Netting repairing robot and repairing method

Abstract

The invention provides a netting repairing robot and a repairing method, and belongs to the technical field of net cage culture, the netting repairing robot comprises a machine box, a supporting mechanical arm, a crawler walking assembly, a camera and a repairing assembly, a plurality of propellers are installed on the two sides of the machine box, and the crawler walking assembly is rotationally installed on the machine box; a camera and a repairing assembly are installed at one end of the machine box, and a plurality of supporting mechanical arms are rotationally installed on the two sides of the machine box. The repairing assembly comprises a running track, a magnetic attraction repairing assembly, a welding gun and a mechanical claw assembly, the magnetic attraction repairing assembly, the welding gun and the mechanical claw assembly are slidably mounted on the running track, and the magnetic attraction repairing assembly is used for repairing the damaged part of the netting through an upper magnetic attraction buckle and a lower magnetic attraction buckle; a plurality of supporting mechanical arms are arranged, so that netting grids near the damaged part can be positioned; the net rope is repaired through a lower magnetic buckle and an upper magnetic buckle, and in addition, the repairing firmness can be enhanced under the action of a welding gun.

Description

Technical Field

[0001] The invention belongs to the technical field of cage aquaculture, and in particular relates to a net repairing robot and a repairing method. Background Art

[0002] As China's fishery industry structure is further adjusted, deep-sea cage aquaculture shows a trend of rapid development. The floating cages used for deep-sea aquaculture are in the sea all year round. The nets used on the cages will be damaged by friction with the cage frame or the sand and stones at the bottom due to the surge of sea currents. However, since the damage of the nets cannot be repaired in time, a large amount of aquaculture products will escape, causing huge losses to the farmers.

[0003] Therefore, the integrity of the cage is the most basic condition for cage aquaculture. Damaged cages will lead to the loss of aquaculture resources and cause economic losses. The current method of repairing damaged cages is mainly for divers to go into the water for repair. The repair work is highly dangerous, and there is insufficient light underwater, the environment is dark, and the visibility is small. The damaged cages will also swing due to the impact of the water flow, and divers cannot perform accurate repairs. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the embodiments of the present invention is to provide a net clothing repair robot and a repair method.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: a net clothing repair robot, comprising a chassis, a supporting mechanical arm, a propeller propeller, a crawler walking assembly, a camera and a repair assembly, wherein a plurality of propeller propellers are installed on both sides of the chassis, a crawler walking assembly is rotatably installed on the chassis, a camera and a repair assembly are installed at one end of the chassis, and a plurality of supporting mechanical arms are rotatably installed on both sides of the chassis;

[0006] The crawler walking assembly is used for walking on the surface of the net clothing;

[0007] The supporting mechanical arm is used to locate the damaged part of the net and to tension the damaged part of the net;

[0008] The repair component is used to repair the damaged part of the net, and the repair component includes a running track, a magnetic repair component, a welding gun and a mechanical claw assembly. The running track is rotatably installed at the bottom of the chassis, and the magnetic repair component, a welding gun and a mechanical claw assembly are slidably installed on the running track. The magnetic repair component is used to repair the damaged part of the net through the upper magnetic buckle and the lower magnetic buckle, the welding gun is used to weld the upper magnetic buckle and the lower magnetic buckle, and the mechanical claw assembly is used to pull the net between the upper magnetic buckle and the lower magnetic buckle.

[0009] As a further improvement scheme: the magnetic repair component includes a carrying frame, a lower movable plate, an upper movable plate, a connecting rod, an upper magnetic buckle and a lower magnetic buckle, the connecting rod is slidably installed on the running track, the lower movable plate is rotatably installed on the connecting rod, the upper movable plate is telescopically installed on the lower movable plate, the upper movable plate and the lower movable plate are both installed with a carrying frame, the upper magnetic buckle and the lower magnetic buckle are respectively slidably installed on the carrying frames of the upper movable plate and the lower movable plate, and a first telescopic part is installed on the upper movable plate and the lower movable plate at one end of the carrying frame, and the first telescopic part is used to push out the upper magnetic buckle and the lower magnetic buckle respectively.

