Net cleaning robot for mariculture net cage

Abstract

The invention discloses a netting cleaning robot for a mariculture net cage, and relates to the technical field of netting cleaning for the mariculture net cage, the netting cleaning robot comprises two driving mechanisms, each driving mechanism comprises a shell, a mechanical arm is arranged on the side, close to the advancing direction, of the outer wall of each shell, and each mechanical arm comprises a mounting base; the mounting base is fixedly connected to the outer wall of the shell, the top end of the mounting base is rotationally connected with a rear arm, the tail end of the rear arm is rotationally connected with a front arm, and the tail end of the front arm is rotationally connected with a mechanical claw. The whole robot is driven by the crawler belt to move on the surface of the netting, the condition of the outer wall of the netting is observed in real time through the camera in the moving process, so that the outer wall of the netting is observed, foreign matter attached to the outer portion of the netting is grabbed away through the mechanical claw, the situation that meshes in the netting are blocked by the foreign matter is avoided, and the netting quality is improved. Seawater inside and outside the net cage can smoothly flow in the culture process, and the water quality of the seawater inside the net cage is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of net cleaning for marine aquaculture cages, and specifically to a net cleaning robot for marine aquaculture cages. Background Art

[0002] During the process of cleaning the net, the robot is set as two component parts located on both sides of the net. The two components are magnetically attached to the surface of the net through electromagnets. Then, the motor drives the crawler to rotate, thereby pushing the robot to move on the surface of the net, so that during the cleaning process, the foreign objects on the surface of the net are processed by the mechanical gripper and water flow.

[0003] A mechanical arm structure and a net cleaning robot disclosed in a prior patent (Publication No.: CN117103235A) are provided with a mechanical arm structure composed of a mounting base, a primary drive motor, a rotating base, a secondary drive motor, a main mechanical arm, a tertiary drive motor, a secondary mechanical arm, and a clamping jaw mechanism. The mechanical arm drives the clamping jaw mechanism to move precisely, so that the robot can move flexibly on the outer wall of the net and can precisely clamp and remove the foreign objects on the net.

[0004] The net is generally woven from a metal material, and a relatively thick polymer protective layer is provided on the outer wall of the net, making it impossible for the robot to firmly adhere to the outside of the net during the cleaning process. Summary of the Invention

[0005] Based on this, the purpose of the present invention is to provide a net cleaning robot for marine aquaculture cages to solve the technical problems raised in the above background.

[0006] To achieve the above purpose, the present invention provides the following technical solution: A net cleaning robot for marine aquaculture cages includes two groups of driving mechanisms. Each group of driving mechanisms respectively includes a group of outer shells. On one side of the outer wall of the outer shell near the advancing direction, a mechanical arm is provided. The mechanical arm includes a mounting base. The mounting base is fixedly connected to the outer wall of the outer shell. The top end of the mounting base is rotatably connected to a rear arm. The end of the rear arm is rotatably connected to a front arm. The end of the front arm is rotatably connected to a mechanical claw. A main drive motor is fixedly connected to the side wall of the mounting base. An auxiliary drive motor group is fixedly connected to the front arm at the connection with the rear arm;

[0007] There are two sets of pulling mechanisms arranged between the two sets of outer shells. Two sets of driving wheels are respectively rotatably connected to both sides of the outer shell. The outer walls of the two sets of driving wheels on the same side are engaged with a crawler. A plurality of sliders are slidably connected to the side wall of the outer shell. One set of supporting wheels is respectively rotatably connected to the side wall of each set of sliders. A plurality of the supporting wheels abut against the inner wall of the crawler. One set of supporting springs is respectively fixedly connected to the top end of each set of sliders. The top end of the supporting spring is fixedly connected to the outer wall of the outer shell. A first motor is fixedly connected to the inner wall of the outer shell. A gear set is arranged on the inner wall of the outer shell. The output end of the first motor is fixedly connected to the input end of the gear set. A rotating shaft is fixedly sleeved on one output end of the gear set. One set of reciprocating lead screws is respectively fixedly connected to both ends of the rotating shaft. The ends of the two sets of reciprocating lead screws are respectively fixedly connected to the side wall of one set of driving wheels. A synchronous belt is arranged at the connection between the reciprocating lead screw and the driving wheel. The end of the synchronous belt is connected to the other set of driving wheels.

