Deep sea net cage cleaning robot

Abstract

The invention provides a deep sea net cage cleaning robot, and particularly relates to the technical field of underwater cleaning equipment, the deep sea net cage cleaning robot comprises a cleaning assembly, a streamline shell assembly and a supporting framework, the streamline shell assembly comprises a bottom shell, and the bottom shell is fixed to the bottom of the supporting framework; the cleaning assembly penetrates through the bottom shell and is fixed to the supporting framework, the cleaning device comprises a plurality of rotary cavitation cleaning disc devices, the multiple rotary cavitation cleaning disc devices are arranged on the bottom shell in a triangular shape, each rotary cavitation cleaning disc device comprises four nozzles, high-pressure water flow drives the four nozzles to rotate, water flow is sprayed out for cleaning, and the cleaning assembly is fixed to the supporting framework. The cavitation cleaning disc devices which are arranged in a triangular mode are arranged at the bottom of the supporting framework, high-pressure water flow drives four nozzles of the rotary cavitation cleaning disc devices to rotate, the nozzles spray water flow to wash the net cage, the water flow is subjected to cavitation cracking on the surface of the net cage, attached marine organisms are peeled off through generated impact force, and cleaning is more sufficient.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater cleaning equipment, and in particular to a deep-sea cage cleaning robot. Background Art

[0002] At present, most of my country's deep-sea cage aquaculture companies use divers to perform underwater cleaning. This method is extremely inefficient and requires divers to have a high level of technical skills. Compared with manual underwater cleaning, deep-sea cage cleaning robots can not only ensure safety and reliability, improve cleaning efficiency, but also reduce cleaning costs. This advantage makes deep-sea cage cleaning robots have broad market prospects.

[0003] Application No. CN201610061620.5 discloses an underwater net cleaning robot, comprising a frame; a propulsion mechanism installed on the frame, the propulsion mechanism comprising a first propulsion mechanism for driving the frame to move vertically or rotate vertically, and a second propulsion mechanism for driving the frame to move horizontally or rotate horizontally; a cleaning mechanism installed on the frame, the cleaning mechanism comprising a rotating shaft driven by a motor to rotate, a brush head is fixed at one end of the rotating shaft, and the brush head is located on the front side of the frame; a controller installed on the frame, the controller is used to control the action of the propulsion mechanism and the cleaning mechanism. The present invention can automatically clean the nets of underwater aquaculture cages, so that there is no need to replace the aquaculture cages regularly, no pollution to the environment, low cleaning cost, and high cleaning efficiency. However, since the patent drives the brush head for cleaning through a single rotating shaft, the disadvantage of insufficient cleaning is prone to occur.

[0004] In view of this, the present invention provides a deep-sea cage cleaning robot capable of more thorough cleaning. Summary of the invention

[0005] In order to solve the problem that existing cleaning robots are prone to insufficient cleaning, the present invention proposes a deep-sea cage cleaning robot.

[0006] The present invention is achieved through the following technical solutions:

[0007] The present invention proposes a deep-sea cage cleaning robot comprising a cleaning component, a streamlined shell component and a supporting frame, wherein:

[0008] The streamlined housing assembly includes a bottom shell, and the bottom shell is fixed to the bottom of the support frame;

[0009] The cleaning assembly passes through the bottom shell and is fixed on the supporting frame. The cleaning device includes a plurality of rotating cavitation cleaning disc devices, which are arranged in a triangle on the bottom shell. The rotating cavitation cleaning disc device includes four nozzles. High-pressure water flow drives the four nozzles to rotate and spray water for cleaning.

[0010] Furthermore, it also includes a power system, which includes a plurality of propellers, a part of which is vertically fixed on the front and rear ends of the support frame and faces the top side, and another part of which is horizontally fixed on both sides of the support frame and faces the rear side of the support frame.

[0011] Furthermore, a protective net is provided on one side of the propeller, and a flow channel is provided on the other side of the propeller.

[0012] Furthermore, it also includes a pressure-resistant control cavity, which is transversely fixed to the inner side of the supporting frame. A main control circuit is installed inside the pressure-resistant control cavity, and the control circuit is connected to the outside through a watertight cable conveying tube.