[0010] As a further improvement scheme: the mechanical claw assembly includes a driving member, a clamping claw, an arc-shaped claw, a first slot frame and a first telescopic structure, one end of the driving member is slidably installed on the running track, the other end of the driving member is connected to the clamping claw, the first slot frame is installed on both sides of the clamping claw, the arc-shaped claw is slidably installed in the first slot frame, the first telescopic structure is installed in the first slot frame, one end of the first telescopic structure is connected to the arc-shaped claw, the driving member is used to drive the clamping claw to move linearly, and the first telescopic structure is used to drive the arc-shaped claw to move linearly in the first slot frame.

[0011] As a further improvement, a plurality of protrusions are arranged inside the clamp claw.

[0012] As a further improvement scheme: the crawler walking assembly includes a second telescopic member, a crawler, and a hook unit. One end of the second telescopic member is rotatably installed in the chassis, and the other end of the second telescopic member is connected to the crawler. A plurality of hook units are installed on the surface of the crawler, and the hook units are used to hook the net rope.

[0013] As a further improvement scheme: the hook unit includes a second telescopic structure and a hook, one end of the second telescopic structure is installed on the track, and the other end of the second telescopic structure is connected to the hook, and the hook is a right-angled trapezoidal structure with an open top surface.

[0014] As a further improvement: it also includes a clamping assembly, which is installed at one end of the supporting mechanical arm.

[0015] As a further improvement scheme: the clamping assembly includes a rotating rod and a fixed column, a fixed column is fixedly installed at one end of the supporting mechanical arm, a plurality of rotating rods are rotatably installed on the circumference of the fixed column, an oblique groove is opened on the side of the rotating rod away from the fixed column, and a splint and a baffle are telescopically installed on both sides of the oblique groove.

[0016] As a further improvement scheme: a rotating shaft is rotatably mounted on the fixed column, an external thread is provided on the rotating shaft, a movable ring is rotatably mounted on the rotating shaft, the movable ring is threadably connected to the rotating shaft via the external thread, and a support rod is rotatably mounted between the movable ring and the rotating rod.

[0017] The present invention also provides a repair method for a net repair robot, comprising the above-mentioned net repair robot, and the method specifically comprises:

[0018] Starting the propeller thruster so that the propeller thruster is close to the damaged part of the net, and walking on the surface of the net based on the crawler walking component;

[0019] When the camera identifies a damaged part of the net, a number of supporting mechanical arms extend into the mesh of the net near the damaged part, and the number of supporting mechanical arms tighten the damaged part of the net;

[0020] Perform precise positioning according to the camera, adjust the position of the mechanical claw assembly according to the precise positioning result, and grab the two ends of the net rope through the mechanical claw assembly;

[0021] Adjust the position of the upper and lower magnetic buckles and then repair them;

[0022] Adjust the position of the welding gun and use the welding gun to weld the gap between the upper and lower magnetic buckles.

[0023] Compared with the prior art, the beneficial effects of the present invention are as follows: by providing a camera, the damaged part of the net can be located in time underwater; by providing a number of supporting mechanical arms, the net grid near the damaged part can be located and tensioned, thereby facilitating the repair of the net rope; secondly, under the action of the mechanical claw assembly, the two ends of the net rope can be pulled closer and crossed, and the net rope can be fastened and repaired by the lower magnetic buckle and the upper magnetic buckle. In addition, under the action of the welding gun, the repair firmness can be enhanced, and the crawler walking assembly can enable more flexible movement between the nets. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the overall structure of a mesh repair robot;

[0025] Figure 2 This is a schematic diagram of the structure of a supporting mechanical arm of a net clothing repair robot;

[0026] Figure 3 This is a schematic diagram of the structure of a clamping assembly of a net clothing repair robot;

[0027] Figure 4 This is an enlarged view of the local structure of the clamping component of a net repair robot;

[0028] Figure 5This is a schematic diagram of the rotating rod structure of a net clothing repair robot;

[0029] Figure 6 This is a schematic diagram of the repair component structure of a mesh repair robot;

[0030] Figure 7 This is a schematic diagram of the structure of a magnetic repair component of a net clothing repair robot;