[0008] As a preferred technical solution of the net cleaning robot for a marine aquaculture cage of the present invention, each set of pulling mechanisms respectively includes two sets of guide rods. The two sets of guide rods are respectively slidably sleeved on the inner wall of an outer shell. A set of pressure springs is fixedly connected to the inner wall of the guide rod. The end of the pressure spring is fixedly connected to the inner wall of the outer shell. One set of side plates is respectively fixedly connected to the ends of the two sets of guide rods that are close to each other. A plurality of hooks are respectively rotatably connected to the side wall of each set of side plates. A torsion spring is arranged at the connection between the hook and the side plate. A plurality of the hooks are evenly distributed on the side wall of the side plate. The hooks on the two side plates are arranged staggeredly. A plurality of limiting grooves are formed on the side wall of the side plate. The limiting groove and the hook are arranged on the same side. The position of the limiting groove corresponds to the hook on the other set of side plates. A plurality of first scrapers are fixedly connected to the side wall of the side plate.

[0009] As a preferred technical solution of the net cleaning robot for a marine aquaculture cage of the present invention, a negative pressure mechanism is arranged on the inner wall of the outer shell. The negative pressure mechanism includes a water inlet cover. The water inlet cover is fixedly connected to the bottom end of the inner wall of the outer shell. A water inlet is formed on the outer shell at the connection with the water inlet cover.

[0010] As a preferred technical solution of the net cleaning robot for a marine aquaculture cage of the present invention, a diversion pipe is communicated with the side wall of the water inlet cover. The top end of the diversion pipe extends to the outside of the outer shell. A fan blade is rotatably connected to the inner wall of the water inlet cover. The end of the fan blade is fixedly connected to the other output end of the gear set.

[0011] As a preferred technical solution of the net cleaning robot for marine aquaculture cages of the present invention, one end of the diversion pipe located outside the housing is communicated with a spray head, a rotating arm is fixedly connected to the side wall of the spray head, the end of the rotating arm is rotatably connected to the side wall of the housing, a guiding groove is opened at the bottom end of the rotating arm, a pushing block is slidably sleeved on the inner wall of the guiding groove, and a cross beam is fixedly connected to the bottom end of the pushing block.

[0012] As a preferred technical solution of the net cleaning robot for marine aquaculture cages of the present invention, cleaning mechanisms are arranged at both ends of the housing, the cleaning mechanism includes a front cleaning assembly, the front cleaning assembly includes a reciprocating disc, the reciprocating disc is rotatably connected to one end of the inner wall of the housing close to the advancing direction, and multiple groups of saw teeth are arranged on the edge of the reciprocating disc.

[0013] As a preferred technical solution of the net cleaning robot for marine aquaculture cages of the present invention, a sliding groove is opened on the side wall of the reciprocating disc, a second motor is fixedly connected to the inner wall of the housing, an output end of the second motor is fixedly connected to a deflection block, and the deflection block is slidably attached to the inner wall of the sliding groove.

[0014] As a preferred technical solution of the net cleaning robot for marine aquaculture cages of the present invention, a set of installation grooves are respectively opened at both ends of the outer wall of the reciprocating disc, two sets of positioning columns are fixedly connected to the side wall of the housing, and the positioning columns are slidably attached to the inner wall of the installation grooves.

[0015] As a preferred technical solution of the net cleaning robot for marine aquaculture cages of the present invention, the cleaning mechanism further includes a rear cleaning assembly, the rear cleaning assembly includes two sets of moving arms, each set of moving arms is respectively threadedly connected to the outer wall of a reciprocating lead screw, a sliding rod is fixedly connected to the moving arm at the connection with the reciprocating lead screw, and the end of the sliding rod is slidably connected to the inner wall of the housing.

