An underwater cage cleaning robot

Abstract

The present invention belongs to the technical field of underwater cage cleaning robots, and in particular, is an underwater cage cleaning robot, comprising two mounting side panels, a cleaning robot assembly is fixedly mounted between the two mounting side panels, an ultrasonic cleaning mechanism is also arranged between the two mounting side panels, and a floating fitting mechanism is arranged between the two mounting side panels and the ultrasonic cleaning mechanism, and the two floating fitting mechanisms are symmetrically distributed. The cleaning principle of the present invention combines a non-contact ultrasonic cleaning mechanism and two contact brushing mechanisms to complete the cleaning of the cage. The ultrasonic cleaning mechanism and the two brushing mechanisms are structurally provided with a floating fitting technology by two floating fitting mechanisms, so that the ultrasonic cleaning mechanism and the two brushing mechanisms can always be close to the cage, thereby completing effective cleaning. In addition, the cleaning methods of the ultrasonic cleaning mechanism and the brushing mechanism have the advantages of low energy consumption and low cost, thereby also improving the cost performance of the entire device.

Description

Technical Field

[0001] The invention relates to the technical field of underwater net cage cleaning robots, and in particular to an underwater net cage cleaning robot. Background Art

[0002] At present, the research on underwater cleaning of cages has generally not won the market. There are currently two technical ideas for the technical research on cage cleaning at home and abroad:

[0003] The principle of high-pressure water gun is used to impact the cage with high-pressure water flow greater than 20Mpa to achieve the cleaning effect. For example, a company using this technical idea has manufactured the Racemaster3.0 cage cleaning robot, which consists of a high-pressure jet cleaning disc, an underwater propeller and a hydraulic drive system. Its advantage is that it can indeed achieve the cleaning effect, but due to its working principle, the product is not practical and too expensive. The main performance is as follows: 1. This product requires a huge underwater power source to provide powerful power for the high-pressure jet and hydraulic drive system. Therefore, the robot is large in size and requires professional personnel to operate, which does not meet the actual situation of front-line operators in the fishery industry, and the cost is extremely expensive; 2. Due to excessive energy consumption, it cannot operate underwater for a long time. It needs to float up to replenish energy within 1 hour, which is inconvenient to use;

[0004] 2. Contact cleaning technology: This technology uses a contact cleaning brush to clean the cage against the wall. The advantage of this technology is that it can achieve the cleaning effect in a breeding environment with a fixed outline and no aquatic products attached to the cage wall. However, the wall-mounted cleaning does not conform to the actual cleaning process and has not formed a market effect. The main manifestations are as follows: most cages are soft and deformed. If the wall-mounted cleaning structure cannot adapt to the deformation of the cage, it cannot be effectively cleaned. In order to make up for the shortcomings of the above two technical ideas, an underwater cage cleaning robot is proposed. Summary of the invention

[0005] In order to solve the shortcomings in the prior art, the present invention proposes an underwater cage cleaning robot.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: an underwater cage cleaning robot, comprising two mounting side panels, a cleaning robot assembly is fixedly installed between the two mounting side panels, an ultrasonic cleaning mechanism is also arranged between the two mounting side panels, a floating fitting mechanism is arranged between the two mounting side panels and the ultrasonic cleaning mechanism, the two floating fitting mechanisms are symmetrically distributed, a brushing mechanism is arranged on the top and bottom of the ultrasonic cleaning mechanism, the two brushing mechanisms are symmetrically distributed in the center, a propulsion mechanism is arranged on the back of the ultrasonic cleaning mechanism, the ultrasonic cleaning mechanism is used to generate cavitation bubbles underwater to clean the cage, the two brushing mechanisms are used to clean the cage, the propulsion mechanism is used to drive the ultrasonic cleaning mechanism and the two brushing mechanisms to be close to the cage, the two floating fitting mechanisms are used to drive the ultrasonic cleaning mechanism and the two brushing mechanisms to always be close to the cage, and the cleaning robot assembly is used to drive the ultrasonic cleaning mechanism to move up and down and left and right.

