A wall-mounted, unmanned, deep-sea large-scale cage cleaning device

Abstract

This invention discloses a wall-mounted, unmanned, deep-sea large-scale net cage cleaning device, comprising multiple positioning and fixing seats, a movable seat, a motion mechanism, and a cleaning mechanism. The movable seat is located at the movable end of the motion mechanism. The cleaning mechanism includes a self-circulating ballast water assembly, a high-pressure water gun, a cleaning drive assembly, and a brush assembly. The high-pressure water gun sprays high-pressure seawater to rinse objects attached to the netting. The cleaning drive assembly drives the brush assembly to rotate, using the brushes on the brush assembly to scrub the netting. Automatic cleaning can be achieved through a preset program, enabling more comprehensive and efficient automatic cleaning of deep-sea large-scale net cages, greatly reducing the labor intensity of operators and avoiding accidents that may occur in the deep-sea environment. By setting up a high-pressure water gun, a cleaning drive assembly, and a brush assembly, the netting is thoroughly cleaned using both high-pressure seawater rinsing and brush scrubbing, effectively removing various contaminants attached to the netting.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of net cage cleaning devices, and particularly relates to a wall-mounted unmanned deep-sea large net cage cleaning device. BACKGROUND

[0002] Deep-sea large net cages are important facilities in marine fisheries and are used for breeding various fish. Due to long-term immersion in seawater, marine organisms, algae, silt and other pollutants are easily attached to the net cage, which not only affects the service life of the net cage, but also may pose a health threat to the bred fish. Therefore, regular cleaning of the net cage is an important measure to ensure fishery production. At present, the common net cage cleaning methods mainly include manual cleaning, biological cleaning and mechanical cleaning.

[0003] Manual cleaning is the most traditional and direct cleaning method, which mainly relies on manual use of brushes, scrapers and other tools to physically scrape the net cage to remove the attached pollutants. Although this method is simple and easy to implement, it relies on manual work, has high labor intensity, and has high risk in deep-sea environment.

[0004] Although the biological cleaning method can reduce labor costs and has ecological and economic benefits, some control organisms such as mixed fish have specific feeding preferences and cannot completely solve the problem of attachment of fouling organisms. Anti-fouling paint is also an important direction for solving the problem of fouling organisms, but it has high cost and risks of pollution and harm to bred organisms.

[0005] Compared with the above two cleaning methods, the mechanical cleaning method is easier to implement and more suitable for large-scale net cage cleaning operations. However, the existing net cage cleaning robots have low cleaning capacity, still need remote control by technical personnel, and have high requirements for the professional skills of technical personnel, making it difficult to achieve unmanned cleaning. SUMMARY

[0006] The present application aims to provide a wall-mounted unmanned deep-sea large net cage cleaning device to solve one or more technical problems in the background art.

[0007] To achieve this purpose, the present application adopts the following technical solutions:

[0008] A wall-mounted unmanned deep-sea large net cage cleaning device, comprising a plurality of positioning fixing seats, a moving seat, a movement mechanism and a cleaning mechanism, the positioning fixing seat is used to connect with the frame of the net cage, the movement mechanism is arranged on the positioning fixing seat, the moving seat is arranged on the movable end of the movement mechanism, and the cleaning mechanism is arranged on the moving seat, the movement mechanism is used to drive the cleaning mechanism to move along the surface of the netting of the net cage and in the direction close to or away from the netting.

[0009] The cleaning mechanism comprises a self-circulating ballast water assembly, a high-pressure water gun, a cleaning driving assembly and a brush assembly, the self-circulating ballast water assembly is used for extracting seawater and providing the extracted seawater into the high-pressure water gun; the high-pressure water gun is used for spraying high-pressure seawater to wash the objects attached on the net.

[0010] The cleaning driving assembly is used for driving the brush assembly to rotate, and the brush on the brush assembly is used for brushing the net.

[0011] Preferably, the moving mechanism comprises four groups of moving assemblies, the four groups of moving assemblies are symmetrically distributed on two sides of the moving base, the moving assembly comprises a steering structure, a first connecting rod, a first Y-axis hydraulic rod, an extension rod, a second connecting rod, a second Y-axis hydraulic rod and a reinforcing hydraulic rod, the steering structure is arranged on the positioning fixed base, a rotating end of the steering structure is connected with the first Y-axis hydraulic rod through the first connecting rod, an extension end of the first Y-axis hydraulic rod is connected with one end of the extension rod, the other end of the extension rod is connected with the second Y-axis hydraulic rod through the second connecting rod, extension ends of the second Y-axis hydraulic rod are respectively connected with the moving base and one end of the reinforcing hydraulic rod, the other end of the reinforcing hydraulic rod is connected with the middle part of the extension rod, and the reinforcing hydraulic rod, the extension rod and the second Y-axis hydraulic rod form a triangular structure.