[0016] As a preferred technical solution of the net cleaning robot for marine aquaculture cages of the present invention, the end of the moving arm extends to the outside of the housing, the ends of the two sets of moving arms are fixedly connected with a reciprocating strip, a base is slidably sleeved on the top end of the reciprocating strip, the base is fixedly connected to the bottom end of the housing, and multiple groups of second scraping plates are fixedly connected to the bottom end of the reciprocating strip.

[0017] In summary, the present invention mainly has the following beneficial effects:

[0018] 1. The present invention enables the entire robot to move on the surface of the net by means of track driving. During the movement, a camera is used to observe the condition of the outer wall of the net in real time, so as to observe the outer wall of the net, check whether the net is damaged, and use a mechanical claw to grab foreign objects attached to the outside of the net, avoiding the blockage of the mesh holes on the net, ensuring the smooth flow of seawater inside and outside the net cage during the breeding process, and improving the water quality of the seawater inside the net cage.

[0019] 2. The present invention separately sets a single power source inside each of the two driving mechanisms. The two driving mechanisms move downward synchronously underwater, and the hooks on the two pulling mechanisms on both sides pull the side plate on the other side, so that the pulling mechanisms on the two driving mechanisms can pull each other, thus preventing the distance between the two pulling mechanisms from increasing. Moreover, the supporting wheels push the track to closely fit the net under the elastic force of the supporting springs, ensuring that during the cleaning of the net, the net cleaning robot can closely fit the net, guaranteeing the cleaning effect and preventing the robot from detaching from the net.

[0020] 3. The present invention drives a reciprocating disk to swing reciprocally through a second motor, so that the sawteeth at the edge of the reciprocating disk frictionally clean substances such as barnacles and seaweeds on the outside of the net, thus initially cleaning the net. During the process of the driving mechanism moving downward along the net, a second scraper slides reciprocally horizontally, further scraping off the sundries on the net, so that during the cleaning of the net, multiple cleaning methods are used for repetitive cleaning, enabling the net to be cleaned more thoroughly. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 is a schematic diagram of the working state structure of the present invention;

[0023] Figure 3 is a schematic diagram of the split bottom view structure of the present invention;

[0024] Figure 4 is a schematic diagram of the front view structure of the pulling mechanism of the present invention;

[0025] Figure 5 is a schematic diagram of the separated state structure of the pulling mechanism of the present invention;

[0026] Figure 6 is a schematic diagram of the split bottom view of the side cross-section of the housing of the present invention;

[0027] Figure 7 is a schematic diagram of the front view of the side cross-section of the housing of the present invention;

[0028] Figure 8It is a schematic diagram of the upper cross-section front view of the housing of the present invention;

[0029] Figure 9 It is a schematic diagram of the cross-sectional structure of the water inlet cover of the present invention;

[0030] Figure 10 It is a schematic diagram of the connection relationship structure of the movable arm of the present invention.

[0031] In the figure: 1. driving mechanism; 2. pulling mechanism; 3. negative pressure mechanism; 4. cleaning mechanism; 5. mechanical arm assembly;

[0032] 101, housing; 102, first motor; 103, gear set; 104, rotating shaft; 105, reciprocating screw; 106, driving wheel; 107, crawler track; 108, synchronous belt; 109, slider; 110, supporting wheel; 111, supporting spring; 112, water inlet;

[0033] 201, guide rod; 202, side plate; 203, pressure spring; 204, hook; 205, limit groove; 206, first scraper;

[0034] 301, water inlet cover; 302, fan blade; 303, guide pipe; 304, rotating arm; 305, nozzle; 306, guide groove; 307, push block; 308, crossbeam;

[0035] 41. front cleaning assembly; 401. reciprocating disc; 402. slideway; 403. second motor; 404. deflection block; 405. mounting slot; 406. positioning column; 42. rear cleaning assembly; 407. moving arm; 408. reciprocating strip; 409. second scraper; 410. base; 411. sliding rod;

[0036] 501, mounting base; 502, rear arm; 503, front arm; 504, mechanical claw; 505, main drive motor; 506, auxiliary drive motor group. DETAILED DESCRIPTION

[0037] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0038] The following describes an embodiment of the present invention based on its overall structure.

