Track walking mechanism of underwater aquaculture cage net cleaning robot, and the robot

Abstract

The present invention discloses a crawler traveling mechanism, in particular a crawler traveling mechanism of an underwater aquaculture cage net cleaning robot and the robot. The crawler traveling mechanism includes crawler chain links formed by connecting each crawler plate to each other in pairs through crawler pins. Hook claws are hinged on the shaft portion of the crawler plates of the crawler chain links. A directional baffle is installed inside the crawler chain links. The directional baffle is provided with a T-shaped groove and extends in the same direction as the side of the crawler chain link that contacts the net surface. Wherein, during the movement of the crawler chain links, the slider portion of the hook claw is inserted into the T-shaped groove of the directional baffle, restricting the claw portion of the hook claw to always be perpendicular to the side of the crawler chain link that contacts the net surface. The claw portion hooks the netting and moves synchronously with the crawler chain link. It solves the technical problem of "the net cleaning robot realizes grasping the net and walking", and can continue to efficiently clean the netting on the premise of ensuring the normal walking of the cleaning robot even in the case of the extreme deformation inclination angle of the netting and the like.

Description

Technical Field

[0001] The present invention relates to a crawler traveling mechanism, particularly a crawler traveling mechanism of an underwater aquaculture cage net cleaning robot. At the same time, the present invention also provides an underwater aquaculture cage net cleaning robot. Background Art

[0002] With the development of fishery equipment technology and the development of mariculture, underwater aquaculture cage net cleaning robots have emerged as the times require. For example, a net cleaning device for a cage net coupling a mechanical turntable and a high-pressure water jet provided in the Chinese invention patent application document with the patent application number 202211391131.8, and a net cleaning device provided in the Chinese utility model patent document with the patent number 202120500150.4.

[0003] In the prior art, an underwater aquaculture cage net cleaning robot / cleaning device adheres to a vertical net surface under the action of a thruster. The crawler traveling mechanism only drives the net cleaning robot / cleaning device to crawl on the net through the frictional force between the crawler and the net surface. Considering situations such as the ultimate deformation inclination angle of the net, the net cleaning robot / cleaning device may not be able to continue to reliably adhere to the net surface (the contact area decreases). The crawler traveling mechanism with the above structure is extremely likely to lose its traveling ability, affecting the cleaning effect and efficiency, and even falling from the vertical net surface, resulting in the interruption of net cleaning.

[0004] In addition, in the prior art, an underwater aquaculture cage net cleaning robot / cleaning device mainly uses cavitation jet technology to clean the net. It requires a large amount of power consumption to generate high-pressure jets, and also has extremely high pressure resistance requirements for transmission pipelines. The thick and hard pipelines make the net cleaning robot / cleaning device move inflexibly in water, and it is difficult to wind and unwind the pipelines. The high-speed jet lines affect the adhesion between the net cleaning robot / cleaning device and the net. Insufficient adhesion leads to a large water resistance, affecting the cleaning effect. The explosion of cavitation bubbles and the operation noise of high-power equipment will startle fish schools, affecting the growth of fish schools and even causing death.

[0005] Therefore, the present invention is proposed. Summary of the Invention

[0006] An object of the present invention is to provide a crawler traveling mechanism to enable an underwater aquaculture cage net cleaning robot to achieve grasping and walking on the net.

[0007] Another object of the present invention is to provide an underwater aquaculture cage net cleaning robot to improve the flexibility and cleaning effect of the net cleaning robot.

[0008] To achieve the above object, a crawler traveling mechanism of an underwater aquaculture cage net cleaning robot designed by the present invention includes a crawler chain formed by connecting each crawler plate to each other in pairs through crawler pins. Its structure is as follows:

[0009] Each track shoe includes a first plate part and a second plate part that are symmetrically distributed, and a shaft part located between the first plate part and the second plate part and connecting the two;

[0010] Hook claws are hinged on the shaft part of the track shoe of the track chain link. Each hook claw includes a slider part with a T-shaped cross section, and a hook claw part extending outward from the slider part for hooking the netting;

[0011] A directional baffle is installed inside the track chain link. The directional baffle is provided with a T-shaped groove and extends in the same direction as the side of the track chain link that contacts the net surface;

[0012] Among them, during the movement of the track chain link, the slider part of the hook claw is inserted into the T-shaped groove of the directional baffle, restricting the hook claw part of the hook claw to always be perpendicular to the side of the track chain link that contacts the net surface. The hook claw part hooks the netting and moves synchronously with the track chain link.