[0007] Preferably, the cleaning robot assembly includes two vertical plates, which are respectively fixedly connected to corresponding mounting side plates, and a horizontal frame 2 and a horizontal frame 1 are fixedly installed between the two vertical plates, the horizontal frame 2 is located above the horizontal frame 1, and four bottom blocks distributed in a rectangular shape are fixedly installed on the bottom of the horizontal frame 1, and four underwater thrusters 1 distributed in a rectangular shape are fixedly installed on the top of the horizontal frame 1, and the two diagonally arranged underwater thrusters are arranged in the same direction, and two underwater thrusters 2 are fixedly installed on the horizontal frame 1 in a through-type manner.

[0008] Preferably, an underwater camera is fixedly installed at the bottom of the second horizontal frame, and fill lights are fixedly installed on the sides of the two vertical plates close to each other.

[0009] Preferably, the ultrasonic cleaning mechanism comprises a sealed chamber with an opening on one side, a vibration plate is fixedly installed at the opening of the sealed chamber, a plurality of ultrasonic vibrators are arranged in the sealed chamber, and the plurality of ultrasonic vibrators are fixedly connected to the vibration plate.

[0010] Preferably, the brushing mechanism includes a mounting plate, and the mounting plates on the two brushing mechanisms are respectively fixedly connected to the top and bottom of the closed chamber, and a motor is fixedly installed on the side of the mounting plate away from the closed chamber and a roller brush is rotatably installed, and the output shaft of the motor and the end of the roller brush are respectively fixedly installed with pulley one and pulley two, and the same synchronous belt is provided on pulley one and pulley two.

[0011] Preferably, the propulsion mechanism includes a mounting frame, two mounting frames are fixedly mounted on a side of the closed chamber away from the opening, two underwater thrusters three are fixedly mounted on the sides close to the two mounting frames, and the four underwater thrusters three are distributed in a rectangular shape.

[0012] Preferably, the floating fitting mechanism includes two limit sleeves, both limit sleeves are fixedly connected to the corresponding mounting side plates, a guide rod is slidably installed through the limit sleeve, a ball head 1 and a ball head 2 are fixedly installed at both ends of the guide rod, the movable sleeves on the two ball heads 1 are provided with the same bushing seat 1, the movable sleeves on the two ball heads 2 are provided with the same bushing seat 2, and the two bushing seats 1 on the two floating fitting mechanisms are fixedly connected to the two sides of the closed warehouse respectively on their sides that are close to each other.

[0013] Compared with the prior art, the present invention has the following beneficial effects:

[0014] The cleaning principle of the present invention combines a non-contact ultrasonic cleaning mechanism and two contact brushing mechanisms to complete the cleaning of the net cage. The ultrasonic cleaning mechanism and the two brushing mechanisms have a floating fitting technology provided by two floating fitting mechanisms in their structures, so that the ultrasonic cleaning mechanism and the two brushing mechanisms can always be close to the net cage, thereby completing effective cleaning. In addition, the cleaning methods of the ultrasonic cleaning mechanism and the brushing mechanism have the advantages of low energy consumption and low cost, thereby also improving the cost performance of the entire device. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a schematic diagram of the overall structure of an underwater cage cleaning robot proposed by the present invention;

[0016] Figure 2 This is a structural schematic diagram of a cleaning robot assembly in an underwater cage cleaning robot proposed by the present invention;

[0017] Figure 3 This is a schematic diagram of the structure of an underwater cage cleaning robot proposed by the present invention, excluding the cleaning robot assembly and two mounting side panels;

[0018] Figure 4 This is an exploded view of an ultrasonic cleaning mechanism in an underwater cage cleaning robot proposed by the present invention;

[0019] Figure 5 This is a structural schematic diagram of a brushing mechanism in an underwater cage cleaning robot proposed by the present invention;

[0020] Figure 6 This is a partial structural schematic diagram of a propulsion mechanism in an underwater cage cleaning robot proposed by the present invention;

[0021] Figure 7 This is an exploded view of the floating bonding mechanism in the underwater cage cleaning robot proposed by the present invention.

[0022] In the figure: 1. Install the side panel; 2. Cleaning robot assembly; 21. Vertical plate; 22. Cross frame 1; 23. Bottom block; 24. Cross frame 2; 25. Underwater camera; 26. Underwater thruster 1; 27. Fill light; 28. Underwater thruster 2; 3. Ultrasonic cleaning mechanism; 31. Sealed chamber; 32. Vibrating plate; 33. Ultrasonic vibrator; 4. Floating fitting mechanism; 41. Limiting sleeve; 42. Guide rod; 43. Ball head 1; 44. Bushing seat 1; 45. Ball head 2; 46. Bushing seat 2; 5. Brushing mechanism; 51. Mounting plate; 52. Roller brush; 53. Motor; 54. Pulley 1; 55. Pulley 2; 6. Propulsion mechanism; 61. Mounting frame; 62. Underwater thruster 3. DETAILED DESCRIPTION

[0023] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. 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 without creative work are within the scope of protection of the present invention.

