Net washing cable remotely operated vehicle

Abstract

The present application relates to underwater net cleaning technology field, specifically to net cleaning cable remote control submersible, the lower end of the base is provided with high pressure washing assembly, the high pressure washing assembly includes a pair of opposite cleaning jet pipe and reverse jet pipe, the direction of the cleaning jet pipe is same with the extension direction of the cleaning assembly, the beneficial effect is: through setting a pair of cleaning jet pipe and reverse jet pipe of front and rear shunt, in the process of high pressure water injection, the reverse jet pipe is used to buffer the reaction force caused by high pressure washing, so as to ensure the stability of the robot, the lower support composed of telescopic rod and bottom plate realizes the stable support of the lower end, cooperates with the rotating adjusting air bag, when driving, the robot is kept stable by lateral rotation, in the cleaning process, the vertical support of the lower end is realized, so as to improve the stability of underwater cleaning and improve the cleaning efficiency.

Description

Technical Field

[0001] This invention relates to the field of underwater net cleaning technology, specifically to a remotely operated underwater vehicle (ROV) for net cleaning cables. Background Technology

[0002] Marine aquaculture cages are typically made of polyethylene or nylon. Because these materials have a large surface area and are free of toxic substances, marine organisms, including sludge, shellfish, algae, and plankton, easily proliferate on the netting after prolonged immersion in the ocean. These deposits easily clog the netting, leading to poor filtration, impaired water exchange, and reduced oxygen levels. These problems seriously threaten the survival of farmed fish, reducing their growth rate, yield, and quality. Worse still, neglecting to clean the netting over time damages it, increasing the cost of cage aquaculture.

[0003] Netting cleaning can generally be categorized into three antifouling methods: physical, chemical, and biological. The main methods include manual, biological, mechanical, pharmaceutical, and physical cleaning, as well as methods such as sunlight exposure, caisson cleaning, intermittent net changing, and top-and-bottom cleaning. Manual cleaning and sunlight exposure are relatively primitive methods, requiring a large labor force and high labor costs. Currently, the main trend in China is to tug the netting ashore for manual cleaning.

[0004] In the prior art, underwater robots are used for underwater cleaning to improve cleaning efficiency. However, existing underwater robots are difficult to adapt to the positioning and cleaning of underwater nets. During the cleaning process, it is often difficult to maintain the stability of the robot, and the nets cannot be cleaned thoroughly. The reaction force caused by the cleaning can easily cause the robot to shift its position and sway in the water, which seriously affects the cleaning efficiency. Summary of the Invention

[0005] The purpose of this invention is to provide a remotely operated underwater vehicle for cleaning netting cables, in order to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention provides the following technical solution: A remotely operated underwater vehicle (ROV) with a mesh cleaning cable, the ROV comprising: The mounting frame includes a base and a pair of side frames distributed on the left and right. The pair of side frames are symmetrically distributed on both sides of the base. Each of the two side frames has a pair of buoyancy bladders distributed front and back on its inner upper end. A cleaning component extending to the outside of the mounting frame is provided on one side of the upper end face of the base. A counterweight with the same weight as the cleaning component is provided on the other side of the upper end face of the base. A high-pressure flushing component is provided at the lower end of the base. The high-pressure flushing component includes a pair of cleaning jet pipes and a reverse jet pipe extending in opposite directions. The direction of the cleaning jet pipes is the same as the extension direction of the cleaning component. The drive assembly includes a pair of lifting thrusters and four sets of matrix-distributed lateral thrusters. The pair of lifting thrusters are vertically distributed and fixedly installed between adjacent pairs of buoyancy bladders. The four sets of lateral thrusters are fixed to the inside of the side frame. One end of each set of lateral thrusters located inside the mounting frame is offset towards the upper center of the base. The pressure-resistant tube is fixedly installed in the middle gap between adjacent pairs of side frames. A hemispherical flow guide is provided at one end of the pressure-resistant tube near the cleaning component. A camera is installed inside the flow guide. The flow guide is made of transparent material. Multiple depth sensors are provided on the outer side of the other end of the pressure-resistant tube. A control host is installed in the inner cavity of the pressure-resistant tube.

[0007] Preferably, a pair of mounting plates distributed front to back are vertically welded to the inner side of the side frame, and the lower end of the buoyancy bladder is fixedly mounted on the upper end of the mounting plates.

[0008] Preferably, a semi-circular clamping groove is provided on the side end face of the pair of mounting plates distributed front and rear, which are close to each other. The pair of clamping grooves form a clamping groove, and the outer wall of the middle section of the lifting thruster is fixedly engaged in the clamping groove formed by the pair of clamping grooves.

