A net cleaning robot for marine aquaculture cages

Abstract

The present invention discloses a net cleaning robot for marine aquaculture cages, which relates to the technical field of net cleaning for marine aquaculture cages. The robot comprises two groups of driving mechanisms, each group of driving mechanisms comprising a housing, a mechanical arm being provided on the side of the outer wall of the housing facing the forward direction, the mechanical arm comprising a mounting seat, the mounting seat being fixedly connected to the outer wall of the housing, the top end of the mounting seat being rotatably connected to a rear arm, the end of the rear arm being rotatably connected to a forearm, and the end of the forearm being rotatably connected to a mechanical claw. The present invention drives the entire robot to move on the surface of the net by tracks, and uses a camera to observe the condition of the outer wall of the net in real time during the movement, thereby observing the outer wall of the net, and using the mechanical claw to grab foreign matter attached to the outside of the net to prevent the foreign matter from clogging the mesh on the net, thereby ensuring that the seawater inside and outside the cage can flow smoothly during the aquaculture process and improving the water quality of the seawater inside the cage.

Description

Technical Field

[0001] The present invention relates to the technical field of cleaning nets for marine aquaculture cages, in particular to a robot for cleaning nets for marine aquaculture cages. Background Art

[0002] During the cleaning process of the net, the robot is set up into two components located on both sides of the net. The two components are magnetically attached to the surface of the net through electromagnets, and then the tracks are driven by a motor to rotate, thereby pushing the robot to move on the surface of the net. During the cleaning process, foreign objects on the surface of the net are processed by mechanically grabbing the water flow.

[0003] An existing patent (publication number: CN117103235A) discloses a robotic arm structure and a net cleaning robot. The robotic arm structure is composed of a mounting base, a primary drive motor, a rotating base, a secondary drive motor, a main robotic arm, a tertiary drive motor, a secondary robotic arm and a clamping mechanism. The robotic arm drives the clamping mechanism to move accurately, so that the robot can move flexibly on the outer wall of the net and can accurately clamp and remove foreign objects on the net.

[0004] Nets are generally made of metal, and the outer wall of the net is provided with a relatively thick polymer protective layer, which makes it difficult for the robot to firmly attach 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-mentioned objectives, the present invention provides the following technical solutions: a net cleaning robot for marine aquaculture cages, comprising two sets of drive mechanisms, each set of the drive mechanisms comprising a set of shells, a mechanical arm being provided on the side of the outer wall of the shell close to the forward direction, the mechanical arm comprising a mounting seat, the mounting seat being fixedly connected to the outer wall of the shell, the top end of the mounting seat being rotatably connected to a rear arm, the bottom end of the rear arm being rotatably connected to a forearm, the bottom end of the forearm being rotatably connected to a mechanical claw, the side wall of the mounting seat being fixedly connected to a main drive motor, and the forearm being fixedly connected to an auxiliary drive motor group at the connection with the rear arm;

[0007] The top of each slider is fixedly connected with a group of supporting wheels, and the top of each supporting wheel is fixedly connected with a group of supporting wheels, and the top of each supporting wheel is fixedly connected with the outer wall of the crawler. The inner wall of each slider is fixedly connected with a group of supporting springs. The top of each supporting wheel is fixedly connected with the outer wall of the shell. The inner wall of the shell is provided with a gear set. The output end of the first motor is fixedly connected to the input end of the gear set. A group of output ends of the gear set are fixedly sleeved with a rotating shaft. The two ends of the rotating shaft are fixedly connected with a group of reciprocating screw rods. The ends of the two reciprocating screw rods are fixedly connected to the side walls of one group of driving wheels. A synchronous belt is provided at the connection between the reciprocating screw rod and the driving wheel, and the end of the synchronous belt is connected with the other group of driving wheels.

[0008] As an optimal technical solution for a net cleaning robot for marine aquaculture cages according to the present invention, each group of the pulling mechanisms comprises two groups of guide rods, the two groups of guide rods are slidably sleeved on the inner wall of an outer shell, the inner wall of the guide rods is fixedly connected with a group of pressure springs, the ends of the pressure springs are fixedly connected to the inner wall of the outer shell, the ends of the two groups of guide rods close to each other are fixedly connected with a group of side plates, the side walls of each group of side plates are rotatably connected with multiple groups of hooks, the hooks are provided with torsion springs at the connection with the side plates, the multiple groups of hooks are evenly distributed on the side walls of the side plates, the hooks on the two groups of side plates are staggered, the side walls of the side plates are provided with multiple groups of limiting grooves, the limiting grooves and the hooks are provided on the same side, the limiting grooves correspond to the positions of the hooks on the other group of side plates, and the side walls of the side plates are fixedly connected with multiple groups of first scrapers.