[0024] Please refer to Figure 1-Figure 7 The present invention provides a technical solution: an underwater cage cleaning robot, comprising two mounting side panels 1, a cleaning robot assembly 2 is fixedly mounted between the two mounting side panels 1, an ultrasonic cleaning mechanism 3 is also arranged between the two mounting side panels 1, a floating fitting mechanism 4 is arranged between the two mounting side panels 1 and the ultrasonic cleaning mechanism 3, the two floating fitting mechanisms 4 are symmetrically distributed, a brushing mechanism 5 is arranged on the top and bottom of the ultrasonic cleaning mechanism 3, the two brushing mechanisms 5 are centrally symmetrically distributed, a propulsion mechanism 6 is arranged on the back of the ultrasonic cleaning mechanism 3, the ultrasonic cleaning mechanism 3 is used to generate cavitation bubbles underwater to clean the cage, the two brushing mechanisms 5 are used to clean the cage, the propulsion mechanism 6 is used to drive the ultrasonic cleaning mechanism 3 and the two brushing mechanisms 5 to be close to the cage, the two floating fitting mechanisms 4 are used to drive the ultrasonic cleaning mechanism 3 and the two brushing mechanisms 5 to always be close to the cage, and the cleaning robot assembly 2 is used to drive the ultrasonic cleaning mechanism 3 to move up and down and left and right.

[0025] The cleaning robot assembly 2 includes two vertical plates 21, and the two vertical plates 21 are fixedly connected to the corresponding mounting side plates 1 respectively. A horizontal frame 24 and a horizontal frame 1 22 are fixedly installed between the two vertical plates 21. The horizontal frame 24 is located above the horizontal frame 1 22. Four bottom blocks 23 distributed in a rectangular shape are fixedly installed at the bottom of the horizontal frame 1 22. Four underwater thrusters 1 26 distributed in a rectangular shape are fixedly installed on the top of the horizontal frame 1 22. The two diagonally arranged underwater thrusters 1 26 are arranged in the same direction. Two underwater thrusters 28 are fixedly installed through the horizontal frame 1 22.

[0026] An underwater camera 25 is fixedly installed at the bottom of the second horizontal frame 24, and a fill light 27 is fixedly installed on the side where the two vertical plates 21 are close to each other.

[0027] Furthermore, the underwater camera 25 can capture and analyze photos of the net cage to be cleaned, and the two fill lights 27 provide lighting conditions for the underwater camera 25 to take pictures.

[0028] The ultrasonic cleaning mechanism 3 includes a sealed chamber 31 with an opening on one side. A vibration plate 32 is fixedly installed at the opening of the sealed chamber 31 . A plurality of ultrasonic vibrators 33 are arranged in the sealed chamber 31 . The plurality of ultrasonic vibrators 33 are fixedly connected to the vibration plate 32 .

[0029] Furthermore, the ultrasonic cleaning mechanism 3 utilizes the ultrasonic principle to drive the vibration plate 32 to generate high-frequency vibration through the high-frequency vibration of multiple ultrasonic vibrators 33, thereby generating a large number of cavitation bubbles in the water around the vibration plate 32 that float toward the mesh cage. The cavitation bubbles explode upon hitting the mesh cage, and the kinetic energy generated by the explosion of the cavitation bubbles impacts the attachments on the mesh cage, thereby achieving the effect of cleaning the attachments on the mesh cage.

[0030] The scrubbing mechanism 5 includes a mounting plate 51. The mounting plates 51 on the two scrubbing mechanisms 5 are fixedly connected to the top and bottom of the closed chamber 31, respectively. A motor 53 and a roller brush 52 are fixedly mounted on the side of the mounting plate 51 away from the closed chamber 31. A pulley 1 54 and a pulley 2 55 are fixedly mounted on the output shaft of the motor 53 and the end of the roller brush 52, respectively. The pulley 1 54 and the pulley 2 55 are sleeved with the same synchronous belt.