[0009] Preferably, the front end of the mounting frame is provided with four sets of lighting lamps, the control host is provided with a battery module that supplies power to the lighting lamps, cleaning components, and high-pressure flushing components, the end of the pressure-resistant pipe is provided with a watertight threading bolt that seals and extends the power supply wires, and the control host includes a GPS positioning module for underwater positioning and a communication module for wireless connection with ground remote control equipment.

[0010] Preferably, the cleaning assembly includes a mounting base, a rotating arm, a drive head, and a brush. The mounting base is bolted to the base, the rotating arm is rotatably mounted on the mounting base, and the end of the rotating arm is provided with a drive head. The drive head contains a motor that drives the brush to rotate, and the brush extends to the outside of the mounting frame.

[0011] Preferably, the high-pressure flushing assembly includes a fixed base, the upper end of which is bolted to the middle of the lower end face of the base, and a water inlet block is rotatably installed at the lower end of the fixed base. A water pump is installed inside the water inlet block, and the cleaning spray pipe and the reverse spray pipe are connected to the water pump.

[0012] Preferably, the lower end of the fixed base is provided with a hinge seat, the upper end of the water inlet block is rotatably mounted on the hinge seat, and the lower side wall of the water inlet block is provided with a water inlet, the water inlet being in the same direction as the port of the reverse jet pipe.

[0013] Preferably, the output end of the water inlet block is provided with a diverter pipe, the output end of which is connected to a cleaning spray pipe and a reverse spray pipe respectively, and the ends of the cleaning spray pipe and the reverse spray pipe are provided with nozzles.

[0014] Preferably, both the lifting thruster and the lateral thruster have connecting plates on their arc-shaped outer walls. The connecting plates have multiple sets of screw holes arranged in a matrix. The connecting plates on the lifting thruster are fitted to the inner wall of the side frame. Fixing bolts inserted into the screw holes are installed through the side frame. The connecting plates on the lateral thruster are fitted to the lower end face of the mounting plate. Fixing bolts installed on the connecting plates are inserted through the upper end of the mounting plate.

[0015] Preferably, the lower ends of both the front and rear sides of the side frame are provided with extension plates, and the extension plates are provided with a pair of rotating grooves distributed in the front and rear. Telescopic rods are rotatably installed in the rotating grooves, and the ends of adjacent pairs of telescopic rods are fixedly connected to the base plate. The base plate is provided with an adjusting airbag.

[0016] Compared with the prior art, the beneficial effects of the present invention are: This invention utilizes a pair of front and rear split cleaning jet pipes and a reverse jet pipe. During high-pressure water flushing, the reverse jet pipe buffers the reaction force caused by the high-pressure flushing, thus ensuring the robot's stability. Simultaneously, lifting and lateral thrusters enable the robot's underwater lifting and position adjustment, ensuring smooth operation to the netting location. Furthermore, a lower support structure composed of a telescopic rod and a base plate provides stable support at the lower end. Combined with a rotating adjustable airbag, lateral rotation maintains the robot's stability during propulsion, while vertical support at the lower end provides stability during cleaning. This significantly improves the stability and efficiency of underwater cleaning. Attached Figure Description

[0017] Figure 1 This is a three-dimensional schematic diagram of the results of the present invention; Figure 2 This is a side view of the present invention; Figure 3 This is a top view of the pressure-resistant silo structure of the present invention; Figure 4This is a schematic diagram of the installation structure of the pressure-resistant chamber and buoyancy bladder of the present invention; Figure 5 This is a three-dimensional structural diagram of the cleaning component installation of the present invention; Figure 6 This is a three-dimensional structural diagram of the high-pressure flushing assembly of the present invention; Figure 7 This is a three-dimensional structural diagram of the lateral thruster of the present invention.

[0018] In the diagram: 1. Base; 2. Side frame; 3. Mounting plate; 4. Buoyancy bag; 5. Lifting thruster; 6. Lateral thruster; 7. Pressure-resistant pipe; 8. Base plate; 9. Extension plate; 10. Telescopic rod; 11. Lighting lamp; 12. High-pressure flushing assembly; 13. Cleaning assembly; 14. Drive head; 15. Brush; 16. Rotating groove; 17. Adjusting airbag; 18. Reverse jet pipe; 19. Cleaning jet pipe; 20. Flow guide; 21. Camera; 22. Control host; 23. Watertight threaded bolt; 24. Depth sensor; 25. Fixing bolt; 26. Clamping arc groove; 27. Rotating arm; 28. Mounting seat; 29. ​​Fixing seat; 30. Hinge seat; 31. Inlet; 32. Diverter pipe; 33. Connecting plate. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Please see Figures 1 to 7 The present invention provides a technical solution: A remotely operated vehicle (ROV) with a mesh cleaning cable, comprising a mounting frame, a drive assembly, and a pressure-resistant tube 7.