[0009] As an optimal technical solution of a net cleaning robot for marine aquaculture cages of the present invention, the inner wall of the outer shell is provided with a negative pressure mechanism, and the negative pressure mechanism includes a water inlet cover, which is fixedly connected to the bottom end of the inner wall of the outer shell, and the outer shell is provided with a water inlet at the connection with the water inlet cover.

[0010] As a preferred technical solution of a net cleaning robot for marine aquaculture cages according to the present invention, the side wall of the water inlet cover is connected to a guide pipe, the top end of the guide pipe extends to the outside of the outer shell, and the inner wall of the water inlet cover is rotatably connected to a fan blade, 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 a net cleaning robot for marine aquaculture cages of the present invention, the guide tube is connected to a nozzle at one end outside the shell, the side wall of the nozzle is fixedly connected to a rotating arm, the end of the rotating arm is rotatably connected to the side wall of the shell, a guide groove is provided at the bottom end of the rotating arm, a push block is provided on the sliding sleeve of the inner wall of the guide groove, and the bottom end of the push block is fixedly connected to a cross beam.

[0012] As an optimal technical solution for a net cleaning robot for marine aquaculture cages of the present invention, cleaning mechanisms are provided at both ends of the shell, the cleaning mechanism includes a front cleaning component, the front cleaning component includes a reciprocating disk, the reciprocating disk is rotatably connected to one end of the inner wall of the shell in the forward direction, and the edge of the reciprocating disk is provided with multiple groups of serrations.

[0013] As an optimal technical solution for a net cleaning robot for marine aquaculture cages of the present invention, a slide groove is provided on the side wall of the reciprocating disk, a second motor is fixedly connected to the inner wall of the outer shell, a deflection block is fixedly connected to the output end of the second motor, and the deflection block slides and fits on the inner wall of the slide groove.

[0014] As an optimal technical solution for a net cleaning robot for marine aquaculture cages of the present invention, a group of mounting grooves are respectively opened at both ends of the outer wall of the reciprocating disk, and two groups of positioning columns are fixedly connected to the side walls of the outer shell, and the positioning columns slide and fit on the inner walls of the mounting grooves.

[0015] As an optimal technical solution for a net cleaning robot for marine aquaculture cages of the present invention, the cleaning mechanism also includes a rear cleaning component, which includes two groups of movable arms, each group of movable arms being threadedly connected to the outer wall of a group of reciprocating screw rods, and the movable arms are fixedly connected to a sliding rod at the connection with the reciprocating screw rod, and the end of the sliding rod is slidably connected to the inner wall of the outer shell.

[0016] As an optimal technical solution for a net cleaning robot for marine aquaculture cages of the present invention, the end of the movable arm extends to the outside of the outer shell, and the ends of the two groups of movable arms are fixedly connected to a reciprocating bar, and the top sliding sleeve of the reciprocating bar is provided with a base, and the base is fixedly connected to the bottom end of the outer shell, and the bottom end of the reciprocating bar is fixedly connected to multiple groups of second scrapers.

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

[0018] 1. This invention uses crawler tracks to drive the entire robot across the surface of the net. During this movement, a camera is used to monitor the condition of the net's outer wall in real time. This allows the robot to inspect the net for damage and remove foreign matter attached to the net's exterior using mechanical claws to prevent it from clogging the mesh. This ensures smooth flow of seawater inside and outside the cage during the aquaculture process, improving the water quality inside the cage.

[0019] 2. The present invention provides independent power sources within each of the two drive mechanisms, allowing the two drive mechanisms to move underwater synchronously. The hooks on the pulling mechanisms on both sides pull the side plates on the other side, allowing the pulling mechanisms on the two drive mechanisms to pull each other, thereby preventing the distance between the two pulling mechanisms from increasing. Furthermore, the support wheels, under the elastic force of the support springs, push the tracks to closely adhere to the net, thereby ensuring that the net cleaning robot can closely adhere to the net during cleaning, ensuring effective cleaning and preventing the robot from detaching from the net.