[0031] Figure 8 This is a schematic diagram of the internal structure of the lower movable plate of a mesh clothing repair robot;

[0032] Fig. 9 This is a schematic diagram of the internal structure of an upper movable plate of a mesh clothing repair robot;

[0033] Fig.10 This is a schematic diagram of the structure of a mechanical claw assembly of a net clothing repair robot;

[0034] Fig.11 This is a schematic diagram of the claw structure of a mesh repair robot;

[0035] Fig.12 This is a schematic diagram of the structure of a crawler walking component of a net clothing repair robot;

[0036] Fig.13 This is a schematic diagram of the track structure of a mesh repair robot;

[0037] Fig.14 This is a schematic diagram of the structure of a claw unit of a net repair robot;

[0038] In the figure: 1, chassis; 2, supporting mechanical arm; 201, first joint; 202, second joint; 203, third joint; 204, fourth joint; 205, fifth joint; 3, propeller thruster; 4, crawler walking assembly; 5, camera; 6, repair assembly; 7, clamping assembly; 8, fixing frame; 9, bracket; 10, running track; 11, mechanical claw assembly; 12, magnetic repair assembly; 121, sliding head; 122, connecting rod; 123, first rotating support rod; 124, second rotating support rod; 125, clearance groove; 126, rotating frame; 127, roller; 13, clamping plate; 14, pulley; 15, lower movable plate; 16, upper movable plate Moving plate; 17, lower magnetic buckle; 18, first telescopic member; 19, upper magnetic buckle; 20, bearing frame; 21, fixed column; 22, support rod; 23, rotating rod; 24, rotating shaft; 25, movable ring; 26, external thread; 27, U-shaped frame; 28, baffle; 29, welding gun; 30, first gear shaft; 31, driving member; 32, clamp claw; 33, first slot frame; 34, partition; 35, rotating shaft; 36, arc-shaped claw; 37, protrusion; 38, hook claw unit; 39, second telescopic member; 40, crawler; 41, hook claw; 42, second gear shaft; 43, second slot frame; 44, support seat; 45, rotating member; 46, oblique groove. DETAILED DESCRIPTION

[0039] The technical solution of the present application is further described in detail below in conjunction with specific implementation methods.

[0040] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0041] See also Figures 1 to 14 In one embodiment, a net clothing repair robot is characterized in that it includes a chassis 1, a supporting mechanical arm 2, a propeller propeller 3, a crawler walking component 4, a camera 5 and a repair component 6, a plurality of propeller propellers 3 are installed on both sides of the chassis 1, a crawler walking component 4 is rotatably installed on the chassis 1, a camera 5 and a repair component 6 are installed at one end of the chassis 1, and a plurality of supporting mechanical arms 2 are rotatably installed on both sides of the chassis 1;

[0042] The crawler walking assembly 4 is used for walking on the surface of the net clothing;

[0043] The supporting mechanical arm 2 is used to locate the damaged part of the net and to tension the damaged part of the net;

[0044] The repair component 6 is used to repair the damaged part of the net, and the repair component 6 includes a running track 10, a magnetic repair component 12, a welding gun 29 and a mechanical claw component 11. The running track 10 is rotatably installed at the bottom of the chassis 1, and the magnetic repair component 12, the welding gun 29 and the mechanical claw component 11 are slidably installed on the running track 10. The magnetic repair component 12 is used to repair the damaged part of the net through the upper magnetic buckle 19 and the lower magnetic buckle 17. The welding gun 29 is used to weld the upper magnetic buckle 19 and the lower magnetic buckle 17. The mechanical claw assembly 11 is used to pull the net between the upper magnetic buckle 19 and the lower magnetic buckle 17.

[0045] In this embodiment, a searchlight is also included. The chassis 1 is also equipped with a searchlight. The magnetic repair assembly 12, the welding gun 29 and the mechanical claw assembly 11 on the running track 10 can be driven to move by setting a telescopic rod. The supporting mechanical arm 2 is provided with a first joint 201, a second joint 202, a third joint 203, a fourth joint 204 and a fifth joint 205. By setting a plurality of joints and a plurality of joints in different directions, when the camera 5 captures the damaged part, the supporting mechanical arm 2 can be extended into the four mesh grids near the damaged part by adjusting each joint.