[0012] Preferably, the steering structure comprises a transmission gear, a rotating disc, a power motor and a protective cover, the power motor is arranged on the positioning fixed base, the transmission gear is connected with an output end of the power motor, an inner side of the rotating disc is provided with a tooth groove, a tooth part of the transmission gear is matched with the tooth groove, the rotating disc is connected with the first connecting rod, and the protective cover is arranged on an outer side of the rotating disc.

[0013] Preferably, the self-circulating ballast water assembly comprises a ballast water tank, a high-pressure water pipe and a steering knuckle, a plurality of water extraction openings are arranged on an outer side of the ballast water tank, protective nets are arranged on outer sides of the water extraction openings, water outlets are further arranged on two sides of the ballast water tank, one end of the high-pressure water pipe is connected with the water outlet in communication, the other end of the high-pressure water pipe is connected with the high-pressure water gun in communication, and the high-pressure water gun is arranged on the steering knuckle.

[0014] Preferably, the brush assembly comprises a main cleaning large disc and a plurality of auxiliary cleaning small discs, the plurality of auxiliary cleaning small discs are uniformly distributed on an outer side of the main cleaning large disc, an end surface of the main cleaning large disc is provided with a hard vertical brush, and end surfaces of the auxiliary cleaning small discs are provided with flexible vertical brushes and flexible horizontal brushes.

[0015] The cleaning driving assembly comprises a first power gear set, a second power gear set, a power gear box and a cleaning main control box, the brush assembly, the cleaning main control box and the power gear box are sequentially arranged from front to back, the first power gear set is arranged in the power gear box, the second power gear set is arranged in the cleaning main control box, the output end of the first power gear set is connected with the input end of the second power gear set and the main cleaning large disc, and the output end of the second power gear set is connected with a plurality of auxiliary cleaning small discs.

[0016] Preferably, the first power gear set comprises a brush washing driver, a driving gear, a driven gear and a main transmission rod, the driving gear is connected with the output end of the rotating driver, the driving gear is engaged with the driven gear, the main transmission rod is arranged at the end of the driven gear, and the main transmission rod is connected with the main cleaning large disc.

[0017] Preferably, the second power gear set comprises a central power gear, a plurality of peripheral power gears, a peripheral transmission rod and a linkage disc, a plurality of linkage rods are arranged on the outer side of the linkage disc, the linkage rods are connected with the inner side of the central power gear, the peripheral power gears are uniformly distributed on the outer side of the central power gear, the central power gear is engaged with the peripheral power gears, the peripheral power gears are respectively connected with the auxiliary cleaning small discs through the peripheral transmission rods, one end of the linkage disc is connected with the main transmission rod, the other end of the linkage disc is provided with a central transmission rod, and the central transmission rod is connected with the main cleaning large disc.

[0018] Preferably, a plurality of monitoring assemblies are further arranged, the monitoring assemblies are arranged at four corners of the cleaning main control box, the monitoring assembly comprises a three-eye underwater camera and a plurality of light supplementing lamps, and the light supplementing lamps are arranged around the three-eye underwater camera.

[0019] The present application has the advantages that: the positioning fixing seat, the moving seat and the motion mechanism are arranged, so that the cleaning mechanism can move along the surface of the net cover of the net cage and in the direction close to or away from the net cover under the driving of the motion mechanism, the motion and cleaning action of the cleaning mechanism are unmanned operation control, and the automatic cleaning can be realized only by presetting the program, so that the automatic cleaning of the deep-sea large net cage is more comprehensive and efficient, the labor intensity of the operator is greatly reduced, and the accidents caused by working in the deep-sea environment are avoided. The high-pressure water gun, the cleaning driving assembly and the brush assembly are arranged, the net cover is cleaned by using the high-pressure sea water flushing and the brush washing, various pollutants attached to the net cover are effectively removed, and the cleanliness and the breeding environment of the net cage are ensured; the self-circulating ballast water assembly is arranged, the sea water can be extracted as the water source for high-pressure sea water flushing, the recycling of the cleaning water is realized, and the fresh water resources are not consumed. BRIEF DESCRIPTION OF DRAWINGS

[0020] The accompanying drawings are used to further describe the present application, and the contents in the drawings do not constitute any limitation to the present application.