[0020] 3. The present invention drives the reciprocating disk to swing back and forth through the second motor, so that the serrations on the edge of the reciprocating disk rub and clean the barnacles, seaweed and other substances on the outside of the net, thereby preliminarily cleaning the net. When the driving mechanism moves downward along the net, the second scraper slides back and forth horizontally, thereby further scraping off the debris on the net. In the process of cleaning the net, repeated cleaning is performed through multiple cleaning methods, so that the net can be cleaned more thoroughly. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0022] Figure 2 This is a schematic diagram of the structure of the present invention in use;

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

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

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

[0026] Figure 6 This is a schematic diagram of the side cross-section of the housing of the present invention when viewed from above;

[0027] Figure 7 This is a schematic diagram of the main structure of the side section of the housing of the present invention;

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

[0029] Figure 9 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. Robotic arm assembly;

[0032] 101. Housing; 102. First motor; 103. Gear set; 104. Rotating shaft; 105. Reciprocating screw; 106. Driving wheel; 107. Track; 108. Synchronous belt; 109. Slider; 110. Support wheel; 111. Support 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 post; 42. Rear cleaning assembly; 407. Moving arm; 408. Reciprocating bar; 409. Second scraper; 410. Base; 411. Sliding rod;

[0036] 501, mounting base; 502, rear arm; 503, forearm; 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 should not be understood as limiting the present invention.

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

[0039] A marine aquaculture cage net cleaning robot, such as Figures 1 to 10As shown, it includes two sets of drive mechanisms 1, each set of drive mechanisms 1 includes a set of housings 101, and a mechanical arm 5 is provided on the side of the outer wall of the housing 101 facing the forward direction. The mechanical arm 5 includes a mounting base 501, which is fixedly connected to the outer wall of the housing 101. The top 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 forearm 503, and the end of the forearm 503 is rotatably connected to a mechanical claw 504. The side wall of the mounting base 501 is fixedly connected to a main drive motor 505, and the forearm 504 is fixedly connected to an auxiliary drive motor group 506 at the connection between the forearm 504 and the rear arm 503.

[0040] Two sets of pulling mechanisms 2 are provided between the two sets of shells 101. Two sets of driving wheels 106 are rotatably connected on both sides of the shell 101. The outer walls of the two sets of driving wheels 106 on the same side are engaged with tracks 107. The side walls of the shell 101 are slidably connected with multiple sets of sliders 109. The side walls of each set of sliders 109 are rotatably connected with a set of supporting wheels 110. The multiple sets of supporting wheels 110 abut against the inner walls of the tracks 107. The top of each set of sliders 109 is fixedly connected with a set of supporting springs 111. The top of the supporting springs 111 is fixedly connected to the outer wall of the shell 101. 1 is fixedly connected to the inner wall of the housing 101 with a first motor 102, and a gear set 103 is provided on the inner wall of the housing 101. The output end of the first motor 102 is fixedly connected to the input end of the gear set 103. The other output end of the gear set 103 is fixedly sleeved with a rotating shaft 104. The two ends of the rotating shaft 104 are respectively fixedly connected to a group of reciprocating screw rods 105. The ends of the two groups of reciprocating screw rods 105 are respectively fixedly connected to the side walls of a group of driving wheels 106. A synchronous belt 108 is provided at the connection between the reciprocating screw rods 105 and the driving wheels 106. The end of the synchronous belt 108 is connected to the other group of driving wheels 106.

[0041] Each pulling mechanism 2 includes two groups of guide rods 201, which are slidably sleeved on the inner wall of a shell 101. The inner wall of the guide rod 201 is fixedly connected to 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 to a group of side plates 202. The side walls of each group of side plates 202 are rotatably connected to multiple groups of hooks 204. The hooks 204 are provided with torsion springs at the connection between them and the side plates 202. The multiple groups of hooks 204 are evenly distributed on the side walls of the side plates 202. The hooks 204 on the two groups of side plates 202 are staggered. The side walls of the side plates 202 are provided with multiple groups of limiting grooves 205. 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 walls of the side plates 202 are fixedly connected to multiple groups of first scrapers 206.