[0013] The above track walking mechanism is applied to an underwater aquaculture cage netting cleaning robot. During the process of the cleaning robot walking on the cage netting, the hook claws on the side of the track chain link that contacts the net surface can hook the netting and move synchronously with the track chain link, realizing the cleaning robot to grab the net and walk. Even in the case of the extreme deformation inclination angle of the netting, etc., the track walking mechanism of the cleaning robot can still effectively fit the net surface by tightly hooking the netting, ensuring that the cleaning robot can continue to clean the netting efficiently on the premise of normal walking. Even when the force driving the cleaning robot to fit the net surface disappears (propeller failure), the cleaning robot can still stably climb on the vertical net surface, ensuring that the cleaning action of the cleaning robot is not interrupted.

[0014] For the above track walking mechanism of an underwater aquaculture cage netting cleaning robot, the specific installation structure of the directional baffle inside the track chain link is preferably:

[0015] Two ends of the directional baffle are respectively installed on the driving wheel shaft and the driven wheel shaft of the track walking mechanism.

[0016] In the above preferred technical solution, the installation structure of the directional baffle inside the track chain link is simple and the installation is stable.

[0017] To achieve the above object, an underwater aquaculture cage netting cleaning robot designed by the present invention includes:

[0018] A robot main body, including a steering seat, a steering body pivotally connected to the steering seat, and a motor that drives the steering body to rotate self - by a transmission mechanism; the motor is installed on the steering seat;

[0019] The track walking mechanism as described above;

[0020] And a propeller;

[0021] The crawler walking mechanism is installed on the steering seat, the propeller is installed on the steering body, and the propulsion direction is switched during the rotation of the steering body.

[0022] In the above-mentioned underwater aquaculture cage net cleaning robot, the thrusters in its structure are preferably evenly distributed in the circumference direction of the steering body at a set angle, wherein the aforementioned set angle is further preferably selected to be 90°, that is, the number of thrusters is preferably selected to be four.

[0023] The above-mentioned underwater aquaculture cage net cleaning robot has a robot main body structure including a steering seat and a steering body pivotally connected to the steering seat. During the rotation of the steering body, the specific propulsion direction of the propeller on the steering body changes in real time. Therefore, the net cleaning robot's sneaking direction in the water can be controlled at will only by adjusting the rotation of the steering body, thereby improving the cleaning robot's flexibility in the process of sneaking in the water.

[0024] The above-mentioned underwater aquaculture cage net cleaning robot, the specific structure of the transmission mechanism in its structure is preferably selected as follows:

[0025] A gear ring is formed on the outer surface of the steering body and extends in the circumferential direction thereof. A transmission connecting gear is provided on the motor and meshes with the gear ring on the steering body.

[0026] In the above preferred technical solution, the transmission mechanism between the motor and the steering body has a simple structure and good transmission stability.

[0027] In the above-mentioned underwater aquaculture cage net cleaning robot, the specific pivot structure of the steering body and the steering seat in the structure is preferably selected as follows:

[0028] A groove is arranged on the outer side surface of the steering body and extends in the circumference direction thereof. A movable ball rack is arranged in the groove, and the balls on the ball rack are embedded in the inner side surface of the steering seat.

[0029] In the above preferred technical solution, the pivot structure between the steering body and the steering seat is simple, and the steering body can only rotate relative to the steering seat, and the rotation stability is good.

[0030] Furthermore, the above-mentioned underwater aquaculture cage net cleaning robot, in its structure, the robot main body also includes:

[0031] The shield winch device comprises a paddle-type propeller and a cleaning shield winch, wherein two output shafts of a dual-output motor in the paddle-type propeller are respectively connected to the paddle and the cleaning shield winch;

[0032] Among them, a through hole is provided on the steering body, the shield winch device is placed in the through hole of the steering body, the dual-output motor is installed on the steering body, the cleaning shield winch, the paddle blades and the through hole maintain a coaxial structure, the scraper and the brush on the cleaning shield winch extend out of the through hole, and are always in contact with the surface of the net during the operation of the underwater aquaculture cage net cleaning robot.