[0013] Furthermore, it also includes buoyancy adjustment blocks, a plurality of which are arranged on both sides of the pressure-resistant control cavity and fixedly connected to the support frame.

[0014] Furthermore, it also includes a monitoring system, which includes a hydroacoustic positioning element, a lighting lamp and a camera. The hydroacoustic positioning element is arranged on the rear side of the supporting frame and close to the top of the supporting frame, and multiple lighting lamps and multiple cameras are arranged around the supporting frame.

[0015] Furthermore, a plurality of lifting ears are provided on the top of the supporting frame, and the plurality of lifting ears are fixed around the top of the supporting frame.

[0016] Furthermore, a lifting ring is provided at the tail of the supporting frame.

[0017] Furthermore, the streamlined shell assembly also includes a head shell, a left wing shell and a right wing shell, the left wing shell and the right wing shell are respectively fixed to two sides of the support frame, and the head shell is fixed to the front end of the support frame.

[0018] Furthermore, the streamlined housing assembly also includes a top shell and a tail shell, the top shell is fixed to the top of the support frame, the tail shell is fixed to the rear end of the support frame, and the top shell is provided with a through hole and a detachable observation port.

[0019] Beneficial effects of the present invention:

[0020] (1) The deep-sea cage cleaning robot proposed in the present invention adopts a cavitation cleaning disc device arranged in a triangle and arranged at the bottom of the supporting frame. The high-pressure water flow drives the four nozzles of the rotating cavitation cleaning disc device to rotate. The nozzles spray water to flush the cages, and the water cavitation breaks the surface of the cages. The impact force generated will peel off the attached marine organisms, which can increase the cleaning working space and improve the cleanliness of cleaning, making the cleaning more thorough.

[0021] (2) The deep-sea cage cleaning robot proposed in the present invention adopts a streamlined shell component to protect the internal structure, which can reduce the water resistance of movement and the interference of underwater currents, and at the same time has less impact on fish farming products during operation.

[0022] (3) The deep-sea cage cleaning robot proposed in the present invention uses multiple thrusters in vertical and horizontal directions to move, and uses the buoyancy of the buoyancy adjustment block to cooperate, so that it can better complete the up and down and left and right movements, better fit the cage for cleaning, and is not easily attached and entangled by marine organisms. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is the overall structural diagram of the deep-sea cage cleaning robot of the present invention;

[0024] Figure 2 This is a top structural diagram of the deep-sea cage cleaning robot of the present invention;

[0025] Figure 3 This is a structural diagram of the support frame of the deep-sea cage cleaning robot of the present invention;

[0026] Figure 4 This is a bottom structural diagram of the deep-sea cage cleaning robot of the present invention;

[0027] Figure 5 This is a schematic diagram of the lifting lugs and lifting rings of the deep-sea cage cleaning robot of the present invention;

[0028] In the figure: pressure control cavity 1, hydroacoustic positioning element 2, support frame 3, buoyancy adjustment block 4, thruster 5, camera 6, flow channel 7, lighting lamp 8, tail shell 9, right wing shell 10, head shell 11, left wing shell 12, top shell 13, watertight cable delivery pipe 14, bottom shell 15, rotating cavitation cleaning disc device 16, lifting lug 17, lifting ring 18;

[0029] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0030] In order to more clearly and completely illustrate the technical solution of the present invention, the present invention is further described below in conjunction with the accompanying drawings.

[0031] Please refer to Figure 1-Figure 5 The present invention proposes a deep-sea cage cleaning robot comprising a cleaning component, a streamlined shell component and a support frame 3, wherein:

[0032] The streamlined housing assembly includes a bottom housing 15, which is fixed to the bottom of the support frame 3;

[0033] The cleaning assembly passes through the bottom shell 15 and is fixed on the supporting frame 3. The cleaning device includes a plurality of rotating cavitation cleaning disc devices 16. The plurality of rotating cavitation cleaning disc devices 16 are arranged in a triangle on the bottom shell 15. The rotating cavitation cleaning disc device 16 includes four nozzles. The high-pressure water flow drives the four nozzles to rotate and sprays water for cleaning.