[0021] Figure 1 is a top view structural schematic diagram of a cleaning device of one of the embodiments of the present application;

[0022] Figure 2 is a whole structural schematic diagram of a cleaning device of one of the embodiments of the present application;

[0023] Figure 3 is a side view structural schematic diagram of a cleaning device of one of the embodiments of the present application;

[0024] Figure 4 is a structural schematic diagram of a moving assembly of one of the embodiments of the present application;

[0025] Figure 5 is a structural schematic diagram of a rotating wheel of one of the embodiments of the present application;

[0026] Figure 6 is a side view structural schematic diagram of a cleaning mechanism of one of the embodiments of the present application;

[0027] Figure 7 is a top view structural schematic diagram of a cleaning mechanism of one of the embodiments of the present application;

[0028] Figure 8 is a structural schematic diagram of a first power gear set of one of the embodiments of the present application;

[0029] Figure 9 is a structural schematic diagram of a second power gear set of one of the embodiments of the present application;

[0030] Figure 10 is a cooperation schematic diagram of a main cleaning large disc and an auxiliary cleaning small disc and a cleaning driving assembly of one of the embodiments of the present application;

[0031] Figure 11 is a structural schematic diagram of a brush assembly of one of the embodiments of the present application.

[0032] Wherein: 1, net cage; 1.1, net cover; 1.2, frame; 2, positioning fixed seat; 3, movement assembly; 3.1, steering structure; 3.1.1, power motor; 3.1.2, transmission gear; 3.1.3, rotating wheel disc; 3.2, first connecting rod; 3.3, first Y-axis hydraulic rod; 3.4, telescopic rod; 3.5, second connecting rod; 3.6, second Y-axis hydraulic rod; 3.7, reinforced hydraulic rod; 4, electric power main control system; 5, moving seat; 6, self-circulation ballast water assembly; 6.1, ballast water tank; 6.2, water pumping port; 6.3, protection net; 6.4, water outlet; 6.5, high-pressure water pipe; 6.6, high-pressure water gun; 6.7, steering knuckle; 7, water quality monitoring device; 8, stable connecting rod; 9, power gear box; 10, first power gear set; 10.1, driving gear; 10.2, driven gear; 11, cleaning main control box; 12, second power gear set; 12.1, central power gear; 12.2, linkage disc; 12.3, linkage rod; 12.4, outer peripheral power gear; 13, main transmission rod; 14, brush assembly; 14.1, main cleaning disc; 14.2, hard vertical brush; 14.3, auxiliary cleaning disc; 14.4, flexible vertical brush; 14.5, flexible horizontal brush; 15, central transmission rod; 16, outer peripheral transmission rod; 17, monitoring assembly; 17.1, three-eyed underwater camera; 17.2, light supplementing illuminating lamp. DETAILED DESCRIPTION

[0033] The technical solutions of the present application will be further described below in combination with the drawings and through specific embodiments.

[0034] The wall-mounted unmanned deep-sea large net cage 1 cleaning device of the present embodiment, as shown in the accompanying drawings, comprises four positioning fixed seats 2, a moving seat 5, a movement mechanism and a cleaning mechanism. Figures 1-3 The four positioning fixed seats 2 are symmetrically distributed at the four corners of the frame 1.2 of the net cage 1, and each positioning fixed seat is welded to the frame 1.2; the movement mechanism is arranged on the positioning fixed seat 2, the moving seat 5 is arranged at the movable end of the movement mechanism, and the cleaning mechanism is arranged on the moving seat 5; the movement mechanism is used to drive the cleaning mechanism to move along the surface of the net cover 1.1 of the net cage 1 and in the direction close to or away from the net cover 1.1.

[0035] The movement mechanism comprises a steering structure 3.1, a first connecting rod 3.2, a first Y-axis hydraulic rod 3.3, a telescopic rod 3.4, a second connecting rod 3.5, a second Y-axis hydraulic rod 3.6 and a reinforced hydraulic rod 3.7. Figure 7 The movement mechanism is used to drive the cleaning mechanism to move along the surface of the net cover 1.1 of the net cage 1 and in the direction close to or away from the net cover 1.1. 11 The cleaning mechanism comprises a self-circulation ballast water assembly 6, a high-pressure water gun 6.6, a cleaning drive assembly and a brush assembly 14.

[0036] The cleaning drive assembly is used to drive the brush assembly 14 to rotate, and the brushes on the brush assembly 14 are used to brush and wash the net cover 1.1.