[0031] Furthermore, when the net box is cleaned by the brushing mechanism 5, the starting motor 53 drives the pulley 1 54 to rotate, and the pulley 1 54 then drives the pulley 2 55 to rotate through the synchronous belt, and the pulley 2 55 is rotated by the roller brush 52. At this time, the roller brush 52 close to the net box can clean it during the rotation process.

[0032] The propulsion mechanism 6 includes a mounting frame 61. Two mounting frames 61 are fixedly mounted on the side of the closed chamber 31 away from the opening. Two underwater thrusters three 62 are fixedly mounted on the side close to the two mounting frames 61. The four underwater thrusters three 62 are distributed in a rectangular shape.

[0033] The floating fitting mechanism 4 includes two limit sleeves 41, and the two limit sleeves 41 are fixedly connected to the corresponding mounting side plates 1. A guide rod 42 is slidably installed through the limit sleeve 41, and a ball head 43 and a ball head 45 are fixedly installed at both ends of the guide rod 42. The movable sleeves on the two ball heads 43 are provided with the same bushing seat 1 44, and the movable sleeves on the two ball heads 45 are provided with the same bushing seat 2 46. The two bushing seats 1 44 on the two floating fitting mechanisms 4 are fixedly connected to the two sides of the closed chamber 31 respectively.

[0034] Furthermore, starting the four underwater propellers 3 62 can push the two brushing mechanisms 5 and the ultrasonic cleaning mechanism 3 to be close to the net box, and the thrust generated by the four underwater propellers 3 62 can straighten the part of the net box to be cleaned through the two brushing mechanisms 5, so that the roller brushes 52 on the two brushing mechanisms 5 can fully fit the part of the net box to be cleaned, and then the part of the net box to be cleaned can be brushed during the rotation of the roller brush 52, while ensuring that the ultrasonic cleaning mechanism 3 is always at a consistent distance from the net box when cleaning different parts of the net box;

[0035] When the cleaning robot assembly 2 is in a vertical state, as the roller brush 52 located above is in close contact with the net box, under the thrust of the four underwater thrusters 3 62, the roller brush 52 located below will not fit as tightly with the net box as the roller brush 52 located above. At this time, the two bushing seats 44 will push the corresponding guide rods 42 to slide in the corresponding limit sleeves 41. At the same time, the two bushing seats 44 will deflect. At this time, the four ball heads 43 will rotate in the corresponding bushing seats 44, so that the two bushing seats 44 change from the original vertical state to an inclined state, and finally ensure that the connection precision between the roller brush 52 located below and the net box is the same as that of the roller brush 52 located above, or when the connection tightness between one end of the roller brush 52 and the net box is not as good as that of the other end, the two bushing seats 44 will also tilt, and finally ensure that the two roller brushes 52 are always in close contact with the net box.

[0036] As mentioned above, the entire cleaning unit composed of the ultrasonic cleaning mechanism 3 and the two brushing mechanisms 5 can achieve six-degree-of-freedom angle adjustment through two floating fitting mechanisms 4. Therefore, after the entire cleaning unit contacts the mesh box, it will automatically adjust the angle by sticking to the mesh box according to the deformation of the mesh box, thereby ensuring that the cleaning unit can always stick to the mesh box no matter how the mesh box is deformed or what tilt state the device is in.

[0037] In this embodiment: when in use, by starting the four underwater propellers 1 26 on the cleaning robot assembly 2 and changing the rotation direction of the four underwater propellers 1 26, the entire device can be driven to move forward and backward and left and right in the water, and by starting the two underwater propellers 28 and changing the rotation direction of the two underwater propellers 28, the entire device can be driven to move up and down in the water;

[0038] The underwater camera 25 can capture and analyze photos of the cleaned net cages, determine the degree of attachment of the net cage attachments through analysis, and feed back the image analysis results to the staff / control system. The staff / control system controls and adjusts the continuous cleaning time and cleaning intensity of the ultrasonic cleaning mechanism 3 and the two brushing mechanisms 5 at the current position according to the attachment status of the net cages. After the cleaning effect is achieved, the staff / control system controls the cleaning robot assembly 2 to drive the entire device to move, so that the ultrasonic cleaning mechanism 3 and the two brushing mechanisms 5 change the cleaning position.

