes an upper seal connection 18 and a lower seal connection 19. The upper part of the sleeve body of the sealing upper connecting piece 18 is provided with a first isolation part 20 for dividing the internal cavity of the sleeve body into three equal-sized cavities, and the inner wall of the lower part of the sleeve body is provided with internal threads. The upper outer wall of the lower sealing connector 19 is provided with external threads and is internally provided with a second isolating member 21 dividing its internal chamber into three equally large cavities. The lower seal connector 19 is threadedly secured to the upper seal connector 18.
The four channel oil ways 8 on the sealing box channel 2 have the same structure, each channel oil way 8 is composed of three equal-sized fan-shaped cavities, and the three cavities are uniformly and symmetrically distributed along the circumferential direction. Three oil pipe joints 17 are fixed at the position of each channel oil way 8 on the sealing box channel 2, and each oil pipe joint is communicated with a corresponding cavity in the channel oil way. After the oil pipe is installed on each oil pipe joint 17, oil can be filled into each cavity through a hydraulic system.
The tentacle oil path 11 on the tentacle main body 9 is also composed of three equal-sized fan-shaped cavities, and the three cavities are also uniformly and symmetrically distributed along the circumferential direction. The three cavities in the tentacle oil path 11 penetrate through the whole length direction of the tentacle main body 9 and meet at the front end top point of the tentacle chuck 10.
After the soft elastic tentacles 3 are fixed at the positions of the oil passages 8 of the seal box passages 2, three cavities in each soft elastic tentacle 3 are communicated with the corresponding cavities in the tentacle oil passages 11 at the positions.
An infrared camera 13 is fixed on the outer side of the sealing box channel 2. The infrared camera 13 is used for shooting an environmental image around the bionic squid living body capturing device.
The bionic squid living body capturing device is controlled by a hydraulic system and a microcontroller to capture living bodies in water. The hydraulic system and the microcontroller may be provided to shore or to the vessel. The hydraulic system supplies oil to the bionic squid living body capturing device through an oil pipe; the microcontroller is used for controlling the hydraulic system to output oil pressure to different soft elastic tentacles according to signals acquired by the sensors and the infrared cameras, so that the bending direction of the soft elastic tentacles is changed to successfully capture a living body.
The hydraulic system, the infrared camera 13, the pressure sensor 14 and the flow rate sensor 15 are all connected with the microcontroller through cables, and in the embodiment, the cables are power carrier cables.
The hydraulic system consists of a hydraulic pump, an oil pipe and a throttle valve. Specifically, in this embodiment, the hydraulic system includes a hydraulic pump and 12 oil pipes, each of which is provided with a throttle valve for controlling the flow rate of hydraulic oil in the oil pipe. One end of each 12 oil pipes is connected to the oil outlet of the hydraulic pump in parallel, and the other end of each oil pipe is connected to the corresponding fan-shaped cavity of the corresponding channel oil way (namely, 12 oil pipes are connected to the sealing box channel 2 in total, and each oil pipe corresponds to a single fan-shaped cavity). The hydraulic pump and the throttle valves are electrically connected with the microcontroller, and the microcontroller can control the oil pressure of the corresponding oil pipe by controlling the throttle area of each throttle valve, so as to control the bending direction of each soft elastic tentacle.
The control principle of the microcontroller for controlling the bending direction of the single soft elastic tentacle is as follows: the three tentacle cavities in one tentacle are respectively a first tentacle cavity, a second tentacle cavity and a third tentacle cavity, if the oil pressure in the second tentacle cavity and the third tentacle cavity is the same and is larger than the oil pressure in the first tentacle cavity, the tentacle bends towards the direction of the first tentacle cavity, and if the oil pressure in the third tentacle cavity is larger than the oil pressure in the second tentacle cavity and the oil pressure in the second tentacle cavity is larger than the oil pressure in the first tentacle cavity, the tentacle bends towards the middle direction between the first tentacle cavity and the second tentacle cavity; similarly, changing the oil pressure difference between the three tentacle cavities can achieve bending of the tentacle in different directions.
Thus, the microcontroller can bend the four soft elastic tentacles in different directions by controlling the oil pressure difference between the three cavities in each soft elastic tentacle, thereby being matched with the living body which is grabbed into the water.