[0033] A further preferred technical solution for the above-mentioned underwater aquaculture cage net cleaning robot is that the shield winch device in the robot body is achieved by coaxially installing the cleaning shield winch and the paddle-type propeller. While the scraper and brush of the cleaning shield winch scrape the cage net, the paddle-type propeller rotates to pump water and flush the net. The mechanical energy of the water flow can also push the net cleaning robot close to the net, thereby enhancing the fitting force between the net cleaning robot and the net surface, thereby achieving efficient decontamination by scraping, brushing and flushing.

[0034] At the same time, the above-mentioned shield winch device adopts a modular design. By coaxially installing the cleaning shield winch and the paddle propeller, the same device can achieve the positive effects of net sticking and cleaning, reducing resource waste and providing the possibility for lightweight equipment.

[0035] Furthermore, in the above-mentioned underwater aquaculture cage net cleaning robot, the surface of the output shaft of the dual-output motor transmission connected to the cleaning shield winch is formed with a blade for cutting foreign matter wrapped around the output shaft.

[0036] The above-mentioned further preferred technical scheme provides an underwater aquaculture cage net cleaning robot. When the paddle propeller rotates to pump water and flush the net, foreign matter in the water (water plants, suspended human garbage, etc.) that is sucked into the through hole of the steering body along with the water flow and entangled on the output shaft will be cut by the blade on the output shaft along with the rotational force, thereby effectively avoiding the situation of "failure of the paddle propeller motor due to foreign matter in the water entangled on the output shaft".

[0037] Compared with the prior art, the crawler walking mechanism of the underwater aquaculture cage net cleaning robot and the robot obtained by the present invention have the following technical effects:

[0038] 1. A crawler walking mechanism obtained by the present invention is applied to an underwater aquaculture cage net cleaning robot. The cleaning robot can grasp the net and walk on the cage net. Even if the net is deformed to an extreme angle, the crawler walking mechanism of the cleaning robot can still effectively fit the net surface by tightly hooking the net, ensuring that the cleaning robot can continue to clean the net efficiently under the premise of normal walking. Even when the force driving the cleaning robot to fit the net surface disappears (thruster failure), the cleaning robot can still stably cling to the vertical net surface, ensuring that the cleaning action of the cleaning robot is not interrupted.

[0039] 2. The underwater aquaculture cage net cleaning robot obtained by the present invention can arbitrarily control the net cleaning robot's sneaking direction in the water, thereby improving the cleaning robot's flexibility during the sneaking process in the water.

[0040] 3. The invention provides an underwater aquaculture cage net cleaning robot, in which the shield winch device in the robot body is achieved by coaxially installing the cleaning shield winch and the paddle propeller. While the scraper and brush of the cleaning shield winch scrape the cage net, the paddle propeller rotates to pump water and flush the net. The mechanical energy of the water flow can also push the net cleaning robot close to the net, thereby enhancing the fitting force between the net cleaning robot and the net surface, and achieving efficient decontamination by scraping, brushing and flushing.

[0041] 4. The underwater aquaculture cage net cleaning robot obtained by the present invention has a shield winch device in the robot body with a modular design. By coaxially installing and driving the cleaning shield winch and the paddle propeller, the same device can achieve the positive effects of net sticking and cleaning, reducing resource waste and providing the possibility of lightweight equipment.

[0042] 5. The crawler walking mechanism of the underwater aquaculture cage net cleaning robot and the robot obtained by the present invention have a simple and reasonable structure and good structural stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 It is a three-dimensional structural diagram of a crawler walking mechanism;

[0044] Figure 2 It is a schematic diagram of the orthographic projection structure of a crawler walking mechanism;

[0045] Figure 3 yes Figure 2 Schematic diagram of the cross-sectional structure at AA in the middle;

[0046] Figure 4 It is a three-dimensional structural diagram of a crawler walking mechanism (the track shoes are not shown);

[0047] Figure 5 yes Figure 4 A schematic diagram of the local enlarged structure at C in the middle;

[0048] Figure 6 It is a schematic diagram of the assembly structure of the hook and the track shoe;

[0049] Figure 7 It is a structural schematic diagram of an underwater aquaculture cage net cleaning robot;

[0050] Figure 8 It is a schematic diagram of the assembly structure of the steering body and the shield winch device;

[0051] Figure 9It is a schematic diagram of the orthographic projection structure of the assembly of the steering body and the shield winch device;

[0052] Figure 10 yes Figure 9 Schematic diagram of the cross-sectional structure at the middle BB;

[0053] Figure 11 It is a structural schematic diagram of a shield winch device.