[0039] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An underwater cage cleaning robot, comprising two mounting side panels (1), characterized in that: A cleaning robot assembly (2) is fixedly mounted between the two mounting side plates (1); an ultrasonic cleaning mechanism (3) is also arranged between the two mounting side plates (1); a floating fitting mechanism (4) is arranged between the two mounting side plates (1) and the ultrasonic cleaning mechanism (3); the two floating fitting mechanisms (4) are symmetrically distributed; a brushing mechanism (5) is arranged at the top and bottom of the ultrasonic cleaning mechanism (3); the two brushing mechanisms (5) are symmetrically distributed about the center; a propulsion mechanism (6) is arranged at the back of the ultrasonic cleaning mechanism (3); the ultrasonic cleaning mechanism (3) is used to generate cavitation bubbles underwater to clean the net cage; the two brushing mechanisms (5) are used to clean the net cage; the propulsion mechanism (6) is used to drive the ultrasonic cleaning mechanism (3) and the two brushing mechanisms (5) to be close to the net cage; the two floating fitting mechanisms (4) are used to drive the ultrasonic cleaning mechanism (3) and the two brushing mechanisms (5) to always be close to the net cage; and the cleaning robot assembly (2) is used to drive the ultrasonic cleaning mechanism (3) to move up and down and left and right; The ultrasonic cleaning mechanism (3) comprises a sealed chamber (31) with an opening on one side, a vibration plate (32) being fixedly mounted at the opening of the sealed chamber (31), a plurality of ultrasonic vibrators (33) being arranged in the sealed chamber (31), and the plurality of ultrasonic vibrators (33) being fixedly connected to the vibration plate (32); The floating fitting mechanism (4) comprises two limiting sleeves (41), the two limiting sleeves (41) are fixedly connected to the corresponding mounting side plates (1), a guide rod (42) is slidably mounted through the limiting sleeve (41), a ball head 1 (43) and a ball head 2 (45) are respectively fixedly mounted at both ends of the guide rod (42), the movable sleeves on the two ball heads 1 (43) are provided with the same bushing seat 1 (44), the movable sleeves on the two ball heads 2 (45) are provided with the same bushing seat 2 (46), and the two bushing seats 1 (44) on the two floating fitting mechanisms (4) are respectively fixedly connected to the two sides of the closed chamber (31) at the sides close to each other.

2. The underwater cage cleaning robot according to claim 1, characterized in that: The cleaning robot assembly (2) comprises two vertical plates (21), the two vertical plates (21) are respectively fixedly connected to the corresponding mounting side plates (1), a second horizontal frame (24) and a first horizontal frame (22) are fixedly installed between the two vertical plates (21), the second horizontal frame (24) is located above the first horizontal frame (22), four bottom blocks (23) distributed in a rectangular shape are fixedly installed at the bottom of the first horizontal frame (22), four underwater thrusters (26) distributed in a rectangular shape are fixedly installed at the top of the first horizontal frame (22), two diagonally arranged underwater thrusters (26) are arranged in the same direction, and two underwater thrusters (28) are fixedly installed through the first horizontal frame (22).

3. The underwater cage cleaning robot according to claim 2, characterized in that: An underwater camera (25) is fixedly mounted on the bottom of the second horizontal frame (24), and a fill light (27) is fixedly mounted on the sides of the two vertical plates (21) that are close to each other.

4. The underwater cage cleaning robot according to claim 1, characterized in that: The scrubbing mechanism (5) comprises a mounting plate (51), the mounting plates (51) on the two scrubbing mechanisms (5) being fixedly connected to the top and bottom of the sealed chamber (31) respectively, a motor (53) being fixedly mounted on a side of the mounting plate (51) away from the sealed chamber (31) and a roller brush (52) being rotatably mounted thereon, a first pulley (54) and a second pulley (55) being fixedly mounted on the output shaft of the motor (53) and the ends of the roller brush (52) respectively, and the first pulley (54) and the second pulley (55) being sleeved with the same synchronous belt.

5. The underwater cage cleaning robot according to claim 4, characterized in that: The propulsion mechanism (6) comprises a mounting frame (61), wherein the two mounting frames (61) are fixedly mounted on a side of the sealed compartment (31) away from the opening, and the sides of the two mounting frames (61) close to each other are fixedly mounted with two underwater thrusters three (62), wherein the four underwater thrusters three (62) are distributed in a rectangular shape.

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