The control method of the bionic squid deep sea living body capturing device specifically comprises the following steps:
the method comprises the steps that 1, an infrared camera transmits collected image data and water flow rate collected by a flow rate sensor to a microcontroller respectively, the microcontroller processes the received data and controls a hydraulic pump in a hydraulic system to start oil supply, and the hydraulic pump injects equal amount of hydraulic oil into different cavities in each channel oil way through an oil pipe, so that four soft elastic tentacles are in a straightening state with the same deformation amount, and preparation is made for the next grabbing action;
in the grabbing process, pressure sensors on the flexible contact arms respectively detect the pressure between the contact arm clamping heads and the deep sea living body in real time, detected pressure signals are transmitted to a microcontroller, the microcontroller carries out logic judgment on the received signals, when the pressure reaches a set threshold value, the microcontroller controls the oil quantity in each oil pipe to be unchanged, so that the input oil pressure among three cavities of each flexible contact arm is unchanged, and four flexible contact arms are matched to send the deep sea living body into a sealing box channel, so that the deep sea living body is stored in the sealing box, and grabbing work of the deep sea living body is completed.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same; while the invention has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that; modifications may be made to the specific embodiments of the present invention or equivalents may be substituted for part of the technical features thereof; without departing from the spirit of the invention, it is intended to cover the scope of the invention as claimed.
Claims (7)
1. The control method of the bionic squid living body capturing device is characterized by comprising a sealing box (1), a sealing box channel (2), a soft elastic tentacle (3), a hydraulic system and a microcontroller for controlling the hydraulic system to change the bending direction of the soft elastic tentacle so as to capture a living body; the sealing box channel (2) is fixed at the front end of the sealing box (1), a conical grid structure (7) is arranged on the sealing box channel (2), one end of the conical grid structure (7) is fixed on the inner wall of the front end of the sealing box channel (2), and the other end of the conical grid structure is positioned in a cavity of the sealing box channel (2); an infrared camera (13) is fixed on the outer side of the sealing box channel (2), four channel oil ways (8) penetrating through the channel wall of the sealing box channel (2) along the length direction are symmetrically arranged, each channel oil way is correspondingly provided with a soft elastic tentacle (3), and each soft elastic tentacle (3) is composed of a tentacle main body (9) and a tentacle clamping head (10); the tentacle main body (9) is fixed at the front end of the sealing box channel (2) through a sealing assembly, and a tentacle oil channel (11) communicated with the channel oil channel (8) is arranged in the tentacle main body (9); the tentacle clamp head (10) is fixed at the end part of the tentacle main body (9), and a pressure sensor (14) and a flow rate sensor (15) are fixed on the tentacle clamp head (10);
an oil outlet of the hydraulic system is communicated with a channel oil way in the sealing box channel through an oil pipe;
the microcontroller is connected with the hydraulic system, the infrared camera (13), the pressure sensor (14) and the flow rate sensor (15) through cables (16);
the channel oil way (8) and the tentacle oil way (11) are formed by three equal-sized cavities which are uniformly and symmetrically distributed along the circumferential direction, each cavity in the channel oil way (8) is communicated with the corresponding cavity in the tentacle oil way (11), each cavity in the channel oil way (8) is correspondingly connected with an oil pipe (17), and each oil pipe is provided with a throttle valve;
the method specifically comprises the following steps:
the method comprises the steps that 1, an infrared camera (13) respectively transmits collected image data and water flow rate collected by a flow rate sensor (15) to a microcontroller, the microcontroller processes the received data and controls a hydraulic pump in a hydraulic system to start oil supply, and the hydraulic pump injects equal amount of hydraulic oil into different cavities in each channel oil way through an oil pipe (17), so that four soft elastic tentacles (3) are in a straightening state with the same deformation amount, and preparation is made for the next grabbing action;
step 2, starting the grabbing action: the microcontroller adjusts the throttle area of the throttle valve on each oil pipe to adjust the oil quantity flowing into different cavities of each channel oil way (8), thereby adjusting the oil pressure input into the three cavities of each soft elastic tentacle, enabling the oil pressure difference between the three cavities of each soft elastic tentacle to reach a set value, and gradually spreading the bending of each soft elastic tentacle from the front end to the tail end;
in the grabbing process, pressure sensors (14) on the soft elastic contact arms respectively detect the pressure between the contact arm clamping heads and the deep sea living body in real time, detected pressure signals are transmitted to a microcontroller, the microcontroller carries out logic judgment on the received signals, when the pressure reaches a set threshold value, the microcontroller controls a hydraulic system to constantly input oil pressure between three cavities of the soft elastic contact arms, and four soft elastic contact arms are matched to send the deep sea living body into a sealing box channel (2), so that the deep sea living body is stored in the sealing box (1), and grabbing work of the deep sea living body is completed.
2. The control method of the living body capturing device for bionic squid according to claim 1, wherein three cavities in the tentacle oil path (11) penetrate through the whole length direction of the tentacle main body (9) and meet at the front end vertex of the tentacle chuck (10).
3. The control method of the bionic squid living body capturing device according to claim 1, wherein the soft elastic tentacle (3) is made of rubber or thermoplastic elastomer materials.
4. The control method of a biomimetic squid living body capturing device according to claim 1, wherein the sealing assembly comprises an upper sealing connector (18) and a lower sealing connector (19), and the upper sealing connector (18) is in threaded connection with the lower sealing connector (19).