[0037] By setting the positioning fixing seat 2, the moving seat 5 and the movement mechanism, the cleaning mechanism can be driven by the movement mechanism to move along the surface of the net cover 1.1 of the net cage 1 and in the direction close to or away from the net cover 1.1, and the movement and cleaning action of the cleaning mechanism are all unmanned operation control, which can realize automatic cleaning through pre-set program, realize more comprehensive and efficient automatic cleaning of the deep-sea large net cage 1, greatly reduce the labor intensity of the operator, and avoid accidents caused by working in the deep-sea environment. By setting the high-pressure water gun 6.6, the cleaning driving assembly and the brush assembly 14, the net cover 1.1 is thoroughly cleaned by using high-pressure sea water flushing and brush cleaning, various dirt attached to the net cover 1.1 is effectively removed, and the cleanliness of the net cage 1 and the breeding environment are ensured; by setting the self-circulating ballast water assembly 6, sea water can be extracted as the water source for high-pressure sea water flushing, the recycling of cleaning water is realized, and the consumption of fresh water resources is avoided.

[0038] Preferably, referring to the accompanying drawings Figure 4 and 5The moving mechanism comprises four sets of moving assemblies 3 symmetrically distributed on both sides of the moving seat 5. The moving assembly 3 comprises a steering structure 3.1, a first connecting rod 3.2, a first Y-axis hydraulic rod 3.3, an extension rod 3.4, a second connecting rod 3.5, a second Y-axis hydraulic rod 3.6, and a reinforcing hydraulic rod 3.7. The steering structure is arranged on the positioning fixed seat 2. The rotating end of the steering structure is connected with the first Y-axis hydraulic rod 3.3 through the first connecting rod 3.2. The extension end of the first Y-axis hydraulic rod 3.3 is connected with one end of the extension rod 3.4. The other end of the extension rod 3.4 is connected with the second Y-axis hydraulic rod 3.6 through the second connecting rod 3.5. The extension end of the second Y-axis hydraulic rod 3.6 is connected with the moving seat 5 and one end of the reinforcing hydraulic rod 3.7, respectively. The other end of the reinforcing hydraulic rod 3.7 is connected with the middle part of the extension rod 3.4. The reinforcing hydraulic rod 3.7, the extension rod 3.4, and the second Y-axis hydraulic rod 3.6 form a triangular structure. The first connecting rod 3.2 and the first Y-axis hydraulic rod 3.3 are hingedly connected, and the second Y-axis hydraulic rod 3.6 and the moving seat 5 are hingedly connected, so that the first connecting rod 3.2 and the first Y-axis hydraulic rod 3.3 and the second Y-axis hydraulic rod 3.6 and the moving seat 5 can rotate relatively. Thus, when the steering structure rotates, the first connecting rod 3.2 swings, so that the extension rod 3.4 also swings and extends and retracts under the constraint of the first connecting rod 3.2 and the second connecting rod 3.5, so as to adjust the distance between the positioning fixed seat 2 where the power motor 3.1.1 is located and the cleaning mechanism. Thus, by controlling the action of the steering structure 3.1 in each moving assembly 3, the two-dimensional free movement of the cleaning mechanism in the X direction and the Z direction on the plane where the netting 1.1 is located can be realized. By controlling the extension and retraction actions of the first Y-axis hydraulic rod 3.3 and the second Y-axis hydraulic rod 3.6, the distance between the brush assembly 14 and the netting 1.1 can be adjusted, so as to ensure that the brush assembly 14 and the netting 1.1 are kept in close contact during the cleaning process. The reinforcing hydraulic rod 3.7 is used to strengthen the structural strength between the extension rod 3.4 and the second Y-axis hydraulic rod 3.6, so that the support of the cleaning assembly on the brush assembly 14 is more stable. Thus, through the cooperation of the above components, the cleaning device of the embodiment can stably and three-dimensionally move freely on the side of the netting 1.1 of the net cage 1, solves the problem that the traditional mechanical cleaning netting 1.1 gradually moves away from the machine due to the swing of the water flow, improves the stability and flexibility of the underwater cleaning mechanical device, and greatly improves the cleaning capacity and the degree of unmanned.

[0039] Further, the turning structure 3.1 comprises a transmission gear 3.1.2, a rotating wheel disc 3.1.3, a power motor 3.1.1 and a protective cover, the power motor 3.1.1 is arranged on the positioning fixing base 2, the transmission gear 3.1.2 is connected with the output end of the power motor 3.1.1, the inner side of the rotating wheel disc 3.1.3 is provided with a gear slot, the gear part of the transmission gear 3.1.2 is matched with the gear slot, the rotating wheel disc 3.1.3 is connected with the first connecting rod 3.2, and the protective cover is arranged on the outer side of the rotating wheel disc 3.1.3. The protective cover is a semi-open structure, and the opening angle is 90°, and each side is reserved 5° of the movement space of the first connecting rod 3.2, which plays a role of protecting the power motor 3.1.1 and limiting the first connecting rod 3.2. The power motor 3.1.1 is arranged to drive the transmission gear 3.1.2, so as to drive the rotating wheel disc 3.1.3 to rotate, and then generate tension or pressure on one end of the telescopic rod 3.4, so as to realize the swinging and telescoping of the telescopic rod 3.4. The gear part of the transmission gear 3.1.2 is matched with the gear slot, so that efficient power transmission and turning control are realized, and the rotating wheel disc 3.1.3 and the transmission gear 3.1.2 are coaxially rotated.