[0046] A fixing frame 8 is fixedly mounted on the bottom of the chassis 1 , a bracket 9 is rotatably mounted on one end of the fixing frame 8 , and a running track 10 is fixedly mounted on the bracket 9 .

[0047] When repairing the net, the robot approaches the net through the propeller thruster 3. After the camera 5 identifies the damaged part of the net, the robot approaches the damaged part, and the supporting mechanical arm 2 extends into the four net grids near the damaged part. At this time, the rotating rod 23 is in a completely retracted state. When the supporting mechanical arm 2 is completely extended into the four net grids near the damaged part, the four supporting mechanical arms 2 respectively open four grids, so that the net near the damaged part can be tightened. After the net is tightened, the camera 5 cooperates with the searchlight to accurately locate the position that needs to be repaired. The mechanical claw assembly 11 pulls the two ends of the net rope closer and crosses them through the running track 10. The magnetic repair assembly 12 approaches the net rope, and the needle on the lower magnetic buckle 17 pierces the net rope and closes it with the upper magnetic buckle 19. The welding gun 29 welds the magnetic buckle through underwater welding to strengthen the repair firmness. The net in the water is easily overlapped by seawater disturbance. The track 40 on the back can make the device move more flexibly between the nets. The 6 tracks 40 can be rotated to different angles to adapt to different environments.

[0048] See also Figures 6 to 9In one embodiment, the magnetic repair component 12 includes a carrying frame 20, a lower movable plate 15, an upper movable plate 16, a connecting rod 122, an upper magnetic buckle 19 and a lower magnetic buckle 17, the connecting rod 122 is slidably installed on the running track 10, the lower movable plate 15 is rotatably installed on the connecting rod 122, the upper movable plate 16 is telescopically installed on the lower movable plate 15, the upper movable plate 16 and the lower movable plate 15 are both installed with a carrying frame 20, the upper magnetic buckle 19 and the lower magnetic buckle 17 are respectively slidably installed on the carrying frames 20 of the upper movable plate 16 and the lower movable plate 15, and the first telescopic member 18 is installed on the upper movable plate 16 and the lower movable plate 15 at one end of the carrying frame 20, and the first telescopic member 18 is used to push out the upper magnetic buckle 19 and the lower magnetic buckle 17 respectively.

[0049] In this embodiment, the carrying frame 20 is arranged inside the lower movable plate 15 and the upper movable plate 16, one end of the connecting rod 122 is fixedly installed with a sliding head 121, and four pulleys 14 are rotatably installed around the sliding head 121, and the other end of the connecting rod 122 is rotatably installed with a rotating frame 126, and the rotating frame 126 is fixedly installed with the lower movable plate 15, and the upper movable plate 16 and the lower movable plate 15 are both provided with a yield groove 125, and one end of the upper movable plate 16 is rotatably installed with a second rotating support rod 124, and one end of the lower movable plate 15 is rotatably installed with a first rotating support rod 123, and the second rotating support rod 124 is rotatably connected to the ... The telescopic installation is realized by the rotation between 24 and the first rotating support rod 123. The telescopic driving source can be the rotating shaft 24 between the second rotating support rod 124 and the first rotating support rod 123. The rotating shaft 24 is driven to rotate by the motor. The telescopic installation can also be realized by an electric telescopic rod and a hydraulic telescopic rod. It is not limited to the above structure. A plurality of rollers 127 are installed on both sides of the inner wall of the carrying frame 20. A plurality of lower magnetic buckles 17 and upper magnetic buckles 19 are slidably installed on both sides of the inner wall of the carrying frame 20. The moving driving force of the lower magnetic buckle 17 and the upper magnetic buckle 19 is provided by the roller 127, and the position switching of the lower magnetic buckle 17 and the upper magnetic buckle 19 is realized by driving the roller 127 to rotate.