[0054] In the figure: track chain link 1, hook 2, slider part 2-1, hook part 2-2, directional baffle 3, T-slot 3-1, driving wheel shaft 4, driven wheel shaft 5, steering seat 6, steering body 7, gear ring 7-1, through hole 7-2, motor 8, propeller 9, gear 10, track shoe 11, plate part 11-1, plate part 2 11-2, shaft 11-3, ball rack 12, ball 12-1, blade propeller 13, dual output motor 13-1, blade 13-2, cleaning shield winch 14, blade 15. DETAILED DESCRIPTION

[0055] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0056] like Figures 1-6 As shown, as an embodiment of the present invention, a crawler walking mechanism of an underwater aquaculture cage net cleaning robot provided in this embodiment includes a crawler chain 1 formed by connecting each crawler plate 11 to each other through a crawler pin (not shown in the figure), wherein:

[0057] Each track shoe 11 includes a symmetrically distributed plate portion 11-1 and a plate portion 11-2, and a shaft portion 11-3 located between the plate portion 11-1 and the plate portion 11-2 and connecting the two;

[0058] The hook claws 2 are hinged on the shaft 11-3 of the crawler shoe 11 of the crawler chain link 1, and each hook claw 2 includes a slider portion 2-1 with a T-shaped cross section, and a hook claw portion 2-2 extending outward from the slider portion 2-1 and used for hooking the net;

[0059] A directional baffle 3 is installed in the crawler chain ring 1, and the directional baffle 3 is provided with a T-shaped groove 3-1 and extends in the same direction as the side of the crawler chain ring 1 that contacts the mesh surface;

[0060] During the movement of the crawler link 1, the slider portion 2-1 of the hook 2 is inserted into the T-shaped groove 3-1 of the orientation baffle 3, restricting the hook portion 2-2 of the hook 2 to always be perpendicular to the surface of the crawler link 1 that contacts the net surface. The hook portion 2-2 hooks the netting and moves synchronously with the crawler link 1.

[0061] In this embodiment, the specific installation structure of the orientation baffle 3 inside the crawler link 1 is as follows:

[0062] The two end portions of the orientation baffle 3 are respectively installed on the driving wheel shaft 4 and the driven wheel shaft 5 of the crawler traveling mechanism. The installation structure of the orientation baffle 3 is simple and the installation is stable.

[0063] The above crawler traveling mechanism is applied to an underwater aquaculture cage netting cleaning robot. During the process of the cleaning robot walking on the cage netting, the hooks on the crawler link 1 on the side that contacts the net surface can hook the netting and move synchronously with the crawler link 1, realizing the cleaning robot grasping the net and walking. Even in the case of the extreme deformation inclination angle of the netting, etc., the crawler traveling mechanism of the cleaning robot can tightly hook the netting, and then still be able to effectively fit the net surface, ensuring that the cleaning robot can continue to efficiently clean the netting on the premise of normal walking. Even when the force driving the cleaning robot to fit the net surface disappears (propeller failure), the cleaning robot can still stably cling to the vertical net surface, ensuring that the cleaning action of the cleaning robot is not interrupted.

[0064] Meanwhile, as Figures 7 to 10 shown, this embodiment also provides an underwater aquaculture cage netting cleaning robot, which includes:

[0065] A robot main body, including a steering base 6, a steering body 7 pivotally connected to the steering base 6, and a motor 8 that drives the steering body 7 to rotate self - by a transmission mechanism; the motor 8 is installed on the steering base 6;

[0066] The crawler traveling mechanism as described above;

[0067] And a propeller 9;

[0068] Wherein, the crawler traveling mechanism is installed on the steering base 6, the propeller 9 is installed on the steering body 7, and the propulsion direction is switched during the self - rotation of the steering body 7.

[0069] In this embodiment, four propellers 9 are evenly distributed in a circumferential direction of the steering body 7 at a set angle of 90°.

[0070] In this embodiment, the specific structure of the transmission mechanism is as follows:

[0071] A gear ring 7-1 is formed on the outer surface of the steering body 7 and extends in the circumferential direction thereof. A transmission connecting gear 10 is connected to the motor 8 and meshes with the gear ring 7-1 on the steering body 7. The transmission mechanism has a simple structure and good transmission stability.