[0040] Further, the self-circulating ballast water assembly 6 comprises a ballast water tank 6.1, a high-pressure water pipe 6.5 and a turning joint 6.7, the outer side of the ballast water tank 6.1 is provided with a plurality of water suction ports 6.2, the outer side of the water suction port 6.2 is provided with a protective net 6.3, the two sides of the ballast water tank 6.1 are also provided with water outlets 6.4, one end of the high-pressure water pipe 6.5 is communicated with the water outlet 6.4, the other end of the high-pressure water pipe 6.5 is communicated with a high-pressure water gun 6.6, and the high-pressure water gun 6.6 is arranged on the turning joint 6.7. The self-circulating ballast water assembly 6 further comprises a water quality monitoring device 7 for monitoring the water quality of the cleaning water in the ballast water tank 6.1.

[0041] The seawater is extracted from the sea through the water suction port 6.2 for cleaning the net cage 1, so that the cleaning water source is provided in a self-circulating manner, and the water needs not to be frequently obtained from an external water source, which is particularly suitable for deep sea and other environments where water is inconvenient to obtain. The protective net 6.3 arranged on the outer side of the water suction port 6.2 can effectively prevent large-particle impurities and marine organisms from entering the ballast water tank 6.1, so as to ensure the cleanliness of the water quality and the normal operation of the equipment, improve the durability of the self-circulating ballast water assembly 6, and reduce the difficulty of maintenance. The high-pressure water gun 6.6 is arranged on the turning joint 6.7, so that the spraying direction of the high-pressure water gun 6.6 is adjustable, and the cleaning process can cover all corners of the netting 1.1, so as to improve the cleaning efficiency and effect. The high-pressure water gun 6.6 is provided with high-pressure water flow through the pressurization of the ballast water tank 6.1 and the transmission of the high-pressure water pipe 6.5, so that the water gun can spray high-pressure water flow to flush the netting 1.1, and effectively remove the attached dirt and organisms.

[0042] Preferably, referring to the accompanying drawings Figure 10 and 11The brush assembly 14 comprises a main cleaning large disc 14.1 and a plurality of auxiliary cleaning small discs 14.3, the plurality of auxiliary cleaning small discs 14.3 are uniformly distributed on the outer side of the main cleaning large disc 14.1, the end surface of the main cleaning large disc 14.1 is provided with a hard vertical brush 14.2, the end surface of the auxiliary cleaning small disc 14.3 is provided with a flexible vertical brush 14.4 and a flexible horizontal brush 14.5;

[0043] By arranging the main cleaning large disc 14.1 and the plurality of auxiliary cleaning small discs 14.3, the hard vertical brush 14.2 on the main cleaning large disc 14.1 can be used for deep cleaning of dirt and other stains, and the flexible vertical brush 14.4 and the flexible horizontal brush 14.5 on the auxiliary cleaning small disc 14.3 can be used for deep cleaning of the mesh holes of the net 1.1, and since they are flexible, they will not damage the net 1.1, greatly improving the cleaning ability. By arranging two types of brushes and matching high-pressure washing, the overall cleaning from the whole to the details and from the hard to the soft can be completed, and the detailed regulation of the distance between the brush assembly 14 and the net 1.1 by the first Y-axis hydraulic rod 3.3, the second Y-axis hydraulic rod 3.6 and the reinforcing hydraulic rod 3.7 greatly improves the cleaning ability of the device.

[0044] Referring to the accompanying drawings Figure 8 And 9 The cleaning driving assembly comprises a first power gear set 10, a second power gear set 12, a power gear box 9 and a cleaning main control box 11, the brush assembly 14, the cleaning main control box 11 and the power gear box 9 are arranged in sequence from front to back, the power gear box 9 is connected with the ballast water tank 6.1 through a stable connecting rod 8, the first power gear set 10 is arranged in the power gear box 9, the second power gear set 12 is arranged in the cleaning main control box 11, the output end of the first power gear set 10 is connected with the input end of the second power gear set 12 and the main cleaning large disc 14.1, and the output end of the second power gear set 12 is connected with the plurality of auxiliary cleaning small discs 14.3. Through the cooperation of the first power gear set 10 and the second power gear set 12, the main cleaning large disc 14.1 and the auxiliary cleaning small disc 14.3 can be rotated at the same time.