[0050] When repairing the net, the robot approaches the net through the propeller thruster 3. After the camera 5 identifies the damaged part of the net, the robot approaches the damaged part, and the supporting mechanical arm 2 extends into the four net grids near the damaged part. At this time, the rotating rod 23 is in a completely retracted state. When the supporting mechanical arm 2 is completely extended into the four net grids near the damaged part, the four supporting mechanical arms 2 open four grids respectively, and the net near the damaged part can be tightened. After the net is tightened, the camera 5 cooperates with the searchlight to accurately locate the position that needs to be repaired, and the mechanical claw assembly 11 pulls the two ends of the net rope closer and crosses them through the running track 10, and then the activity is lowered. The movable plate 15 and the upper movable plate 16 are close to the net rope, driving the first rotating support rod 123 and the second rotating support rod 124 to rotate, the lower movable plate 15 and the upper movable plate 16 are closed, and the first telescopic member 18 works to push out the lower magnetic buckle 17 and the upper magnetic buckle 19, and the needle on the lower magnetic buckle 17 pierces the net rope and closes with the upper magnetic buckle 19, and the welding gun 29 welds the magnetic buckle through underwater welding to enhance the repair firmness. The net in the water is easily overlapped by seawater disturbance, and the track 40 on the back can make the device move more flexibly between the nets, and the 6 tracks 40 can be rotated to different angles to adapt to different environments.

[0051] See also Figure 6 , Fig.10 In one embodiment, the mechanical claw assembly 11 includes a driving member 31, a clamp claw 32, an arc-shaped claw 36, a first slot frame 33 and a first telescopic structure. One end of the driving member 31 is slidably installed on the running track 10, and the other end of the driving member 31 is connected to the clamp claw 32. The first slot frame 33 is installed on both sides of the clamp claw 32. The arc-shaped claw 36 is slidably installed in the first slot frame 33. The first telescopic structure is installed in the first slot frame 33. One end of the first telescopic structure is connected to the arc-shaped claw 36. The driving member 31 is used to drive the clamp claw 32 to move linearly, and the first telescopic structure is used to drive the arc-shaped claw 36 to move linearly in the first slot frame 33.

[0052] In this embodiment, a rotating shaft 35 is rotatably installed on the inner side of the hook claw 41, and a partition 34 is installed on the rotating shaft 35. The first telescopic structure includes a first slot frame 33 and a first gear shaft 30. A second gear shaft 42 is rotatably installed on the arc-shaped claw 36. A rack is provided on one side of the inner wall of the first slot frame 33, and the rack is meshed and connected with the first gear shaft 30. The second gear shaft 42 is driven to rotate by a motor, thereby driving the arc-shaped claw 36 to move linearly in the first slot frame 33.

[0053] The driving member 31 can be a hydraulic telescopic rod or an electric telescopic rod, and the specific structure is not limited.

[0054] When repairing the net, the robot approaches the net through the propeller thruster 3. After the camera 5 identifies the damaged part of the net, the robot approaches the damaged part, and the supporting mechanical arm 2 extends into the four net grids near the damaged part. At this time, the rotating rod 23 is in a completely retracted state. When the supporting mechanical arm 2 is completely extended into the four net grids near the damaged part, the four supporting mechanical arms 2 open four grids respectively, so that the net near the damaged part can be tightened. After the net is tightened, the camera 5 cooperates with the searchlight to accurately locate the position that needs to be repaired, and extends the arc-shaped claw 36 outward through the first telescopic structure to encircle the net rope. At this time, the clamp claw 32 remains stationary. After encircling the net rope, the first telescopic structure retracts the arc-shaped claw 36. At this time, the clamp claw 32 is driven to extend outward by the driving member 31. During the process of extending outward, the partition 34 opens, the clamp claw 32 clamps the net rope, and the mechanical claw assembly Component 11 pulls the two ends of the net rope closer and crosses them through the running track 10, and the lower movable plate 15 and the upper movable plate 16 are close to the net rope, driving the first rotating support rod 123 and the second rotating support rod 124 to rotate, and the lower movable plate 15 and the upper movable plate 16 are closed. The first telescopic component 18 works to push out the lower magnetic buckle 17 and the upper magnetic buckle 19, and the needle on the lower magnetic buckle 17 pierces the net rope and closes with the upper magnetic buckle 19. The welding gun 29 welds the magnetic buckle through underwater welding to enhance the repair firmness. The nets in the water are easily overlapped by seawater disturbance. The track 40 on the back can make the device move more flexibly between the nets. The 6 tracks 40 can be rotated to different angles through the rotating component 45, which is convenient for adapting to different environments. The track 40 and the hook 41 can be retracted through the second telescopic component 39 and the second telescopic structure respectively when not in use to avoid hooking the net.