[0072] The specific pivoting structure of the steering body 7 and the steering seat 6 in this embodiment is as follows:

[0073] A groove is provided on the outer surface of the steering body 7 and extends in the circumferential direction thereof. A movable ball rack 12 is provided in the groove. The balls 12-1 on the ball rack 12 are embedded in the inner surface of the steering seat 6. The pivot structure is simple. The steering body 7 can only rotate relative to the steering seat 6, and the rotation stability is good.

[0074] The above-mentioned underwater aquaculture cage net cleaning robot has a robot main body structure including a steering seat 6 and a steering body 7 pivotally connected to the steering seat 6. During the rotation of the steering body 7, the specific propulsion direction of the propeller 9 on the steering body 7 changes in real time. Therefore, the net cleaning robot can be arbitrarily controlled in its diving direction in the water only by adjusting the rotation of the steering body 7, thereby improving the flexibility of the cleaning robot in the diving process in the water.

[0075] The robot body in this embodiment further includes:

[0076] The shield winch device comprises a paddle-type propeller 13 and a cleaning shield winch 14, wherein two output shafts of a dual-output motor 13-1 in the paddle-type propeller 13 are respectively connected to the paddle 13-2 and the cleaning shield winch 14;

[0077] Among them, the steering body 7 is provided with a through hole 7-2, the shield winch device is placed in the through hole 7-2 of the steering body 7, the dual-output motor 13-1 is installed on the steering body 7, the cleaning shield winch 14, the paddle 13-2 and the through hole 7-2 maintain a coaxial structure, the scraper and brush on the cleaning shield winch 14 extend outside the through hole 7-2, and are always in contact with the surface of the net during the operation of the underwater aquaculture cage net cleaning robot.

[0078] The shield winch device in the above-mentioned underwater aquaculture cage net cleaning robot is achieved by coaxially installing the cleaning shield winch 14 and the paddle propeller 13. While the scraper and brush of the cleaning shield winch 14 scrape the cage net, the paddle propeller 13 rotates to pump water and flush the net. The mechanical energy of the water flow can also push the net cleaning robot close to the net, thereby enhancing the fitting force between the net cleaning robot and the net surface, thereby achieving efficient decontamination by scraping, brushing and flushing.

[0079] Meanwhile, the above-mentioned shield twisting device adopts a modular design. By coaxially installing and driving the cleaning shield winch 14 and the paddle-type thruster 13, the same device realizes the forward functions of net pasting and cleaning, reduces resource waste, and makes it possible to provide a lightweight device.

[0080] As the second embodiment of the present invention, an underwater aquaculture cage netting cleaning robot provided in this embodiment has a general structure that is consistent with the foregoing first embodiment. As Figure 11 shown, however, an underwater aquaculture cage netting cleaning robot provided in this embodiment has a structure in which the output shaft surface of the double-output motor 13-1 is drivingly connected to the cleaning shield winch 14 to form a blade 15 for cutting foreign objects wound around the output shaft.

[0081] In an underwater aquaculture cage netting cleaning robot in this embodiment, during the process of the paddle-type thruster 13 rotating to pump water to wash the netting, foreign objects (such as waterweeds and suspended human garbage) in the water body that are sucked into the through hole 7-2 of the turning body 7 and wound around the output shaft along with the water flow will be cut by the blade 15 on the output shaft under the rotational force, thereby effectively avoiding the situation of "motor failure of the paddle-type thruster 13 caused by foreign objects in the water body winding around the output shaft".

[0082] The present invention is not limited to the above-mentioned best embodiment. Anyone can obtain other various forms of products under the inspiration of the present invention. However, no matter what changes are made in its shape or structure, as long as it has a technical solution that is the same as or similar to the present application, it falls within the protection scope of the present invention.