[0045] Preferably, the first power gear set 10 comprises a brush cleaning driver, a driving gear 10.1, a driven gear 10.2, a main transmission rod 13 and the main cleaning large disc 14.1, the driving gear 10.1 is connected with the output end of the rotating driver, the driving gear is engaged with the driven gear 10.2, the main transmission rod 13 is arranged at the end of the driven gear 10.2, and the main transmission rod 13 is connected with the main cleaning large disc 14.1.

[0046] The second power gear set 12 comprises a central power gear 12.1, a plurality of outer peripheral power gears 12.4, an outer peripheral transmission rod 16 and a linkage disc 12.2; the outer side of the linkage disc 12.2 is provided with a plurality of linkage rods 12.3 connected with the inner side of the central power gear 12.1, and the outer peripheral power gears 12.4 are uniformly distributed on the outer side of the central power gear 12.1; the central power gear 12.1 is engaged with the plurality of outer peripheral power gears 12.4; the outer peripheral power gears 12.4 are connected with the plurality of auxiliary cleaning small discs 14.3 through the outer peripheral transmission rod 16 respectively; one end of the linkage disc 12.2 is connected with the main transmission rod 13, and the other end of the linkage disc 12.2 is provided with a central transmission rod 15 connected with the main cleaning large disc 14.1.

[0047] The rotation of the main driving gear 10.1 is driven by the brush washing driver, thereby driving the rotation of the driven gear 10.2 and the main transmission rod 13, achieving the driving of the rotation of the cleaning large disc; at the same time, the linkage disc 12.2 is arranged to transmit the power of the main transmission rod 13 to the second power gear set 12, and the central power gear 12.1 is engaged with the plurality of outer peripheral power gears 12.4, thereby achieving the simultaneous driving of the plurality of auxiliary cleaning small discs 14.3, which is high in power efficiency and ensures the uniformity and consistency of cleaning, thereby ensuring the smooth progress of the cleaning work. The size and transmission ratio of each gear can be adjusted according to actual requirements, so as to adapt to the cleaning requirements of net cages 1 of different specifications and shapes, thereby making the application range of the cleaning device wider.

[0048] Preferably, a plurality of monitoring assemblies 17 are further included, and the plurality of monitoring assemblies 17 are arranged at the four corners of the cleaning main control box 11 respectively; the monitoring assembly 17 comprises a three-eye underwater camera 17.1 and a plurality of light supplementing illuminating lamps 17.2, and the plurality of light supplementing illuminating lamps 17.2 are arranged around the outer periphery of the three-eye underwater camera 17.1.

[0049] The monitoring and cleaning operations can be completed by the built-in electric power main control system 4 of the device, thereby eliminating the complicated steps of traditional mechanical manual release and remote control of cleaning. Through the real-time monitoring of the monitoring assembly 17 and the movement of the cleaning mechanism on the netting 1.1 driven by the movement mechanism, the patrol and real-time monitoring of the netting 1.1 are achieved, and the monitoring data are transmitted to the electric power main control system 4, so that the system judges and implements cleaning, thereby greatly improving the unmanned degree of the device. The three-eye underwater camera 17.1 is used to monitor the netting 1.1 in real time, the light supplementing illuminating lamps 17.2 are used to supplement light to improve the definition when the environment is relatively blurred, the monitoring data are transmitted to the electric power main control system 4 in real time, and the electric power main control system 4 can autonomously judge whether to perform the cleaning work; if it is identified that the netting 1.1 has damage or other abnormal conditions, a prompt information can be sent to the control room in time, the water quality monitoring device 7 keeps a normal running state, and the water quality monitoring data are transmitted to the control room.

[0050] The working principle of the embodiment is that the cleaning mechanism is driven to move along the surface of the net 1.1: the overall control of the movement action is performed by the built-in power main control system 4, the extension length of the first Y-axis hydraulic rod 3.3 and the second Y-axis hydraulic rod 3.6 is controlled, the telescopic rod 3.4 is driven to perform the extension and retraction action, until the telescopic rod 3.4 reaches the approximate horizontal state on the surface of the net 1.1; at this time, the power motor 3.1.1 is started, the rotation of the power motor 3.1.1 drives the telescopic rod 3.4 to swing, and at the same time of swinging, the telescopic rod 3.4 is retracted or extended by a certain distance, so that the adjustment of the distance between the positioning fixed seat 2 where the power motor 3.1.1 is located and the cleaning mechanism is realized; thus, by simultaneously adjusting the rotation of the four groups of steering structures 3.1, the telescopic rod 3.4 is retracted or extended by a certain distance while swinging by a corresponding angle, so that the two-dimensional free movement of the cleaning mechanism in the X direction and the Z direction on the plane where the net 1.1 is located is realized.