[0021] The mounting frame includes a base 1 and a pair of side frames 2 distributed on the left and right. The pair of side frames 2 are symmetrically distributed on both sides of the base 1. The upper inner side of each pair of side frames 2 is provided with a pair of buoyancy bladders 4 distributed in front and behind. The inner side of the side frames 2 is vertically welded with a pair of mounting plates 3 distributed in front and behind. The lower end of the buoyancy bladder 4 is fixedly installed on the upper end of the mounting plate 3.

[0022] The buoyancy capsule 4 is fixedly installed by setting the mounting plate 3, and then the buoyancy capsule 4 is used to increase the overall buoyancy center height of the underwater robot, thereby improving stability.

[0023] A cleaning component 13 extending to the outside of the mounting frame is provided on one side of the upper end face of the base 1, and a counterweight with the same weight as the cleaning component 13 is provided on the other side of the upper end face of the base 1. The cleaning component 13 includes a mounting base 28, a rotating arm 27, a drive head 14, and a brush 15. The mounting base 28 is bolted to the base 1, and the rotating arm 27 is rotatably mounted on the mounting base 28. The drive head 14 is provided at the end of the rotating arm 27, and a motor for driving the brush 15 to rotate is provided inside the drive head 14. The brush 15 extends to the outside of the mounting frame.

[0024] The brush 15 is controlled by a rotating arm 27, which can then be used to clean the mesh from different angles and directions. The brush 15 is shaped like a toilet brush, and the bristles are made of nylon. Nylon has good mechanical properties, is wear-resistant, tough, has good bending recovery, is resistant to high temperatures and acids and alkalis, is not easily deformed, and has a long service life. It is suitable for cleaning the attachments on the mesh. The drive head 14 provides rotational kinetic energy to drive the brush 15 to rotate at high speed. Since the cleaning equipment is located at the front, a counterweight is placed at the rear end to maintain overall stability.

[0025] A high-pressure rinsing assembly 12 is provided at the lower end of the base 1. The high-pressure rinsing assembly 12 includes a pair of cleaning spray pipes 19 and a reverse spray pipe 18 extending in opposite directions. The direction of the cleaning spray pipes 19 is the same as the extension direction of the cleaning assembly 13. The high-pressure rinsing assembly 12 includes a fixed base 29. The upper end of the fixed base 29 is bolted to the middle of the lower end face of the base 1. A water inlet block is rotatably installed at the lower end of the fixed base 29. A water pump is installed inside the water inlet block. The cleaning spray pipes 19 and the reverse spray pipes 18 are connected to the water pump. A hinge 30 is provided at the lower end of the fixed base 29. The upper end of the water inlet block is rotatably installed on the hinge 30. A water inlet 31 is provided on the lower side wall of the water inlet block. The water inlet 31 is in the same direction as the port of the reverse spray pipe 18. A diverter pipe 32 is provided at the output end of the water inlet block. The output end of the diverter pipe 32 is connected to the cleaning spray pipe 19 and the reverse spray pipe 18 respectively. A nozzle is provided at the end of both the cleaning spray pipe 19 and the reverse spray pipe 18.

[0026] The working principle of the high-pressure flushing component 12 is as follows: water is injected into the inlet 31 by the water pump to form a high-pressure water flow. When the high-pressure water passes through the diversion pipe 32, it is divided into two water flows. One water flow flows to the reverse jet device 18 to counteract the recoil force, while the other water flow continues to move forward and is then sprayed out through the cleaning jet pipe 19, acting on the mesh to achieve the purpose of cleaning the impurities impacting the outer wall of the mesh.

[0027] The drive assembly includes a pair of lifting thrusters 5 and four sets of matrix-distributed lateral thrusters 6. The pair of lifting thrusters 5 are vertically distributed and fixedly installed between adjacent pairs of buoyancy bladders 4. The four sets of lateral thrusters 6 are fixed to the inner side of the side frame 2. A semi-circular clamping arc groove 26 is provided on the side end face of a pair of mounting plates 3 distributed front and rear. The pair of clamping arc grooves 26 form a clamping groove. The outer wall of the middle section of the lifting thruster 5 is fixedly engaged in the clamping groove formed by the pair of clamping arc grooves 26. A connecting plate 33 is provided on the arc outer wall of both the lifting thruster 5 and the lateral thruster 6. The connecting plate 33 is provided with multiple sets of screw holes distributed in a matrix. The connecting plate 33 on the lifting thruster 5 fits against the inner wall of the side frame 2. A fixing bolt 25 inserted into the screw hole is provided through the side frame 2. The connecting plate 33 on the lateral thruster 6 fits against the lower end face of the mounting plate 3. A fixing bolt 25 installed on the connecting plate 33 is inserted through the upper end of the mounting plate 3.