Claims

1. A crawler walking mechanism of an underwater aquaculture cage net cleaning robot, comprising crawler chain links formed by track plates connected in pairs through track pins, characterized in that: Each track shoe comprises a symmetrically distributed plate portion 1 and a plate portion 2, and a shaft portion located between the plate portion 1 and the plate portion 2 and connecting the two; A hook is hinged on the track shoe shaft of the track link, each hook comprising a slider portion having a T-shaped cross section and a hook portion extending outward from the slider portion and used for hooking a net; A directional baffle is installed in the crawler chain ring, wherein the directional baffle is provided with a T-shaped groove and extends in the same direction as the side of the crawler chain ring that contacts the mesh surface; Among them, during the movement of the crawler chain link, the slider part of the hook claw is inserted into the T-slot of the directional baffle, and the hook claw part of the restricted hook claw is always perpendicular to the side of the crawler chain link that contacts the net surface. The hook claw part hooks the net and moves synchronously with the crawler chain link.

2. The crawler traveling mechanism of the underwater aquaculture cage net cleaning robot according to claim 1, characterized in that The specific installation structure of the directional baffle in the crawler chain ring is: The two ends of the directional baffle are respectively mounted on the driving wheel shaft and the driven wheel shaft of the crawler walking mechanism.

3. An underwater aquaculture cage net cleaning robot, characterized in that include: The robot body includes a steering seat, a steering body pivotally connected to the steering seat, and a motor that drives the steering body to rotate through a transmission mechanism; the motor is installed on the steering seat; The crawler walking mechanism as described in claim 1 above; and, thrusters; The crawler walking mechanism is installed on the steering seat, the propeller is installed on the steering body, and the propulsion direction is switched during the rotation of the steering body.

4. The underwater aquaculture cage net cleaning robot according to claim 3, wherein: The propellers are evenly distributed in the circumferential direction of the steering body at a set angle.

5. An underwater aquaculture cage net cleaning robot according to claim 3 or 4, characterized in that The specific structure of the transmission mechanism is: A gear ring is formed on the outer surface of the steering body and extends in the circumferential direction thereof. A transmission connecting gear is provided on the motor and meshes with the gear ring on the steering body.

6. An underwater aquaculture cage net cleaning robot according to claim 3 or 4, characterized in that The specific pivoting structure of the steering body and the steering seat is: A groove is arranged on the outer side surface of the steering body and extends in the circumference direction thereof. A movable ball rack is arranged in the groove, and the balls on the ball rack are embedded in the inner side surface of the steering seat.

7. An underwater aquaculture cage net cleaning robot according to claim 3 or 4, characterized in that The robot body further includes: The shield winch device comprises a paddle-type propeller and a cleaning shield winch, wherein two output shafts of a dual-output motor in the paddle-type propeller are respectively connected to the paddle and the cleaning shield winch; Among them, a through hole is provided on the steering body, the shield winch device is placed in the through hole of the steering body, the dual-output motor is installed on the steering body, the cleaning shield winch, the paddle blades and the through hole maintain a coaxial structure, the scraper and the brush on the cleaning shield winch extend out of the through hole, and are always in contact with the surface of the net during the operation of the underwater aquaculture cage net cleaning robot.

8. The underwater aquaculture cage net cleaning robot according to claim 5, characterized in that The robot body further includes: The shield winch device comprises a paddle-type propeller and a cleaning shield winch, wherein two output shafts of a dual-output motor in the paddle-type propeller are respectively connected to the paddle and the cleaning shield winch; Among them, a through hole is provided on the steering body, the shield winch device is placed in the through hole of the steering body, the dual-output motor is installed on the steering body, the cleaning shield winch, the paddle blades and the through hole maintain a coaxial structure, the scraper and the brush on the cleaning shield winch extend out of the through hole, and are always in contact with the surface of the net during the operation of the underwater aquaculture cage net cleaning robot.

9. The underwater aquaculture cage net cleaning robot according to claim 6, characterized in that The robot body further includes: The shield winch device comprises a paddle-type propeller and a cleaning shield winch, wherein two output shafts of a dual-output motor in the paddle-type propeller are respectively connected to the paddle and the cleaning shield winch; Among them, a through hole is provided on the steering body, the shield winch device is placed in the through hole of the steering body, the dual-output motor is installed on the steering body, the cleaning shield winch, the paddle blades and the through hole maintain a coaxial structure, the scraper and the brush on the cleaning shield winch extend out of the through hole, and are always in contact with the surface of the net during the operation of the underwater aquaculture cage net cleaning robot.

10. The underwater aquaculture cage net cleaning robot according to claim 9, characterized in that The surface of the output shaft of the double-output motor transmission-connected cleaning shield winch is formed with a blade for cutting foreign matter wound around the output shaft.

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