[0051] The cleaning mechanism is driven to move in the direction close to or away from the net 1.1; by controlling the first Y-axis hydraulic rod 3.3 to retract, and at the same time controlling the second Y-axis hydraulic rod 3.6 to extend, the reinforcing hydraulic rod 3.7 is inwardly retracted, and the telescopic rod 3.4 is slightly retracted, so that the cleaning mechanism moves in the positive direction of the Y axis, i.e. close to the net 1.1; by controlling the first Y-axis hydraulic rod 3.3 to extend, and at the same time controlling the second Y-axis hydraulic rod 3.6 to retract, the reinforcing hydraulic rod 3.7 is outwardly extended, and the telescopic rod 3.4 is slightly extended, so that the cleaning mechanism moves in the negative direction of the Y axis, i.e. away from the net 1.1.

[0052] In the non-cleaning state: the four groups of positioning fixed discs are welded with the net cage 1 stand, so that the cleaning device is fixed on the side of the net cage 1, the center of the cleaning device is on the same horizontal line as the center of the net 1.1, and the cleaning device is powered by the superstructure of the net cage 1. Through the above movement mode, the cleaning mechanism patrols the side of the net cage 1, and the condition of the net 1.1 is monitored in real time through the three underwater cameras 17.1 in the monitoring assembly 17; when the environment is relatively blurred, the light supplementing illuminating lamp 17.2 can be used for light supplementing to improve the clarity, the monitoring data is transmitted to the power main control system 4 in real time, and whether to perform the cleaning work can be judged by the power main control system 4; if it is identified that the net 1.1 has damage or other abnormal conditions, a prompt information can be sent to the land in time, and the water quality monitoring device 7 remains in the normal running state and transmits the water quality monitoring data to the land.

[0053] When the cleaning state: through the movement mechanism driven cleaning mechanism along the surface of the net clothes 1.1 from the top left to the right movement, and control the distance between the cleaning mechanism and the net clothes 1.1, so that the brush assembly 14 and the net clothes 1.1 always keep the best cleaning distance; start the self-circulation ballast water assembly 6, seawater through the water suction port 6.2 extracted to the ballast water tank 6.1, seawater in the ballast water tank 6.1 is pressurized, and the high pressure water pipe 6.5 in the high pressure water gun 6.6, under the adjustment of the knuckle 6.7, high pressure water from the high pressure water gun 6.6 to the desired direction, realize the high pressure washing of the shell on the net clothes 1.1 attached objects; then start the brush drive, so that the driving gear 10.1 and the driven gear 10.2 meshing transmission, drive the main cleaning large plate 14.1 high speed rotation, at the same time the driven gear 10.2 rotation drive center power gear 12.1 and a plurality of outer peripheral power gear 12.4 meshing transmission,

[0054] Thus, the auxiliary cleaning small plate 14.3 also high speed rotation, thus, under the high speed rotation, the hard vertical brush 14.2 on the main cleaning large plate 14.1 on the dirt mud and other stains for depth cleaning, the flexible vertical brush 14.4 and flexible horizontal brush 14.5 on the secondary cleaning small plate on the net hole details for depth cleaning.

[0055] The above describes the technical principles of the present application in conjunction with specific embodiments. These descriptions are only to explain the principles of the present application, and cannot be explained as limiting the scope of protection of the present application in any way. Based on the explanation here, those skilled in the art can think of other specific embodiments of the present application without creative labor, and these ways will fall within the scope of protection of the present application.