[0039] A net cleaning robot for marine aquaculture cages, such as Figures 1 to 10As shown in the figure, it includes two sets of driving mechanisms 1. Each set of driving mechanisms 1 respectively includes a set of outer casings 101. On one side of the outer wall of the outer casing 101 close to the advancing direction, there is a robotic arm 5. The robotic arm 5 includes a mounting base 501. The mounting base 501 is fixedly connected to the outer wall of the outer casing 101. The top end of the mounting base 501 is rotatably connected to a rear arm 502. The end of the rear arm 502 is rotatably connected to a front arm 503. The end of the front arm 503 is rotatably connected to a robotic claw 504. The side wall of the mounting base 501 is fixedly connected to a main driving motor 505. The front arm 504 is fixedly connected to an auxiliary driving motor set 506 at the connection with the rear arm 503.

[0040] There are two sets of pulling mechanisms 2 arranged between the two sets of outer casings 101. Two sets of driving wheels 106 are respectively rotatably connected to both sides of the outer casing 101. A crawler 107 is engaged with the outer walls of the two driving wheels 106 on the same side. A plurality of sliders 109 are slidably connected to the side wall of the outer casing 101. A set of support wheels 110 are respectively rotatably connected to the side walls of each set of sliders 109. The plurality of support wheels 110 abut against the inner wall of the crawler 107. A set of support springs 111 are respectively fixedly connected to the top ends of each set of sliders 109. The top ends of the support springs 111 are fixedly connected to the outer wall of the outer casing 101. A first motor 102 is fixedly connected to the inner wall of the outer casing 101. A gear set 103 is arranged on the inner wall of the outer casing 101. The output end of the first motor 102 is fixedly connected to the input end of the gear set 103. Another output end of the gear set 103 is fixedly sleeved with a rotating shaft 104. A set of reciprocating lead screws 105 are respectively fixedly connected to both ends of the rotating shaft 104. The ends of the two reciprocating lead screws 105 are respectively fixedly connected to the side wall of a driving wheel 106. A synchronous belt 108 is arranged at the connection between the reciprocating lead screw 105 and the driving wheel 106. The end of the synchronous belt 108 is connected to the other driving wheel 106.

[0041] Each set of pulling mechanisms 2 respectively includes two guide rods 201. The two guide rods 201 are respectively slidably sleeved on the inner wall of an outer casing 101. A set of pressure springs 203 are fixedly connected to the inner wall of the guide rod 201. The ends of the pressure springs 203 are fixedly connected to the inner wall of the outer casing 101. A set of side plates 202 are respectively fixedly connected to the ends of the two guide rods 201 close to each other. A plurality of hooks 204 are respectively rotatably connected to the side walls of each set of side plates 202. A torsion spring is arranged at the connection between the hook 204 and the side plate 202. The plurality of hooks 204 are evenly distributed on the side wall of the side plate 202. The hooks 204 on the two side plates 202 are arranged staggeredly. A plurality of limiting grooves 205 are formed on the side wall of the side plate 202. The limiting grooves 205 and the hooks 204 are arranged on the same side. The positions of the limiting grooves 205 correspond to the hooks 204 on the other set of side plates 202. A plurality of first scrapers 206 are fixedly connected to the side wall of the side plate 202.

[0042] Place two sets of driving mechanisms 1 on both sides of the fishing net respectively. There are two sets of pulling mechanisms 2 on both sides of the fishing net. During the process of the two sets of driving mechanisms 1 approaching each other, the pulling mechanisms 2 on both sides of the fishing net approach each other, so that the hooks 204 on the side plates 202 on one side of the fishing net penetrate through the fishing net and extend into the limiting grooves 205 on the side plates 202 on the other side of the fishing net, enabling the side plates 202 on both sides of the fishing net to be pulled together by the hooks 204. At this time, the first scraping plate 206 on the side plate 202 is attached to the outer wall of the fishing net. At this time, the distance between the side plates 202 on both sides of the fishing net cannot be increased. And the outer shell 101 is slidably sleeved on the outer wall of the guide rod 201, and a compression spring 203 is fixedly connected to the inner wall of the guide rod 201. The elastic force of the compression spring 203 makes the outer shell 101 fit tightly with the side plate 202. Inside the driving mechanism 1, the first motor 102 drives the gear set 103, so that the gear set 103 drives the rotating shaft 104 to rotate. The rotating shaft 104 drives two sets of reciprocating lead screws 105 to rotate. The two sets of reciprocating lead screws 105 respectively drive a set of driving wheels 106 to rotate. And during the process of the reciprocating lead screw 105 driving the driving wheel 106 to rotate, it drives the synchronous belt 108 to rotate, so that the synchronous belt 108 drives the other set of driving wheels 106 to rotate. During the rotation of the driving wheel 106, the protrusions outside the driving wheel 106 push the crawler 107, so that the crawler 107 rotates. And the outer shell 101 compresses the support spring 111 under the action of the pulling mechanism 2, so that the resilience of the support spring 111 is transmitted to the slider 109, so that the slider 109 transmits the pressure to the support wheel 110, so that the support wheel 110 presses the crawler 107 against the side wall of the fishing net, so that during the rotation of the crawler 107, it drives the two sets of driving mechanisms 1 to move downward while attaching to the outer wall of the fishing net. During the process of the entire robot moving downward on the outer wall of the fishing net, an underwater camera is built into the robotic claw 504, which can take real-time pictures of the situation on the fishing net, so as to accurately judge whether there are foreign objects attached to the fishing net. This is prior art, so it will not be elaborated too much in this solution. Then, the forearm 503 and the rear arm 502 rotate under the drive of the main drive motor 505 and the auxiliary drive motor 506, so as to drive the robotic claw 504 to move to the surface of the fishing net, and then use the robotic claw 504 to accurately remove the attachments on the fishing net. When the hook 204 touches the steel wire on the fishing net, the hook 204 is blocked by the steel wire and thus turns over, and the hook 204 twists the torsion spring. Then, after the hook 204 slides over the steel wire, the torsion spring rebounds and pushes the hook 204 to reset, so that the hook 204 hooks into the limiting groove 205 on the side plate 202 on the other side again. And because the fishing net is in a mesh shape, during the downward movement of the robot, there are always multiple sets of hooks 204 hooked in the limiting grooves 205, so the phenomenon that all the hooks 204 are pushed by the fishing net will not occur, thus ensuring that during the movement of the fishing net cleaning robot, the two sets of driving mechanisms 1 will not separate. During the movement of the fishing net cleaning robot,The first squeegee 206 scrapes the outer wall of the netting, thereby cleaning the netting to a certain extent.

[0043] Please refer particularly to Figure 1 、 Figure 2 、 Figure 3 、 Figure 6 、 Figure 7 、 Figure 8 and Figure 9 Inside the inner wall of the housing 101, a negative pressure mechanism 3 is provided. The negative pressure mechanism 3 includes a water inlet cover 301. The water inlet cover 301 is fixedly connected to the bottom end of the inner wall of the housing 101. At the connection of the housing 101 and the water inlet cover 301, a water inlet 112 is provided. A flow guide pipe 303 is communicated with the side wall of the water inlet cover 301. The top end of the flow guide pipe 303 extends to the outside of the housing 101. A fan blade 302 is rotatably connected to the inner wall of the water inlet cover 301. The end of the fan blade 302 is fixedly connected to the other output end of the gear set 103. One end of the flow guide pipe 303 located outside the housing 101 is communicated with a spray head 305. A rotating arm 304 is fixedly connected to the side wall of the spray head 305. The end of the rotating arm 304 is rotatably connected to the side wall of the housing 101. A guide groove 306 is provided at the bottom end of the rotating arm 304. A pushing block 307 is slidably sleeved on the inner wall of the guide groove 306. The bottom end of the pushing block 307 is fixedly connected to a cross beam 308.

[0044] After the power of the first motor 102 is transmitted to the gear set 103, the gear set 103 drives the fan blade 302 to rotate, so that the water between the two housings 101 is pumped into the inside of the water inlet cover 301 through the water inlet 112. Then, this water enters the inside of the spray head 305 through the flow guide pipe 303, so that this water is sprayed from the spray head 305 onto the netting. And the cross beam 308 reciprocates under the drive of the moving arm 407, so that the cross beam 308 drives the pushing block 307 to reciprocate. The reciprocating movement of the moving block pushes the guide groove 306 during the reciprocating movement, so that the rotating arm 304 reciprocally flips. During the reciprocal flipping process of the rotating arm 304, the rotating arm 304 drives the spray head 305 to reciprocally flip, so that the water sprayed from the spray head 305 can be more fully sprayed onto the netting.

[0045] Please refer particularly to Figure 1 、 Figure 2 、 Figure 3 、 Figure 6 、 Figure 7 、 Figure 8 and Figure 10, cleaning mechanisms 4 are provided at both ends of the shell 101, the cleaning mechanisms 4 include a front cleaning assembly 41, the front cleaning assembly 41 includes a reciprocating disk 401, the reciprocating disk 401 is rotatably connected to one end of the inner wall of the shell 101 close to the forward direction, the edge of the reciprocating disk 401 is provided with multiple sets of saw teeth, the side wall of the reciprocating disk 401 is provided with a slide groove 402, the inner wall of the shell 101 is fixedly connected to a second motor 403, the output end of the second motor 403 is fixedly connected to a deflection block 404, the deflection block 404 is slidably fitted on the inner wall of the slide groove 402, the outer wall of the reciprocating disk 401 is respectively provided with a group of mounting grooves 405 at both ends, the side wall of the shell 101 is fixedly connected to two groups of positioning columns 406, the positioning columns 406 are slidably fitted On the inner wall of the mounting groove 405, the cleaning mechanism 4 also includes a rear cleaning assembly 42, which includes two groups of movable arms 407, each group of movable arms 407 is respectively threadedly connected to the outer wall of a group of reciprocating screw rods 105, and the movable arms 407 are fixedly connected to a sliding rod 411 at the connection with the reciprocating screw rods 105, and the end of the sliding rod 411 is slidably connected to the inner wall of the outer shell 101, and the end of the movable arm 407 extends to the outside of the outer shell 101, and the ends of the two groups of movable arms 407 are fixedly connected to a reciprocating bar 408, and the top sliding sleeve of the reciprocating bar 408 is provided with a base 410, and the base 410 is fixedly connected to the bottom end of the outer shell 101, and the bottom end of the reciprocating bar 408 is fixedly connected to multiple groups of second scrapers 409.

[0046] During the downward movement of the two sets of shells 101, the second motor 403 drives the deflection block 404 to rotate, so that the deflection block 404 slides on the inner wall of the slide groove 402, thereby pushing the reciprocating plate 401 to swing back and forth, and with the movement of the shell 101, the reciprocating plate 401 contacts the attachments on the outside of the net, and these attachments are separated from the net under the reciprocating friction and cutting action of the saw teeth on the edge of the reciprocating plate 401, thereby achieving preliminary cleaning of the attachments on the outside of the net, and then the net is cleaned by the first scraper 206 and contacts the second scraper 206. The second scraper 409 drives the movable arm 407 to move back and forth during the rotation of the reciprocating screw rod 105, so that the movable arm 407 drives the cross beam 308 to move back and forth during the reciprocating movement. At the same time, the movable arm 407 drives the reciprocating bar 408 to slide back and forth inside the base 410, so that the reciprocating bar 408 drives the second scraper 409 to slide back and forth, so that the second scraper 409 moves back and forth laterally during the process of the side wall of the net sliding downward, thereby cleaning the outer wall of the net for the third time, and the water sprayed by the nozzle 305 cleans the net for the final time.

[0047] In use, by separately arranging individual power sources inside the two sets of driving mechanisms 1, the two sets of driving mechanisms 1 move synchronously underwater. Moreover, the hooks 204 on the two-side pulling mechanisms 2 pull the side plates 202 on the other side, enabling the pulling mechanisms 2 on the two sets of driving mechanisms 1 to pull each other, so that the distance between the two pulling mechanisms 2 will not increase. Additionally, the supporting wheels 110 push the crawler belts 107 to closely fit the fishing net under the elastic force of the supporting springs 111. Thus, during the process of cleaning the fishing net, the fishing net cleaning robot can closely fit the fishing net, ensuring the cleaning effect and preventing the robot from detaching from the fishing net. The parts not involved in this device are the same as those in the prior art or can be implemented using the prior art.

[0048] Although the embodiments of the present invention have been shown and described, this specific embodiment is only an interpretation of the present invention and not a limitation thereof. The specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. After reading this specification, those skilled in the art can, without departing from the principles and purposes of the present invention, make modifications, substitutions, and variations that do not contribute creatively to the embodiments as needed. However, as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

Claims

1. A net cleaning robot for marine aquaculture cages, comprising two sets of driving mechanisms (1), characterized in that: Each group of the driving mechanisms (1) comprises a group of housings (101), a mechanical arm (5) is arranged on a side of the outer wall of the housing (101) close to the forward direction, the mechanical arm (5) comprises a mounting seat (501), the mounting seat (501) is fixedly connected to the outer wall of the housing (101), the top end of the mounting seat (501) is rotatably connected to a rear arm (502), the end of the rear arm (502) is rotatably connected to a front arm (503), the end of the front arm (503) is rotatably connected to a mechanical claw (504), the side wall of the mounting seat (501) is fixedly connected to a main driving motor (505), and the forearm (504) is fixedly connected to an auxiliary driving motor group (506) at the connection between the forearm (504) and the rear arm (503); Two groups of pulling mechanisms (2) are arranged between the two groups of the shells (101); two groups of driving wheels (106) are rotatably connected to the two sides of the shells (101); the outer walls of the two groups of driving wheels (106) on the same side are meshed with tracks (107); a plurality of sliding blocks (109) are slidably connected to the side walls of the shells (101); the side walls of each group of sliding blocks (109) are rotatably connected to a group of supporting wheels (110); the plurality of supporting wheels (110) are in contact with the inner walls of the tracks (107); the top ends of each group of sliding blocks (109) are fixedly connected to a group of supporting springs (111); the top ends of the supporting springs (111) are fixedly connected to the outer wall of the shells (101); the shells (101) are connected to the outer walls of the shells (101); A first motor (102) is fixedly connected to the inner wall of the housing (101); a gear group (103) is arranged on the inner wall of the housing (101); an output end of the first motor (102) is fixedly connected to the input end of the gear group (103); a set of output ends of the gear group (103) is fixedly sleeved with a rotating shaft (104); two ends of the rotating shaft (104) are respectively fixedly connected to a set of reciprocating screw rods (105); the ends of the two sets of reciprocating screw rods (105) are respectively fixedly connected to the side walls of a set of driving wheels (106); a synchronous belt (108) is arranged at the connection between the reciprocating screw rods (105) and the driving wheels (106); the ends of the synchronous belt (108) are connected to another set of driving wheels (106).

2. The marine aquaculture cage net cleaning robot according to claim 1, characterized in that: Each group of the pulling mechanisms (2) comprises two groups of guide rods (201), the two groups of guide rods (201) are slidably sleeved on the inner wall of a shell (101), the inner wall of the guide rods (201) is fixedly connected with a group of pressure springs (203), the ends of the pressure springs (203) are fixedly connected to the inner wall of the shell (101), the ends of the two groups of guide rods (201) close to each other are fixedly connected with a group of side plates (202), and the side walls of each group of the side plates (202) are rotatably connected with a plurality of groups of hooks (204), the hooks (204) A torsion spring is arranged at the connection with the side plate (202), and multiple groups of hooks (204) are evenly distributed on the side wall of the side plate (202). The hooks (204) on the two groups of side plates (202) are arranged in a staggered manner. The side wall of the side plate (202) is provided with multiple groups of limiting grooves (205), and the limiting grooves (205) and the hooks (204) are arranged on the same side. The limiting grooves (205) correspond to the positions of the hooks (204) on the other group of side plates (202). The side wall of the side plate (202) is fixedly connected with multiple groups of first scrapers (206).

3. The marine aquaculture cage net cleaning robot according to claim 1, characterized in that: The inner wall of the outer shell (101) is provided with a negative pressure mechanism (3), and the negative pressure mechanism (3) comprises a water inlet cover (301). The water inlet cover (301) is fixedly connected to the bottom end of the inner wall of the outer shell (101), and the outer shell (101) is provided with a water inlet (112) at the connection with the water inlet cover (301).

4. The marine aquaculture cage net cleaning robot according to claim 3, characterized in that: The side wall of the water inlet cover (301) is connected to a guide pipe (303), the top end of the guide pipe (303) extends to the outside of the housing (101), and the inner wall of the water inlet cover (301) is rotatably connected to a fan blade (302), the end of the fan blade (302) is fixedly connected to the other output end of the gear set (103).

5. The marine aquaculture cage net cleaning robot according to claim 4, characterized in that: One end of the flow guide pipe (303) located outside the shell (101) is connected to a nozzle (305); a side wall of the nozzle (305) is fixedly connected to a rotating arm (304); a distal end of the rotating arm (304) is rotatably connected to the side wall of the shell (101); a guide groove (306) is provided at the bottom end of the rotating arm (304); a push block (307) is slidably sleeved on the inner wall of the guide groove (306); and a crossbeam (308) is fixedly connected to the bottom end of the pushing block (307).

6. The marine aquaculture cage net cleaning robot according to claim 1, characterized in that: Cleaning mechanisms (4) are provided at both ends of the housing (101), the cleaning mechanism (4) comprising a front cleaning assembly (41), the front cleaning assembly (41) comprising a reciprocating disk (401), the reciprocating disk (401) being rotatably connected to one end of the inner wall of the housing (101) close to the forward direction, and the edge of the reciprocating disk (401) being provided with a plurality of groups of saw teeth.

7. A marine aquaculture cage net cleaning robot according to claim 6, characterized in that: A sliding groove (402) is provided on the side wall of the reciprocating disk (401); a second motor (403) is fixedly connected to the inner wall of the housing (101); a deflection block (404) is fixedly connected to the output end of the second motor (403); and the deflection block (404) is slidably fitted on the inner wall of the sliding groove (402).

8. The marine aquaculture cage net cleaning robot according to claim 6, characterized in that: The outer wall of the reciprocating disk (401) is provided with a group of mounting grooves (405) at both ends, and the side wall of the housing (101) is fixedly connected with two groups of positioning columns (406), and the positioning columns (406) are slidably fitted on the inner walls of the mounting grooves (405).

9. The marine aquaculture cage net cleaning robot according to claim 6, characterized in that: The cleaning mechanism (4) further comprises a rear cleaning assembly (42), wherein the rear cleaning assembly (42) comprises two groups of movable arms (407), each group of movable arms (407) being respectively threadedly connected to the outer wall of a group of reciprocating screw rods (105), and the movable arms (407) are fixedly connected to a sliding rod (411) at the connection with the reciprocating screw rods (105), and the end of the sliding rod (411) is slidably connected to the inner wall of the outer shell (101).

10. A marine aquaculture cage net cleaning robot according to claim 9, characterized in that: The ends of the movable arms (407) extend to the outside of the outer shell (101), and the ends of the two groups of movable arms (407) are fixedly connected with reciprocating bars (408). The top sliding sleeve of the reciprocating bars (408) is provided with a base (410), and the base (410) is fixedly connected to the bottom end of the outer shell (101). The bottom end of the reciprocating bars (408) is fixedly connected with multiple groups of second scrapers (409).

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