[0055] See also Fig.11 In one embodiment, a plurality of protrusions 37 are provided inside the clamp jaw 32 .

[0056] In this embodiment, the protrusion 37 is serrated, and the sawtooth protrusion 37 can clamp the net rope and achieve a dragging effect.

[0057] See also Fig.12 , Fig.13 , Fig.14 In one embodiment, the crawler walking assembly 4 includes a second telescopic member 39, a crawler 40, and a hook unit 38. One end of the second telescopic member 39 is rotatably installed in the chassis 1, and the other end of the second telescopic member 39 is connected to the crawler 40. A plurality of hook units 38 are installed on the surface of the crawler 40, and the hook units 38 are used to hook the net rope.

[0058] In this embodiment, a support seat 44 is fixedly installed on the track 40, and the support seat 44 is a triangular structure. A rotating member 45 is installed at the top angle of the triangle. The output end of the rotating member 45 is connected to the second telescopic member 39, and the end of the second telescopic member 39 away from the rotating member 45 is connected to the track 40. The track 40 is a hollow structure. The second telescopic member 39 can adopt a hydraulic telescopic rod or an electric telescopic rod. The specific structure is not limited. The rotating member 45 can be implemented by a rotating motor.

[0059] See also Fig.12 , Fig.13 , Fig.14 In one embodiment, the hook unit 38 includes a second telescopic structure and a hook 41. One end of the second telescopic structure is installed on the track 40, and the other end of the second telescopic structure is connected to the hook 41. The hook 41 is a right-angled trapezoidal structure with an open top surface.

[0060] In this embodiment, the second telescopic structure includes a second notch frame 43 and a second gear shaft 42. The second gear shaft 42 is rotatably mounted on the hook 41. A rack is provided on one side of the inner wall of the second notch frame 43. The rack is meshed and connected with the second gear shaft 42. The second gear shaft 42 is driven to rotate by a motor, thereby driving the hook 41 to move up and down. In addition, the hook 41 is designed as a right-angled trapezoidal structure with an open top surface, so that during the descent of the hook 41, the net rope can be hooked by the inclination angle of the right-angled body structure.

[0061] The second telescopic structure may also adopt a hydraulic telescopic rod or an electric telescopic rod, and the specific structure is not limited.

[0062] See also Figures 1 to 5 In one embodiment, it also includes a clamping assembly 7, which is installed at one end of the supporting robot arm 2.

[0063] In this embodiment, by providing a clamping assembly 7, the mesh near the damaged part can be fixed to avoid the mesh becoming loose during the repair process, thereby preventing the repair process from being affected.

[0064] See also Figures 1 to 5 In one embodiment, the clamping assembly 7 includes a rotating rod 23 and a fixed column 21. The fixed column 21 is fixedly installed at one end of the supporting robot arm 2, and a plurality of rotating rods 23 are rotatably installed on the circumference of the fixed column 21. An oblique groove 46 is provided on the side of the rotating rod 23 away from the fixed column 21, and a clamping plate 13 and a baffle 28 are telescopically installed on both sides of the oblique groove 46.

[0065] In this embodiment, there are four rotating rods 23. By extending the supporting mechanical arm 2 into the four mesh grids near the damaged part, the rotating rod 23 is in a fully retracted state. When the supporting mechanical arm 2 is fully extended into the four mesh grids near the damaged part, the rotating rod 23 is opened, and then the supporting mechanical arm 2 is retracted, so that the net rope slides into the oblique groove 46 of the rotating rod 23, and then the net rope is clamped by the clamping plate 13. After clamping, the partition 34 is closed, and the four supporting mechanical arms 2 open four grids respectively, so that the net near the damaged part can be tightened.

[0066] See also Figures 1 to 5 In one embodiment, a rotating shaft 24 is rotatably mounted on the fixed column 21, an external thread 26 is provided on the rotating shaft 24, a movable ring 25 is rotatably mounted on the rotating shaft 24, the movable ring 25 is threadedly connected to the rotating shaft 24 through the external thread 26, and a support rod 22 is rotatably mounted between the movable ring 25 and the rotating rod 23.

[0067] In this embodiment, the inner wall of the movable ring 25 is provided with an internal thread corresponding to the external thread 26, and a U-shaped frame 27 is fixedly installed on the rotating ring. One end of the support rod 22 is rotatably connected to the U-shaped frame 27, and the other end of the support rod 22 is rotatably connected to the support rod 22. The rotation of the rotating shaft 24 can be driven by a motor. When the motor drives the rotating shaft 24 to rotate, the movable ring 25 moves up and down through the cooperation of the external thread 26 and the internal thread. While the movable ring 25 moves up and down, the rotating rod 23 is retracted and unfolded.

[0068] The rotation drive of the rotating rod 23 can be realized by using a hydraulic telescopic rod or an electric telescopic rod, and is not limited to the above-mentioned threaded connection.

[0069] When repairing the net, the robot approaches the net through the propeller thruster 3. After the camera 5 identifies the damaged part of the net, the robot approaches the damaged part, and the supporting mechanical arm 2 extends into the four net grids near the damaged part. At this time, the rotating rod 23 is in a completely retracted state. When the supporting mechanical arm 2 is completely extended into the four net grids near the damaged part, the rotating shaft 24 is driven to rotate by the motor. At this time, the movable ring 25 moves up and down, that is, drives the rotating rod 23 to open, and then the supporting mechanical arm 2 is retracted, so that the net rope slides into the oblique groove 46 of the rotating rod 23, and then the net rope is clamped by the clamping plate 13. After clamping, the partition 34 is closed, and the four supporting mechanical arms 2 open 4 grids respectively, so that the net near the damaged part can be tightened.

[0070] See also Figures 1 to 14 The present invention also provides a method for repairing a net repair robot, comprising the above-mentioned net repair robot, and the method specifically comprises:

[0071] The propeller propeller 3 is started so that the propeller propeller 3 is close to the damaged part of the net and the crawler walking component 4 walks on the surface of the net;

[0072] When the camera 5 identifies the damaged part of the net, a plurality of supporting mechanical arms 2 extend into the mesh of the net near the damaged part, and the plurality of supporting mechanical arms 2 tighten the damaged part of the net;

[0073] Perform precise positioning according to the camera 5, adjust the position of the mechanical claw assembly 11 according to the precise positioning result, and grasp the two ends of the net rope through the mechanical claw assembly 11;

[0074] Adjust the positions of the upper magnetic buckle 19 and the lower magnetic buckle 17 and then perform buckle repair;

[0075] The position of the welding gun 29 is adjusted, and the gap between the upper magnetic buckle 19 and the lower magnetic buckle 17 is welded by the welding gun 29 .

[0076] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-limiting from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention, and any reference numerals in the claims should not be regarded as limiting the claims involved.

[0077] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A net repair robot, characterized in that: It includes a chassis, a supporting mechanical arm, a propeller propeller, a crawler walking assembly, a camera and a repair assembly. A plurality of propeller propellers are installed on both sides of the chassis. A crawler walking assembly is rotatably installed on the chassis. A camera and a repair assembly are installed at one end of the chassis. A plurality of supporting mechanical arms are rotatably installed on both sides of the chassis. The crawler walking assembly is used for walking on the surface of the net clothing; The supporting mechanical arm is used to locate the damaged part of the net and to tension the damaged part of the net; The repair component is used to repair the damaged part of the net, and the repair component includes a running track, a magnetic repair component, a welding gun and a mechanical claw assembly. The running track is rotatably installed at the bottom of the chassis, and the magnetic repair component, a welding gun and a mechanical claw assembly are slidably installed on the running track. The magnetic repair component is used to repair the damaged part of the net through the upper magnetic buckle and the lower magnetic buckle, the welding gun is used to weld the upper magnetic buckle and the lower magnetic buckle, and the mechanical claw assembly is used to pull the net between the upper magnetic buckle and the lower magnetic buckle.

2. A net clothing repair robot according to claim 1, characterized in that: The magnetic repair assembly includes a carrying frame, a lower movable plate, an upper movable plate, a connecting rod, an upper magnetic buckle and a lower magnetic buckle, the connecting rod is slidably installed on the running track, the lower movable plate is rotatably installed on the connecting rod, the upper movable plate is telescopically installed on the lower movable plate, the upper movable plate and the lower movable plate are both installed with a carrying frame, the upper magnetic buckle and the lower magnetic buckle are respectively slidably installed on the carrying frames of the upper movable plate and the lower movable plate, and a first telescopic member is installed on the upper movable plate and the lower movable plate at a position at one end of the carrying frame, and the first telescopic member is used to push out the upper magnetic buckle and the lower magnetic buckle respectively.

3. A net repair robot according to claim 1, characterized in that: The mechanical claw assembly includes a driving member, a clamping claw, an arc-shaped claw, a first slot frame and a first telescopic structure. One end of the driving member is slidably installed on the running track, and the other end of the driving member is connected to the clamping claw. The first slot frame is installed on both sides of the clamping claw. The arc-shaped claw is slidably installed in the first slot frame, and the first telescopic structure is installed in the first slot frame. One end of the first telescopic structure is connected to the arc-shaped claw. The driving member is used to drive the clamping claw to move linearly, and the first telescopic structure is used to drive the arc-shaped claw to move linearly in the first slot frame.

4. A net clothing repairing robot according to claim 3, characterized in that: A plurality of protrusions are arranged inside the clamp claw.

5. The net clothing repairing robot according to claim 1, characterized in that: The crawler walking assembly includes a second telescopic member, a crawler, and a hook unit. One end of the second telescopic member is rotatably installed in the chassis, and the other end of the second telescopic member is connected to the crawler. A plurality of hook units are installed on the surface of the crawler, and the hook units are used to hook the net rope.

6. A net repair robot according to claim 5, characterized in that: The hook unit includes a second telescopic structure and a hook. One end of the second telescopic structure is mounted on the track, and the other end of the second telescopic structure is connected to the hook. The hook is a right-angled trapezoidal structure with an open top surface.

7. A net clothing repairing robot according to any one of claims 1 to 6, characterized in that: Also included is a clamping assembly, which is mounted at one end of the supporting mechanical arm.

8. The net clothing repairing robot according to claim 7, characterized in that: The clamping assembly includes a rotating rod and a fixed column. The fixed column is fixedly installed at one end of the supporting mechanical arm. A plurality of rotating rods are rotatably installed on the circumference of the fixed column. An oblique groove is provided on the side of the rotating rod away from the fixed column. A clamping plate and a baffle are telescopically installed on both sides of the oblique groove.

9. The net clothing repairing robot according to claim 8, characterized in that: A rotating shaft is rotatably mounted on the fixed column, an external thread is provided on the rotating shaft, a movable ring is rotatably mounted on the rotating shaft, the movable ring is threadably connected to the rotating shaft via the external thread, and a support rod is rotatably mounted between the movable ring and the rotating rod.

10. A method for repairing a net repair robot, characterized in that: The method is implemented by the net repair robot according to any one of claims 1 to 9, and the method specifically comprises: Starting the propeller thruster so that the propeller thruster is close to the damaged part of the net, and walking on the surface of the net based on the crawler walking component; When the camera identifies a damaged part of the net, a number of supporting mechanical arms extend into the mesh of the net near the damaged part, and the number of supporting mechanical arms tighten the damaged part of the net; Perform precise positioning according to the camera, adjust the position of the mechanical claw assembly according to the precise positioning result, and grab the two ends of the net rope through the mechanical claw assembly; Adjust the position of the upper and lower magnetic buckles and then repair them; Adjust the position of the welding gun and use the welding gun to weld the gap between the upper and lower magnetic buckles.

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