Claims

1. A wall-mounted unmanned deep-sea large net cage cleaning device, characterized in that, The net cleaning device comprises a plurality of positioning fixing bases, a moving base, a moving mechanism and a cleaning mechanism, the positioning fixing bases are used for being connected with the frame of the net cage, the moving mechanism is arranged on the positioning fixing base, the moving base is arranged on the active end of the moving mechanism, and the cleaning mechanism is arranged on the moving base, the moving mechanism is used for driving the cleaning mechanism to move along the surface of the netting of the net cage and in the direction close to or away from the netting. The cleaning mechanism comprises a self-circulating ballast water assembly, a high-pressure water gun, a cleaning driving assembly and a brush assembly, the self-circulating ballast water assembly is used for pumping seawater and providing the pumped seawater into the high-pressure water gun, and the high-pressure water gun is used for spraying high-pressure seawater to wash the objects attached to the netting. The cleaning driving assembly is used for driving the brush assembly to rotate, and the brush on the brush assembly is used for brushing the netting. The self-circulating ballast water assembly comprises a ballast water tank, a high-pressure water pipe and a universal joint, the outer side of the ballast water tank is provided with a plurality of water pumping ports, the outer side of the water pumping port is provided with a protective net, the two sides of the ballast water tank are further provided with water outlets, one end of the high-pressure water pipe is communicated with the water outlet, the other end of the high-pressure water pipe is communicated with the high-pressure water gun, and the high-pressure water gun is arranged on the universal joint. The brush assembly comprises a main cleaning large disc and a plurality of auxiliary cleaning small discs, the plurality of auxiliary cleaning small discs are uniformly distributed on the outer side of the main cleaning large disc, the end surface of the main cleaning large disc is provided with a hard vertical brush, and the end surface of the auxiliary cleaning small disc is provided with a flexible vertical brush and a flexible horizontal brush. The cleaning driving assembly comprises a first power gear set, a second power gear set, a power gear box and a cleaning main control box, the brush assembly, the cleaning main control box and the power gear box are sequentially arranged in front of and behind each other, the first power gear set is arranged in the power gear box, the second power gear set is arranged in the cleaning main control box, the output end of the first power gear set is connected with the input end of the second power gear set and the main cleaning large disc, and the output end of the second power gear set is connected with the plurality of auxiliary cleaning small discs.

2. A wall-mounted unmanned deep-sea large net cage cleaning device according to claim 1, characterized in that, The moving mechanism comprises four groups of moving assemblies, the four groups of moving assemblies are symmetrically distributed on the two sides of the moving base, the moving assembly comprises a turning structure, a first connecting rod, a first Y-axis hydraulic rod, an extension rod, a second connecting rod, a second Y-axis hydraulic rod and a reinforcing hydraulic rod, the turning structure is arranged on the positioning fixing base, the turning end of the turning structure is connected with the first Y-axis hydraulic rod through the first connecting rod, the extension end of the first Y-axis hydraulic rod is connected with one end of the extension rod, the other end of the extension rod is connected with the second Y-axis hydraulic rod through the second connecting rod, the extension end of the second Y-axis hydraulic rod is respectively connected with the moving base and one end of the reinforcing hydraulic rod, the other end of the reinforcing hydraulic rod is connected with the middle part of the extension rod, and the reinforcing hydraulic rod, the extension rod and the second Y-axis hydraulic rod form a triangular structure.

3. A wall-mounted unmanned deep-sea large net cage cleaning device according to claim 2, characterized in that, The steering structure comprises a transmission gear, a rotating disc, a power motor and a protective cover, the power motor is arranged on the positioning fixing base, the transmission gear is connected with the output end of the power motor, the inner side of the rotating disc is provided with a tooth groove, the tooth part of the transmission gear is matched with the tooth groove, the rotating disc is connected with the first connecting rod, and the protective cover is arranged on the outer side of the rotating disc.

4. A wall-mounted unmanned deep-sea large net cage cleaning device according to claim 1, characterized in that, The first power gear set comprises a brushing driver, a driving gear, a driven gear and a main transmission rod, the driving gear is connected with the output end of the brushing driver, the driving gear is engaged with the driven gear, the main transmission rod is arranged at the end of the driven gear, and the main transmission rod is connected with the main cleaning disc.

5. A wall-mounted unmanned deep-sea large net cage cleaning device according to claim 4, characterized in that, The second power gear set comprises a center power gear, a plurality of outer peripheral power gears, an outer peripheral transmission rod and a linkage disc, the outer side of the linkage disc is provided with a plurality of linkage rods, the plurality of linkage rods are connected with the inner side of the center power gear, the outer peripheral power gears are uniformly distributed on the outer side of the center power gear, the center power gear is engaged with the plurality of outer peripheral power gears, the outer peripheral power gears are respectively connected with the plurality of auxiliary cleaning small discs through the outer peripheral transmission rod, one end of the linkage disc is connected with the main transmission rod, the other end of the linkage disc is provided with a center transmission rod, and the center transmission rod is connected with the main cleaning disc.

6. A wall-mounted unmanned deep sea large net cage cleaning device according to claim 1, characterized in that, A plurality of monitoring assemblies are further included, the plurality of monitoring assemblies are respectively arranged at the four corners of the cleaning main control box, the monitoring assembly comprises a three-eye underwater camera and a plurality of light supplementing illuminating lamps, and the plurality of light supplementing illuminating lamps are arranged around the outer periphery of the three-eye underwater camera.

Images