[0028] By setting up the connection plate 33 and the fixing bolt 25, the lifting thruster 5 and the side thruster 6 are fixedly installed.

[0029] The four sets of lateral thrusters 6 are all offset at one end of the inner side of the mounting frame towards the upper center of the base 1. The lower ends of the front and rear sides of the side frame 2 are provided with extension plates 9. A pair of rotating grooves 16 are provided on the extension plates 9. Telescopic rods 10 are rotatably installed in the rotating grooves 16. The ends of adjacent pairs of telescopic rods 10 are fixedly connected to the base plate 8. An adjusting airbag 17 is provided on the base plate 8.

[0030] By setting up four sets of biased lateral thrusters 6, it is easy to adjust the direction of travel. The lifting thruster 5 is used to adjust the water level of the robot, and the lateral thrusters 6 are used to achieve lateral travel drive, so that the robot moves to the front end of the net.

[0031] Before the movement begins, the telescopic rod 10 is driven by a motor to rotate laterally to a position perpendicular to the side frame 2. At this time, the adjusting airbags 17 are positioned laterally on both sides of the robot, thereby increasing the support area on both sides of the robot's lower end. This helps to maintain the stability of the robot's sides during descent and movement. If the center of gravity shifts due to waves or the cleaning component 13, the telescopic rod 10 is extended to increase the extension length of the adjusting airbags 17, thereby adjusting the lateral buoyancy and achieving the purpose of keeping the robot stable.

[0032] During the cleaning process, the telescopic rod 10 is driven to remain vertical and stable with the side frame 2, thereby forming a support at the lower end. This allows the high-pressure flushing assembly 12 to be suspended in the air. The telescopic rod 10 can be extended and retracted at the lower end to facilitate the adjustment of the cleaning height and make fine adjustments to the cleaning position. This avoids the need to use the pusher for small-amplitude position adjustments and improves the convenience of cleaning adjustment.

[0033] The pressure-resistant tube 7 is fixedly installed in the middle gap between adjacent pairs of side frames 2. A hemispherical guide shroud 20 is provided at one end of the pressure-resistant tube 7 near the cleaning component 13. A camera 21 is provided inside the guide shroud 20. The guide shroud 20 is made of transparent material. Multiple depth sensors 24 are provided on the outer side of the other end of the pressure-resistant tube 7. A control host 22 is provided in the inner cavity of the pressure-resistant tube 7. Four sets of lighting lamps 11 are provided at the front end of the mounting frame. A battery module that supplies power to the lighting lamps 11, the cleaning component 13, and the high-pressure flushing component 12 is provided inside the control host 22. A watertight threaded bolt 23 that seals and extends the power supply wire is provided at the end of the pressure-resistant tube 7. The control host 22 includes a GPS positioning module for underwater positioning and a communication module for wireless connection with ground remote control equipment.

[0034] By combining the lighting 11 and the camera 21, the robot's lower-end operation can be intuitively reflected. The GPS module is used to detect the robot's underwater position to ensure accurate underwater movement. The depth sensor 24 is used to detect the robot's water level. The communication module is used to realize intelligent wireless control and adjustment of the robot.

[0035] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A remotely operated underwater vehicle with a mesh cleaning cable, characterized in that: The remotely operated underwater vehicle includes: The mounting frame includes a base (1) and a pair of side frames (2) distributed on the left and right. The pair of side frames (2) are symmetrically distributed on both sides of the base (1). The upper inner side of each pair of side frames (2) is provided with a pair of buoyancy bladders (4) distributed in front and behind. A cleaning component (13) extending to the outside of the mounting frame is provided on one side of the upper end of the base (1). A counterweight with the same weight as the cleaning component (13) is provided on the other side of the upper end of the base (1). A high-pressure flushing component (12) is provided at the lower end of the base (1). The high-pressure flushing component (12) includes a pair of cleaning jet pipes (19) and a reverse jet pipe (18) extending in opposite directions. The direction of the cleaning jet pipes (19) is the same as the extension direction of the cleaning component (13). The drive assembly includes a pair of lifting thrusters (5) and four sets of matrix-distributed lateral thrusters (6). The pair of lifting thrusters (5) are vertically distributed and fixedly installed between adjacent pairs of buoyancy bladders (4). The four sets of lateral thrusters (6) are fixed on the inner side of the side frame (2). The ends of the four sets of lateral thrusters (6) located on the inner side of the mounting frame are offset towards the upper center of the base (1). The lower ends of the front and rear sides of the side frame (2) are provided with extension plates (9). The extension plates (9) are provided with a pair of rotating grooves (16) distributed in the front and rear. Telescopic rods (10) are rotatably installed in the rotating grooves (16). The ends of adjacent pairs of telescopic rods (10) are fixedly connected to the base plate (8). The base plate (8) is provided with adjusting airbags (17). Pressure-resistant tube (7), the pressure-resistant tube (7) is fixedly installed in the middle gap of an adjacent pair of side frames (2), a hemispherical guide shroud (20) is provided at one end of the pressure-resistant tube (7) near the cleaning assembly (13), a camera (21) is provided inside the guide shroud (20), the guide shroud (20) is made of transparent material, multiple sets of depth sensors (24) are provided on the outside of the other end of the pressure-resistant tube (7), and a control host (22) is provided in the inner cavity of the pressure-resistant tube (7).