5. The control method of the bionic squid living body capturing device according to claim 4, wherein the upper part of the sleeve body of the upper sealing connecting piece (18) is provided with a first isolation part (20) for dividing the inner cavity of the sleeve body into three equal-sized cavities, and the inner wall of the lower part of the sleeve body is provided with an inner thread;
the outer wall of the upper part of the sealing lower connecting piece (19) is provided with external threads, and a second isolation part (21) for dividing the internal cavity of the sealing lower connecting piece into three equal-sized cavities is arranged in the sealing lower connecting piece.
6. The control method of the bionic squid living body capturing device according to claim 1, wherein the sealing box (1) comprises a sealing box body (4) and a sealing box end cover (5), the sealing box end cover (5) is connected to one end part of the sealing box body (4) through a revolute pair, a sealing clamping groove ring (6) is arranged at the other end part of the sealing box body (4), and the sealing box channel (2) is buckled and fixed in the sealing clamping groove ring (6).
7. The control method of the biomimetic squid living body capturing device according to claim 1, wherein a base (12) is provided below the seal box (1) and the seal box channel (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910039195.3A CN110402901B (en) | 2019-01-16 | 2019-01-16 | Bionic squid living body capturing device and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910039195.3A CN110402901B (en) | 2019-01-16 | 2019-01-16 | Bionic squid living body capturing device and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110402901A CN110402901A (en) | 2019-11-05 |
| CN110402901B true CN110402901B (en) | 2023-06-27 |
Family
ID=68357505
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910039195.3A Active CN110402901B (en) | 2019-01-16 | 2019-01-16 | Bionic squid living body capturing device and control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110402901B (en) |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ITFI20110091A1 (en) * | 2011-05-03 | 2012-11-04 | Scuola Superiore Di Studi Universit Arie Di Perfe | ROBOT WITH SOFT ARTS USED FOR LOCOMOTION AND TAKING UP |
| AU2015305311B2 (en) * | 2014-08-22 | 2020-04-23 | President And Fellows Of Harvard College | Sensors for soft robots and soft actuators |
| CN104813975B (en) * | 2015-05-14 | 2017-06-06 | 大连赫海科技有限公司 | Unmanned operation aquaculture robot under water |
| CN206354227U (en) * | 2016-12-26 | 2017-07-28 | 大连海事大学 | Underwater intelligent arrests marine product device |
| CN107225587B (en) * | 2017-06-27 | 2021-02-19 | 哈尔滨工程大学 | Shape self-adaptive manipulator structure for nondestructive fishing of benthos |
| CN108902063A (en) * | 2018-09-07 | 2018-11-30 | 百度在线网络技术（北京）有限公司 | Fishing machinery arm |
| CN209403348U (en) * | 2019-01-16 | 2019-09-20 | 上海海洋大学 | A kind of bionical squid living body acquisition equipment |
-
2019
- 2019-01-16 CN CN201910039195.3A patent/CN110402901B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN110402901A (en) | 2019-11-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103029818B (en) | A kind of bionical benthic organism hauls robot | |
| CN112091988B (en) | Software bionic underwater detection robot | |
| CN106828783B (en) | It is a kind of intelligent from lifting communication submerged buoy system based on buoyancy-driven | |
| CN205091329U (en) | Water quality testing sensor fixed device | |
| CN107782373B (en) | Novel bionic lateral line sensor | |
| CN107965634B (en) | Flexible pipeline crawling robot based on artificial muscles | |
| CN110402901B (en) | Bionic squid living body capturing device and control method | |
| CN108001648B (en) | A kind of submarine navigation device docking facilities | |
| CN108408006A (en) | A kind of underwater biomimetic robotic fish of pipe conveying fluid driving | |
| CN106143803A (en) | Drifting buoy | |
| CN109548762B (en) | Bionic fishing device and control method thereof | |
| CN107439498B (en) | Deep sea organism trap capable of improving trapping rate | |
| CN109263839B (en) | Underwater robot recovery unit | |
| CN202765235U (en) | Submerged buoy for marine observation | |
| CN209403348U (en) | A kind of bionical squid living body acquisition equipment | |
| CN218839738U (en) | Bionic mechanical fish for water quality detection | |
| CN207854844U (en) | A kind of paddy field aquaculture soft-shelled turtle catching device | |
| CN203590323U (en) | Detachable mobile phone external wired camera | |
| CN115931209A (en) | In-situ long-term real-time networking observation system and method for pore pressure of submarine sediment | |
| CN114321562B (en) | Pipeline robot | |
| CN208149578U (en) | A kind of underwater biomimetic robotic fish of pipe conveying fluid driving | |
| CN111959724A (en) | Flexible line drive dolphin | |
| CN208984130U (en) | A kind of undersea detection device for shallow water area | |
| CN207717429U (en) | A kind of water-quality sampler | |
| CN208595341U (en) | A kind of self-locking bellows of socket |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |