An underwater cleaning robot for the net of a fish cage

Abstract

An underwater cleaning robot for the net of a cage, comprising a central robot frame, a thrust propeller, side thrust propellers, crawler wheels, an underwater camera, a tensioning wheel and a water jet cleaning mechanism. The water jet cleaning mechanism includes a cleaning disc, a regulator body, a water inlet pipe, a water spray pipe and a petal-shaped cavitation nozzle. The underwater camera collects the net shaking data, and after calculating the compensation thrust through feedback, the thrust propeller provides a compensation force to offset the net shaking. The tensioning wheel can tension the net, making the robot fit the net surface more effectively. During the walking process of the robot, an external high-pressure pump can pump high-pressure water into the regulator body through the water inlet pipe, and spray it out through the water spray pipe and the petal-shaped cavitation nozzle to achieve the cleaning of the net. The petal-shaped cavitation nozzles on both sides are inclined to different sides, and the petal-shaped cavitation fluid ejected can drive the regulator body to rotate, realizing rotary cleaning and improving the cleaning area range and cleanliness of the jet.

Description

Technical Field

[0001] The present invention relates to the technical field of aquaculture, and particularly to an underwater cleaning robot for the netting of a cage. Background Art

[0002] The netting of marine cages will cause fouling organisms to attach after being soaked in seawater for a long time. The large accumulation of fouling organisms significantly increases the stress load on the floating rings and fishing nets, and even causes damage to the cage structure and breakage of the fishing nets, resulting in the escape of a large number of fish. For a long time, fouling organisms have been a serious problem in cage aquaculture. With the rapid development of automated and intelligent aquaculture technologies, underwater cleaning robots for the netting of aquaculture cages have emerged as the times require. For example, the cleaning robots mentioned in the patent documents with patent application numbers 201510161601.5, 202211391131.8, and 202420116715.2. Most of these cleaning robots attach to the vertical net surface under the action of a thruster, and drive the netting cleaning robot to crawl on the netting through the frictional force between the mechanical feet or crawlers and the net surface. However, after the netting is affected by forces such as high-speed ocean currents and jets, it will generate inclinations or deformations, etc. The netting cleaning robot may not be able to continue to reliably adhere to the net surface due to the reduced contact area. The walking mechanism with the above structure is extremely likely to lose its walking ability, affecting the cleaning effect and efficiency, and even falling off the vertical net surface, resulting in the interruption of netting cleaning. Additionally, in the prior art, underwater aquaculture cage netting cleaning robots mainly use self-excited oscillation cavitation circular jets to clean the netting, which requires relatively high power consumption. Moreover, the netting is mainly composed of various mesh holes, and the attachment positions of fouling organisms are complex. Coupled with the limited cleaning area of the circular jet, the cleaning degree of the netting by the robot is not high even under high energy consumption. Summary of the Invention

[0003] In view of this, the present invention proposes an underwater cleaning robot for the netting of a cage, which can effectively adhere to the netting surface, simultaneously spray petal-shaped cavitation fluid, and perform rotary cleaning work, improving the cleaning area range and cleanliness of the jet.

[0004] The technical solution of the present invention is realized as follows:

[0005] An underwater cleaning robot for a cage net includes a robot central frame, a thrust propeller, a side thrust propeller, crawler wheels, an underwater camera, a tensioning wheel, and a water jet cleaning mechanism. The thrust propeller is arranged on the top surface of the robot central frame. The side thrust propeller and the crawler wheels are arranged on the side wall of the robot central frame. The underwater camera is arranged on the front and rear sides in the moving direction of the robot central frame. The tensioning wheel is arranged on the bottom surface of the robot central frame. The water jet cleaning mechanism includes a cleaning disc, a regulator body, a water inlet pipe, a water spray pipe, and a petal-shaped cavitation nozzle. The cleaning disc is arranged at the bottom of the robot central frame with an open bottom surface. The regulator body is rotatably arranged on the cleaning disc. The bottom end of the water inlet pipe is connected to the top surface of the regulator body, and its top end extends upward into the robot central frame. The water spray pipes are symmetrically arranged on the outer wall of the regulator body. The petal-shaped cavitation nozzles are arranged at the ends of the water spray pipes away from the regulator body. The two petal-shaped cavitation nozzles are inclined in opposite directions towards the side away from the robot central frame, and the two petal-shaped cavitation nozzles drive the regulator body to rotate when spraying water towards the net.

[0006] Preferably, the robot central frame includes a main body and a mounting shell. The mounting shell is arranged above the main body. The thrust propeller is arranged in the mounting shell. The side thrust propeller and the crawler wheels are arranged on the side wall of the main body. The underwater camera is arranged on the front and rear sides in the moving direction of the mounting shell. The tensioning wheel and the cleaning disc are arranged on the bottom surface of the main body.

[0007] Preferably, it further includes a lighting lamp. The lighting lamp is arranged on the outer wall of the mounting shell where the underwater camera is located. A core cabin is arranged on the top of the mounting shell. The core cabin is respectively data-connected to the underwater camera and the lighting lamp. The top end of the water inlet pipe extends into the core cabin, and high-pressure water is pumped into the water inlet pipe through an external high-pressure pump.

[0008] Preferably, both the thrust propeller and the side thrust propeller include a housing, a motor, a blade, and a barrier net. The housing is arranged on the side wall of the main body and embedded in the top surface of the mounting shell. The motor is arranged in the housing, and its output shaft is connected to the blade. The barrier net is arranged on the end surface of the housing away from the motor.

[0009] Preferably, the petal-shaped cavitation nozzle is internally provided with a water spray channel. The water spray channel includes a circular channel, a conical transition channel, a first petal-shaped channel, a buffer cavity, and a second petal-shaped channel connected in sequence. The size of the end of the conical transition channel connected to the circular channel is larger than that of the other end. The water spray pipe is connected to the end of the circular channel away from the conical transition channel. The inner wall of the connection between the buffer cavity and the second petal-shaped channel is conical.

[0010] Preferably, it further includes a baffle plate, and the baffle plate is arranged on both sides of the crawler wheels.

[0011] Preferably, the outer wall of the tension pulley is covered with brush strips.

[0012] Preferably, the regulator body includes a flange shaft, a water spraying body, and a bearing seat. The flange shaft penetrates through the cleaning disc, and a water conveyance cavity is arranged therein. The water inlet pipe is connected to the top end of the flange shaft. The bearing seats are symmetrically sleeved on the flange shaft up and down. The water spraying body is sleeved outside the flange shaft and located between the bearing seats. The upper and lower ends of the water spraying body are respectively connected to the bearing seats so that it rotates around the flange shaft. A first water permeable hole connected to the water conveyance cavity is arranged on the side wall of the flange shaft. A second water permeable hole is arranged on the outer wall of the water spraying body. The first water permeable hole is located on one side of the rotation path of the second water permeable hole. The water spraying pipe is connected to the second water permeable hole.

[0013] Preferably, the regulator body further includes a sealing joint, a joint nut, a Gleason ring, and a transition plate. The bottom end of the sealing joint is connected to the top end of the flange shaft, and its top end is connected to the water inlet pipe. The joint nut is sleeved outside the connection part of the sealing joint and the flange shaft. The Gleason ring is arranged inside the connection part of the sealing joint and the flange shaft. The transition plate is sleeved outside the flange shaft and located on the top surface of the cleaning disc. The transition plate is connected to the flange shaft and the cleaning disc respectively through fastening screws.

[0014] Preferably, the regulator body further includes a sealing ring, an O-ring, a gasket, and a pressing screw. The sealing ring, the O-ring, and the gasket are sequentially arranged between the water spraying body and the flange shaft from the water spraying body to the bearing seat direction. The pressing screw is connected to the bottom end of the flange shaft and is located below the lower bearing seat.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] ① When the robot central frame is attached to the vertical netting, the thrust propeller can provide auxiliary thrust for net surface fitting, the crawler wheels can realize walking on the netting, and the side thrust propellers on both sides of the robot central frame can realize underwater steering so as to facilitate cleaning different positions of the netting;

[0017] ② After collecting the shaking images of the netting through the underwater camera and calculating the compensation thrust through feedback, the thrust propeller provides a compensation force to offset the shaking of the netting. At the same time, a tension pulley is arranged on the bottom surface of the robot central frame, which can realize the tensioning of the netting, enabling the robot to effectively fit the net surface so as to facilitate efficient cleaning of the netting;

[0018] ③ After the high-pressure water is pumped from the water inlet pipe into the regulator body by an external high-pressure pump, the water flow can be ejected from the petal-shaped cavitation nozzle through the water spray pipe to form a petal-shaped cavitation fluid, cleaning the debris on the netting. At the same time, since the petal-shaped cavitation nozzle is set at a certain angle, the regulator body can be driven to rotate while spraying water to perform rotary cleaning work, improving the cleaning area range and cleanliness of the jet flow. At the same time, the problem of unstable rotation speed of the water spray pipe caused by pressure changes can be solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only the preferred embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0020] Figure 1 Structural schematic diagram of an underwater cleaning robot for a cage net

[0021] Figure 2 Structural schematic diagram of an underwater cleaning robot for a cage net from another angle

[0022] Figure 3 Structural schematic diagram of the water jet cleaning mechanism (without cleaning disc) of an underwater cleaning robot for a cage net of the present invention

[0023] Figure 4 Cross-sectional view of the water jet cleaning mechanism of an underwater cleaning robot for a cage net of the present invention

[0024] Figure 5 Structural schematic diagram of the thrust propeller of an underwater cleaning robot for a cage net of the present invention

[0025] Figure 6 Cross-sectional view of the petal-shaped cavitation nozzle of an underwater cleaning robot for a cage net of the present invention

[0026] Figure 7 Vortex evolution cloud diagram of the petal-shaped cavitation jet and the conventional circular cavitation jet of an underwater cleaning robot for a cage net of the present invention

[0027] In the figure, 1 is the central frame of the robot; 2 is the thrust propeller; 3 is the side thrust propeller; 4 is the crawler wheel; 5 is the underwater camera; 6 is the tensioning wheel; 7 is the cleaning disk; 8 is the regulator body; 9 is the water inlet pipe; 10 is the water spray pipe; 11 is the petal-shaped cavitation nozzle; 12 is the main body; 13 is the mounting shell; 14 is the lighting lamp; 15 is the core cabin; 16 is the housing; 17 is the motor; 18 is the blade; 19 is the barrier net; 20 is the circular channel; 21 is the conical transition channel; 22 is the first petal-shaped channel; 23 is the buffer cavity; 24 is the second petal-shaped channel; 25 is the barrier plate; 26 is the brush strip; 27 is the flange shaft; 28 is the water spray body; 29 is the bearing seat; 30 is the water conveyance cavity; 31 is the first water permeable hole; 32 is the second water permeable hole; 33 is the sealing joint; 34 is the joint nut; 35 is the Gleim ring; 36 is the transition plate; 37 is the fastening screw; 38 is the sealing ring; 39 is the O-ring; 40 is the gasket; 41 is the pressing screw. Detailed implementation mode

[0028] To better understand the technical content of the present invention, a specific embodiment is provided below, and the present invention will be further described in conjunction with the accompanying drawings.

[0029] See Figures 1 to 6 , a kind of underwater cleaning robot for the net cage netting provided by the present invention includes the central frame 1 of the robot, the thrust propeller 2, the side thrust propeller 3, the crawler wheel 4, the underwater camera 5, the tensioning wheel 6 and the water jet cleaning mechanism. The thrust propeller 2 is arranged on the top surface of the central frame 1 of the robot, the side thrust propeller 3 and the crawler wheel 4 are arranged on the side wall of the central frame 1 of the robot, the underwater camera 5 is arranged on the front and rear sides in the moving direction of the central frame 1 of the robot, and the tensioning wheel 6 is arranged on the bottom surface of the central frame 1 of the robot; the water jet cleaning mechanism includes the cleaning disk 7, the regulator body 8, the water inlet pipe 9, the water spray pipe 10 and the petal-shaped cavitation nozzle 11. The cleaning disk 7 is arranged at the bottom of the central frame 1 of the robot, and its bottom surface is open. The regulator body 8 is rotatably arranged on the cleaning disk 7. The bottom end of the water inlet pipe 9 is connected to the top surface of the regulator body 8, and its top end extends upward into the central frame 1 of the robot. The water spray pipes 10 are symmetrically arranged on the outer wall of the regulator body 8. The petal-shaped cavitation nozzles 11 are arranged at the ends of the water spray pipes 10 far away from the regulator body 8. The two petal-shaped cavitation nozzles 11 are inclined in opposite directions towards the side away from the central frame 1 of the robot, and the two petal-shaped cavitation nozzles 11 drive the regulator body 8 to rotate when spraying water towards the netting.

[0030] The underwater cleaning robot of the present invention is used to clean the vertical netting of a fish farming cage. After the central frame 1 of the robot is placed in water, the thrust propeller 2 can provide the thrust for diving, enabling the entire robot to dive into the water. When cleaning the netting, the bottom surface of the central frame 1 of the robot faces the netting, and the thrust propeller 2 faces away from the netting. The thrust it provides can assist the robot in adhering to the netting. The water sprayed by the petal-shaped cavitation nozzles 11 can clean the dirt and impurities attached to the netting. At the same time, the crawler wheels 4 can drive the central frame 1 of the robot to move along the surface of the netting, and the side thrust propellers 3 can provide the power for turning. By the unilateral thrust, the central frame 1 of the robot can perform the turning behavior underwater, so as to clean different positions of the netting.

[0031] An underwater camera 5 is also installed on the central frame 1 of the robot, which can collect the image data of the netting shaking. Then, after calculating the compensation thrust through feedback, the compensation force is provided by the thrust propeller 2 to offset the shaking of the netting. At the same time, several tension wheels 6 are arranged on the bottom surface of the central frame 1 of the robot. When moving on the fish cage, the crawler wheels 4 are the main ones, and the tension wheels 6 are the auxiliary ones to tightly flatten the netting. Even on netting surfaces with different inclinations, the robot can effectively adhere to the netting surface, ensuring that the robot can clean the netting stably and efficiently. The number of tension wheels 6 is 4, providing 4 forces perpendicular to the central axis of the central frame 1 of the robot outward to achieve the tensioning of the netting, so that the robot can effectively adhere to the netting surface, ensuring that the cleaning robot can clean the netting efficiently on the premise of normal movement.

[0032] A concave cavity is provided at the bottom of the central frame 1 of the robot. The top of the cleaning disc 7 can be submerged into the concave cavity. The regulator body 8 is vertically arranged on the top surface of the cleaning disc 7. The water inlet pipe 9 can extend into the central frame 1 of the robot. During the cleaning process, high-pressure water is pumped into the water inlet pipe 9 by an external high-pressure pump. The high-pressure water will enter the regulator body 8 and be conveyed to the spray pipes 10 on both sides. At the end of the spray pipes 10 are petal-shaped cavitation nozzles 11. The petal-shaped cavitation nozzles 11 on both sides all face the netting. The bottom of the cleaning disc 7 is open, which is convenient for spraying water to clean the dirt and impurities on the netting. In addition, the two petal-shaped cavitation nozzles 11 are inclined in opposite directions. During the process of spraying petal-shaped cavitation fluid, the regulator body 8 can be driven to rotate, realizing rotary cleaning work, improving the cleaning area range and cleanliness of the jet flow, and at the same time being able to solve the problem of unstable rotation speed of the spray pipes 10 caused by pressure changes. The generated petal-shaped cavitation fluid has excellent mixing performance and erosion performance, and can comprehensively clean the complex mesh holes and surfaces of the netting, ensuring a high degree of cleanliness of the netting by the robot.

[0033] Preferably, the central frame 1 of the robot includes a main body 12 and a mounting shell 13. The mounting shell 13 is arranged above the main body 12. The thrust propeller 2 is arranged inside the mounting shell 13. The side thrust propellers 3 and the crawler wheels 4 are arranged on the side wall of the main body 12. The underwater camera 5 is arranged on the front and rear sides in the moving direction of the mounting shell 13. The tensioning wheels 6 and the cleaning disc 7 are arranged on the bottom surface of the main body 12.

[0034] The central frame 1 of the robot is divided into two parts. The mounting shell 13 part is used for installing the thrust propeller 2 and the underwater camera 5, while the main body 12 is used for installing the crawler wheels 4 and the side thrust propellers 3. The cleaning disc 7 and the tensioning wheels 6 are arranged on the bottom surface of the main body 12. Setting each component on the main body 12 and the mounting shell 13 respectively can facilitate replacement, repair and maintenance.

[0035] Preferably, it further includes a lighting lamp 14. The lighting lamp 14 is arranged on the outer wall of the mounting shell 13 where the underwater camera 5 is located. A core cabin 15 is arranged on the top of the mounting shell 13. The core cabin 15 is respectively connected to the underwater camera 5 and the lighting lamp 14 for data connection. The top end of the water inlet pipe 9 extends into the core cabin 15, and high-pressure water is pumped into the water inlet pipe 9 through an external high-pressure pump.

[0036] During underwater cleaning operations, the lighting lamp 14 can provide lighting for the underwater camera 5 so that the underwater camera 5 can collect clear image data of the net swaying. The core cabin 15 arranged on the mounting shell 13 is in a sealed state and includes some circuit boards and control components, etc., which can realize the control of the thrust propeller 2, the side thrust propellers 3 and other electrical components. In addition, the top end of the water inlet pipe 9 extends upward and passes through the core cabin 15 to facilitate connection with the high-pressure water pipe of the external high-pressure pump.

[0037] Preferably, both the thrust propeller 2 and the side thrust propellers 3 include a housing 16, a motor 17, a propeller blade 18 and a barrier net 19. The housing 16 is arranged on the side wall of the main body 12 and embedded in the top surface of the mounting shell 13. The motor 17 is arranged inside the housing 16, and its output shaft is connected to the propeller blade 18. The barrier net 19 is arranged on the end surface of the housing 16 away from the motor 17.

[0038] The propeller blades 18 of each thrust propeller 2 and side thrust propellers 3 are driven to rotate by a separate motor 17 to realize the fitting of the net and the underwater turning of the robot. The barrier net 19 can be used to intercept fouling organisms such as shellfish and algae from entering and interfering with the rotation of the propeller blades 18.

[0039] Preferably, a water spraying channel is arranged inside the petal-shaped cavitation nozzle 11. The water spraying channel includes a circular channel 20, a conical transition channel 21, a first petal-shaped channel 22, a buffer cavity 23, and a second petal-shaped channel 24 that are connected in sequence. The size of the end of the conical transition channel 21 connected to the circular channel 20 is larger than that of the other end. The water spraying pipe 10 is connected to the end of the circular channel 20 away from the conical transition channel 21. The inner wall of the connection between the buffer cavity 23 and the second petal-shaped channel 24 is conical.

[0040] The water in the water spraying pipe 10 can be conveyed into the petal-shaped cavitation nozzle 11 and sprayed out through the water spraying channel. The water spraying channel of the present invention is specially designed. First, the water flow can be stably introduced into the circular channel 20. When entering the conical transition channel 21, the cross-section contraction accelerates the water flow, increases the flow velocity and concentrates the kinetic energy. When the water flow passes through the first petal-shaped channel 22, the special interface can divide the water flow into multiple petal-shaped flow beams, increasing the fluid surface area and optimizing the spraying form. After the water flow enters the buffer cavity 23, the water pressure can be stabilized, reducing the pulse fluctuation. The conical inner wall design can guide the fluid to transition smoothly, reduce the turbulent loss, and improve the flow state uniformity. Finally, when the water flow passes through the second petal-shaped channel 24, the water flow can be further refined or shaped to form a petal-shaped cavitation fluid to clean the netting.

[0041] Preferably, it further includes a baffle 25, and the baffle 25 is arranged on both sides of the crawler wheel 4.

[0042] The baffles 25 on both sides can block fouling organisms such as shellfish and algae from entering the interior and affecting the movement of the robot.

[0043] Preferably, the outer wall of the tensioning wheel 6 is covered with brush strips 26.

[0044] Since the tensioning wheel 6 is covered with brush strips 26, the netting can be secondarily cleaned while the robot is moving, improving the cleaning effect of the netting.

[0045] Preferably, the regulator body 8 includes a flange shaft 27, a water spraying body 28, and a bearing seat 29. The flange shaft 27 penetrates through the cleaning disc 7, and a water conveyance cavity 30 is arranged therein. The water inlet pipe 9 is connected to the top end of the flange shaft 27. The bearing seats 29 are symmetrically sleeved on the flange shaft 27 up and down. The water spraying body 28 is sleeved outside the flange shaft 27 and is located between the bearing seats 29. The upper and lower ends of the water spraying body 28 are respectively connected to the bearing seats 29 so that it rotates around the flange shaft 27. A first water permeable hole 31 connected to the water conveyance cavity 30 is arranged on the side wall of the flange shaft 27. A second water permeable hole 32 is arranged on the outer wall of the water spraying body 28. The first water permeable hole 31 is located on one side of the rotation path of the second water permeable hole 32. The water spraying pipe 10 is connected to the second water permeable hole 32.

[0046] During cleaning, the externally connected high-pressure pump pumps high-pressure water into the water delivery cavity 30 of the flange shaft 27 through a high-pressure water pipe. The high-pressure water can first flow out from the first water-permeable hole 31 into the water spraying body 28, and can flow into the water spraying pipe 10 from the second water-permeable hole 32 of the water spraying body 28, so as to facilitate the spraying of the petal-shaped cavitation nozzle 11. Due to the setting of the angle of the petal-shaped cavitation nozzle 11, during the water spraying process, when the rotational force generated by the high-pressure fluid can overcome the frictional resistance, it can drive the water spraying body 28 to rotate around the outside of the flange shaft 27, realizing rotary cleaning work and improving the cleaning intensity. In order to ensure the stability of the rotation of the water spraying body 28, bearing seats 29 are connected to both its upper and lower ends. The outer ring of the bearing seat 29 is connected to the water spraying body 28, and the inner ring is connected to the outer wall of the flange shaft 27, so that the water spraying body 28 can drive the outer ring of the bearing seat 29 to rotate.

[0047] In addition, an installation seat can be arranged outside the bearing seat 29. The installation seat is sleeved outside the bearing seat 29, and blades are arranged on the outer wall of the installation seat. When the water spraying body 28 rotates, the blades can stabilize the rotation process.

[0048] Preferably, the regulator body 8 further includes a sealing joint 33, a joint nut 34, a Gleim ring 35 and a transition plate 36. The bottom end of the sealing joint 33 is connected to the top end of the flange shaft 27, and its top end is connected to the water inlet pipe 9. The joint nut 34 is sleeved outside the connection part of the sealing joint 33 and the flange shaft 27. The Gleim ring 35 is arranged inside the connection part of the sealing joint 33 and the flange shaft 27. The transition plate 36 is sleeved outside the flange shaft 27 and is located on the top surface of the cleaning disc 7. The transition plate 36 is connected to the flange shaft 27 and the cleaning disc 7 respectively through fastening screws 37.

[0049] During the rotary cleaning process, the water spraying body 28, the outer ring of the bearing seat 29, the water spraying pipe 10 and the petal-shaped cavitation nozzle 11 rotate, while the flange shaft 27 is fixed. A transition plate 36 is arranged on the top of the cleaning disc 7, and the flange shaft 27 can be firmly connected to the transition plate 36 through the fastening screws 37. The flange shaft 27 and the water inlet pipe 9 are connected through the sealing joint 33 and are fastened through the joint nut 34. High-pressure water can flow into the water delivery cavity 30 of the flange shaft 27 from the water inlet pipe 9 and the sealing joint 33. In addition, sealing is achieved through the Gleim ring 35 inside the connection part of the sealing joint 33 and the flange shaft 27 to prevent high-pressure water from overflowing.

[0050] Preferably, the regulator body 8 further includes a sealing ring 38, an O-ring 39, a gasket 40 and a compression screw 41. The sealing ring 38, the O-ring 39 and the gasket 40 are sequentially arranged between the water spraying body 28 and the flange shaft 27 from the water spraying body 28 towards the bearing seat 29. The compression screw 41 is connected to the bottom end of the flange shaft 27 and is located below the lower bearing seat 29.

[0051] The sealing between the water spraying body 28 and the outer wall of the flange shaft 27 can be achieved through the sealing ring 38, the O-ring 39 and the gasket 40, avoiding the overflow of high-pressure water. At the same time, the compression screw 41 is arranged on the lower bearing seat 29. The compression screw 41 is screwed and fixed to the bottom end of the flange shaft 27 and abuts against the lower part of the lower bearing seat 29 to achieve compression and ensure the stable operation of the entire regulator body 8.

[0052] Refer to Figure 7 As shown, the present invention compares the diffusion characteristics of conventional circular cavitation jets and petal-shaped cavitation jets. The original shedding process of Kelvin-Helmholtz vortices repeatedly appears near the cavity inlet. The vortex structures near the walls of different jet nozzles show different shapes. The vortex ring of the conventional circular cavitation water jet expands and thickens as it moves downstream. Multiple small-scale vortex rings of the petal-shaped cavitation water jet are distributed around the impact wall to form a large-scale vortex ring. At t3 = 3 / 4 T, the interaction between the vortex ring of the petal-shaped cavitation water jet and the impact wall is stronger. At t4 = T, after the main vortex impacts the wall, it begins to break and expand outward along the inclination angle of the collision wall, breaking into smaller vortices until it completely dissipates. The vortex structure of the petal-shaped cavitation water jet dissipates faster, indicating its superior diffusion characteristics and enabling the cleaning of a wider area of the net cage netting.

[0053] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An underwater cleaning robot for the net of a cage, characterized in that, It includes a robot central frame, a thrust propeller, side thrust propellers, crawler wheels, an underwater camera, a tension wheel, and a water jet cleaning mechanism. The thrust propeller is arranged on the top surface of the robot central frame. The side thrust propellers and the crawler wheels are arranged on the side walls of the robot central frame. The underwater camera is arranged on the front and rear sides in the moving direction of the robot central frame. The tension wheel is arranged on the bottom surface of the robot central frame. The water jet cleaning mechanism includes a cleaning disc, a regulator body, a water inlet pipe, a water spray pipe, and petal-shaped cavitation nozzles. The cleaning disc is arranged at the bottom of the robot central frame with an open bottom surface. The regulator body is rotatably arranged on the cleaning disc. The bottom end of the water inlet pipe is connected to the top surface of the regulator body, and its top end extends upward into the robot central frame. The water spray pipes are symmetrically arranged on the outer wall of the regulator body. The petal-shaped cavitation nozzles are arranged at the ends of the water spray pipes away from the regulator body. The two petal-shaped cavitation nozzles are inclined in opposite directions towards the side away from the robot central frame, and the two petal-shaped cavitation nozzles drive the regulator body to rotate when spraying water towards the netting. The petal-shaped cavitation nozzle is internally provided with a water spray channel. The water spray channel includes a circular channel, a conical transition channel, a first petal-shaped channel, a buffer cavity, and a second petal-shaped channel connected in sequence. The size of the end of the conical transition channel connected to the circular channel is larger than that of the other end. The water spray pipe is connected to the end of the circular channel away from the conical transition channel. The inner wall of the connection between the buffer cavity and the second petal-shaped channel is conical. The regulator body includes a flange shaft, a water spray body, and a bearing seat. The flange shaft penetrates the cleaning disc and is internally provided with a water delivery cavity. The water inlet pipe is connected to the top end of the flange shaft. The bearing seats are symmetrically sleeved on the flange shaft up and down. The water spray body is sleeved on the outer side of the flange shaft and is located between the bearing seats. The upper and lower ends of the water spray body are respectively connected to the bearing seats so that it rotates around the flange shaft. The side wall of the flange shaft is provided with a first water permeable hole connected to the water delivery cavity. The outer wall of the water spray body is provided with a second water permeable hole. The first water permeable hole is located on one side of the rotation path of the second water permeable hole. The water spray pipe is connected to the second water permeable hole.

2. The underwater cleaning robot for cage netting according to claim 1, characterized in that, The robot central frame includes a main body and a mounting shell. The mounting shell is arranged above the main body. The thrust propeller is arranged in the mounting shell. The side thrust propellers and the crawler wheels are arranged on the side walls of the main body. The underwater camera is arranged on the front and rear sides in the moving direction of the mounting shell. The tension wheel and the cleaning disc are arranged on the bottom surface of the main body.

3. The underwater cleaning robot for a cage net according to claim 2, characterized in that, It further includes a lighting lamp. The lighting lamp is arranged on the outer wall of the mounting shell where the underwater camera is located. The top of the mounting shell is provided with a core cabin. The core cabin is respectively data-connected to the underwater camera and the lighting lamp. The top end of the water inlet pipe extends into the core cabin, and high-pressure water is pumped into the water inlet pipe through an external high-pressure pump.

4. The underwater cleaning robot for cage netting according to claim 3, characterized in that, The thrust propeller and the side thrust propellers both include a shell, a motor, a propeller blade, and a barrier net. The shell is arranged on the side wall of the main body and embedded in the top surface of the mounting shell. The motor is arranged in the shell, and its output shaft is connected to the propeller blade. The barrier net is arranged on the end face of the shell away from the motor.

5. The underwater cleaning robot for the net of the cage according to claim 1, characterized in that It further includes a partition plate which is arranged on both sides of the crawler wheel.

6. The underwater cleaning robot for cage netting according to claim 1, characterized in that The outer wall of the tension wheel is covered with brush strips.

7. The underwater cleaning robot for the net of the net cage according to claim 1, characterized in that, The regulator body further includes a sealing joint, a joint nut, a Gleason ring and a transition plate. The bottom end of the sealing joint is connected to the top end of the flange shaft, and its top end is connected to the water inlet pipe. The joint nut is sleeved on the outside of the connection between the sealing joint and the flange shaft. The Gleason ring is arranged on the inside of the connection between the sealing joint and the flange shaft. The transition plate is sleeved on the outside of the flange shaft and is located on the top surface of the cleaning disc. The transition plate is connected to the flange shaft and the cleaning disc respectively through fastening screws.

8. The underwater cleaning robot for cage net according to claim 1, wherein, The regulator body further includes a sealing ring, an O-ring, a gasket and a compression screw. The sealing ring, the O-ring and the gasket are sequentially arranged between the water spraying body and the flange shaft from the water spraying body to the bearing seat direction. The compression screw is connected to the bottom end of the flange shaft and is located below the lower bearing seat.

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