[0034] In a specific embodiment, a rotating cavitation cleaning disc device 16 is fixed at the bottom of the supporting frame 3, and one side of the bottom of the rotating cavitation cleaning disc passes through the bottom shell 15 to the outside. The rotating cavitation cleaning disc device 16 adopts high-pressure jet cleaning technology. The high-pressure water flow drives the four nozzles of the rotating cavitation cleaning disc device 16 to rotate. The nozzles spray water to flush the cages, and the water cavitation breaks the surface of the cages. The impact force generated will peel off the attached marine organisms. The rotating cavitation cleaning disc device 16 is arranged in a triangle to the bottom of the supporting frame 3, which can increase the cleaning working space, while improving the cleanliness of the cleaning, making the cleaning more thorough.

[0035] Furthermore, it also includes a power system, which includes multiple propellers 5, a part of the propellers 5 are vertically fixed on the front and rear ends of the support frame 3 and face the top side, and another part of the propellers 5 are horizontally fixed on both sides of the support frame 3 and face the rear side of the support frame 3.

[0036] In a specific embodiment, the thruster 5 is used to control the movement of the robot, and the power system includes five thrusters 5, three vertical thrusters 5 and two horizontal thrusters 5, so as to control the up and down, front and back, roll, pitch and yaw movement of the robot.

[0037] Furthermore, a protective net is provided on one side of the propeller 5 , and a flow channel 7 is provided on the other side of the propeller 5 .

[0038] In a specific embodiment, the protective net is used to prevent the blades of the propeller 5 from being entangled by marine organisms. At the same time, in order to avoid the influence of the protective net on the water flow dispersion of the propeller 5, a flow channel 7 is set at the water outlet of the propeller 5. The two flow channels 7 in the horizontal direction correspond to the water outlets of the two horizontal propellers 5, and the three flow channels 7 in the vertical direction correspond to the water outlets of the three vertical horizontal propellers 5.

[0039] Furthermore, it also includes a pressure-resistant control cavity 1, which is transversely fixed to the inner side of the supporting frame 3. A main control circuit is installed inside the pressure-resistant control cavity 1, and the control circuit is connected to the outside through a watertight cable conveying tube 14.

[0040] In a specific embodiment, the pressure-resistant control chamber 1 is a cylindrical structure as a whole, which can reduce the resistance of the pressure-resistant control chamber 1 in water. The pressure-resistant control chamber 1 is fixed to the mounting seat of the support frame 3 by an annular clamp, and the internal main control circuit is connected to other power supply equipment and communication equipment through the watertight cable in the watertight cable delivery pipe 14.

[0041] Furthermore, it also includes buoyancy adjustment blocks 4 , and multiple buoyancy adjustment blocks 4 are arranged on both sides of the pressure-resistant control cavity 1 and fixedly connected to the support frame 3 .

[0042] In a specific embodiment, the buoyancy adjustment block 4 presents positive buoyancy in the water. Two groups of buoyancy adjustment blocks 4 are arranged on both sides of the pressure-resistant control cavity 1 in the support frame 3 and are fixed to the support frame 3 by screws. The buoyancy of the entire robot in the water can also be changed by changing the number of buoyancy adjustment blocks 4.

[0043] Furthermore, it also includes a monitoring system, which includes a hydroacoustic positioning element 2, a lighting lamp 8 and a camera 6. The hydroacoustic positioning element 2 is arranged on the rear side of the supporting frame 3 and close to the top of the supporting frame 3, and multiple lighting lamps 8 and multiple cameras 6 are arranged around the supporting frame 3.

[0044] In a specific embodiment, the monitoring system includes five cameras 6 and five underwater lights 8. The cameras 6 and lights 8 perform all-round monitoring of the robot's surrounding environment and transmit the information to the operator. The receiving end of the hydroacoustic positioning element 2 is installed on a ground receiving station, and the robot is positioned by the hydroacoustic positioning element 2 and the ground receiving station.

[0045] Furthermore, a plurality of lifting ears 17 are provided on the top of the supporting frame 3, and the plurality of lifting ears 17 are fixed around the top of the supporting frame 3;

[0046] A lifting ring 18 is also provided at the rear of the supporting frame 3 .