2. The remotely operated underwater vehicle with a mesh cleaning cable according to claim 1, characterized in that: The inner side of the side frame (2) is vertically welded with a pair of mounting plates (3) distributed front and back, and the lower end of the buoyancy bladder (4) is fixedly installed on the upper end of the mounting plate (3).

3. The remotely operated underwater vehicle with a mesh cleaning cable according to claim 2, characterized in that: A semi-circular clamping groove (26) is provided on one side end face of a pair of mounting plates (3) distributed front and back. The pair of clamping grooves (26) form a clamping groove, and the outer wall of the middle section of the lifting thruster (5) is fixedly clamped in the clamping groove formed by the pair of clamping grooves (26).

4. The remotely operated underwater vehicle with a mesh cleaning cable according to claim 3, characterized in that: The front end of the mounting frame is provided with four sets of lighting lamps (11). The control host (22) is provided with a battery module that supplies power to the lighting lamps (11), the cleaning component (13), and the high-pressure flushing component (12). The end of the pressure-resistant pipe (7) is provided with a watertight threading bolt (23) that seals and extends the power supply wire. The control host (22) includes a GPS positioning module for underwater positioning and a communication module for wireless connection with ground remote control equipment.

5. The remotely operated underwater vehicle with a mesh cleaning cable according to claim 3, characterized in that: The cleaning assembly (13) includes a mounting base (28), a rotating arm (27), a drive head (14), and a brush (15). The mounting base (28) is bolted to the base (1). The rotating arm (27) is rotatably mounted on the mounting base (28). The end of the rotating arm (27) is provided with a drive head (14). A motor for driving the brush (15) to rotate is provided inside the drive head (14). The brush (15) extends to the outside of the mounting frame.

6. The remotely operated underwater vehicle with a mesh cleaning cable according to claim 5, characterized in that: The high-pressure flushing assembly (12) includes a fixed base (29), the upper end of which is bolted to the middle of the lower end face of the base (1). A water inlet block is rotatably installed at the lower end of the fixed base (29), and a water pump is installed inside the water inlet block. The cleaning spray pipe (19) and the reverse spray pipe (18) are connected to the water pump.

7. The remotely operated underwater vehicle with a mesh cleaning cable according to claim 6, characterized in that: The lower end of the fixed base (29) is provided with a hinge (30), the upper end of the water inlet block is rotatably mounted on the hinge (30), and the lower side wall of the water inlet block is provided with a water inlet (31), the water inlet (31) is in the same direction as the port of the reverse jet pipe (18).

8. The remotely operated underwater vehicle with a mesh cleaning cable according to claim 7, characterized in that: The output end of the water inlet block is provided with a diversion pipe (32), the output end of which is connected to the cleaning spray pipe (19) and the reverse spray pipe (18) respectively. The ends of the cleaning spray pipe (19) and the reverse spray pipe (18) are provided with nozzles.

9. The remotely operated underwater vehicle with a mesh cleaning cable according to claim 3, characterized in that: Both the lifting thruster (5) and the side thruster (6) are provided with connecting discs (33) on their arc-shaped outer walls. The connecting discs (33) are provided with multiple sets of screw holes arranged in a matrix. The connecting discs (33) on the lifting thruster (5) are attached to the inner wall of the side frame (2). The side frame (2) is provided with fixing bolts (25) inserted into the screw holes. The connecting discs (33) on the side thruster (6) are attached to the lower end face of the mounting plate (3). The upper end of the mounting plate (3) is provided with fixing bolts (25) installed on the connecting discs (33).

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