[0047] In a specific embodiment, a lifting lug 17 is provided at each of the four corners on the top of the supporting frame 3 . The four lifting lugs 17 are mounted on threaded holes around the supporting frame 3 . The lifting lugs 17 and the lifting rings 18 are used for lifting and transporting the robot.

[0048] Furthermore, the streamlined shell assembly further includes a head shell 11, a left wing shell 12 and a right wing shell 10, the left wing shell 12 and the right wing shell 10 are respectively fixed to the two sides of the support frame 3, and the head shell is fixed to the front end of the support frame 3;

[0049] The streamlined housing assembly further includes a top shell 13 and a tail shell 9. The top shell 13 is fixed to the top of the support frame 3, and the tail shell 9 is fixed to the rear end of the support frame 3. The top shell 13 is provided with a through hole and a detachable observation port.

[0050] In a specific embodiment, the head shell 11, the left wing shell 12 and the right wing shell 10 are all streamlined, which can reduce the impact of water resistance during movement. At the same time, the streamlined shell assembly can protect the internal components. The top shell 13 has four through holes, three of which correspond to three vertical thrusters 5, and the other corresponds to the hydroacoustic positioning element 2. The top of the hydroacoustic positioning element 2 passes through the through hole to the outside.

[0051] Of course, the present invention may have many other implementations. Based on this implementation, other implementations obtained by ordinary technicians in this field without any creative work are all within the scope of protection of the present invention.

Claims

1. A deep sea cage cleaning robot, characterized in that: It includes a cleaning component, a streamlined housing component and a supporting frame, wherein: The streamlined housing assembly includes a bottom shell, and the bottom shell is fixed to the bottom of the support frame; The cleaning assembly passes through the bottom shell and is fixed on the supporting frame. The cleaning device includes a plurality of rotating cavitation cleaning disc devices, which are arranged in a triangle on the bottom shell. The rotating cavitation cleaning disc device includes four nozzles. High-pressure water flow drives the four nozzles to rotate and spray water for cleaning.

2. The deep sea cage cleaning robot according to claim 1, characterized in that: It also includes a power system, which includes multiple propellers, some of which are vertically fixed on the front and rear ends of the support frame and face the top side, and another part of the propellers are horizontally fixed on both sides of the support frame and face the rear side of the support frame.

3. The deep sea cage cleaning robot according to claim 2, characterized in that: A protective net is also provided on one side of the propeller, and a flow channel is also provided on the other side of the propeller.

4. The deep sea cage cleaning robot according to claim 1, characterized in that: It also includes a pressure-resistant control cavity, which is transversely fixed to the inner side of the support frame. A main control circuit is installed inside the pressure-resistant control cavity, and the control circuit is connected to the outside through a watertight cable delivery tube.

5. The deep sea cage cleaning robot according to claim 4, characterized in that: It also includes buoyancy adjustment blocks, a plurality of which are arranged on both sides of the pressure-resistant control cavity and are fixedly connected to the support frame.

6. The deep sea cage cleaning robot according to claim 1, characterized in that: It also includes a monitoring system, which includes a hydroacoustic positioning element, a lighting lamp and a camera. The hydroacoustic positioning element is arranged on the rear side of the supporting frame and close to the top of the supporting frame, and multiple lighting lamps and multiple cameras are arranged around the supporting frame.

7. The deep sea cage cleaning robot according to claim 1, characterized in that: The top of the support frame is provided with a plurality of lifting ears, and the plurality of lifting ears are fixed around the top of the support frame.

8. The deep sea cage cleaning robot according to claim 1, characterized in that: The tail of the supporting frame is also provided with a hanging ring.

9. The deep sea cage cleaning robot according to claim 1, characterized in that: The streamlined shell assembly also includes a head shell, a left wing shell and a right wing shell. The left wing shell and the right wing shell are respectively fixed to two sides of the support frame, and the head shell is fixed to the front end of the support frame.

10. The deep sea cage cleaning robot according to claim 9, characterized in that: The streamlined housing assembly further comprises a top shell and a tail shell, wherein the top shell is fixed to the top of the support frame, and the tail shell is fixed to the rear end of the support frame, and the top shell is provided with a through hole and a detachable observation port.

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