[0042] Two sets of driving mechanisms 1 are placed on both sides of the net respectively, and two sets of pulling mechanisms 2 are provided on both sides of the net respectively. In the process of the two sets of driving mechanisms 1 approaching each other, the pulling mechanisms 2 on both sides of the net are approached to each other, so that the hook 204 on the side plate 202 on one side of the net passes through the net and extends into the limiting groove 205 on the side plate 202 on the other side of the net, so that the side plates 202 on both sides of the net are pulled together by the hook 204. At this time, the first scraper 206 on the side plate 202 is attached to the outer wall of the net. At this time, the distance between the side plates 202 on both sides of the net cannot be increased, and the outer shell 101 is slidably sleeved on the outer wall of the guide rod 201, and the inner wall of the guide rod 201 is fixedly connected with a pressure spring 203, and the elastic force of the pressure spring 203 makes The housing 101 and the side plate 202 fit tightly enough, and the first motor 102 inside the driving mechanism 1 drives the gear set 103, so that the gear set 103 drives the rotating shaft 104 to rotate, and the rotating shaft 104 drives two sets of reciprocating screws 105 to rotate, and the two sets of reciprocating screws 105 respectively drive one set of driving wheels 106 to rotate, and in the process of the reciprocating screws 105 driving the driving wheels 106 to rotate, the synchronous belt 108 is driven to rotate, so that the synchronous belt 108 drives the other set of driving wheels 106 to rotate, and in the process of the driving wheels 106 rotating, the protrusions on the outside of the driving wheels 106 push the crawler 107, so that the crawler 107 rotates, and the housing 101 compresses the support spring 111 under the action of the pulling mechanism 2, so that the rebound force of the support spring 111 The pressure 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 net, so that the crawler 107 drives the two sets of driving mechanisms 1 to fit the outer wall of the net and move downward during the rotation of the crawler 107. During the entire process of the robot moving downward on the outer wall of the net, the mechanical claw 504 is equipped with an underwater camera, which can take real-time photos of the situation on the net, so as to accurately judge whether there are foreign objects attached to the net. This is the existing technology, so it will not be described in detail in this solution. Then, the forearm 503 and the rear arm 502 are rotated under the drive of the main drive motor 505 and the auxiliary drive motor 506, thereby driving the mechanical claw 504 to move to the surface of the net, and then using the machine The mechanical claw 504 removes the attachments on the net accurately. When the hook 204 contacts the steel wire on the net, the hook 204 is blocked by the steel wire and flipped over, and the hook 204 twists the torsion spring. Then, as the hook 204 slides over the steel wire, the torsion spring rebounds and pushes the hook 204 to reset, so that the hook 204 is hooked into the limiting groove 205 on the side plate 202 on the other side again. Since the net is in a grid shape, there are always multiple groups of hooks 204 hooked in the limiting groove 205 during the downward movement of the robot, so that all the hooks 204 will not be pushed by the net, thereby ensuring that the two groups of driving mechanisms 1 will not separate during the movement of the net cleaning robot.The first scraper 206 scrapes the outer wall of the net, thereby cleaning the net to a certain extent.

[0043] Please refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 6 、 Figure 7 、 Figure 8 and Figure 9 The inner wall of the housing 101 is provided with a negative pressure mechanism 3, which includes a water inlet cover 301, which is fixedly connected to the bottom end of the inner wall of the housing 101, and the housing 101 is provided with a water inlet 112 at the connection with the water inlet cover 301. The side wall of the water inlet cover 301 is connected with a guide pipe 303, and the top of the guide pipe 303 extends to the outside of the housing 101. The inner wall of the water inlet cover 301 is rotatably connected with a fan blade 302, and the fan blade 302 is rotated. The end is fixedly connected to the other output end of the gear set 103, and one end of the guide tube 303 located outside the shell 101 is connected to the nozzle 305. The side wall of the nozzle 305 is fixedly connected to the rotating arm 304. The end of the rotating arm 304 is rotatably connected to the side wall of the shell 101. The bottom end of the rotating arm 304 is provided with a guide groove 306, and the inner wall of the guide groove 306 is slidingly sleeved with a push block 307. The bottom end of the push block 307 is fixedly connected to the crossbeam 308.

[0044] After the power of the first motor 102 is transmitted to the gear set 103, the gear set 103 drives the fan blades 302 to rotate, so that the water between the two sets of shells 101 is drawn into the water inlet cover 301 through the water inlet 112, and then the water enters the inside of the nozzle 305 through the guide pipe 303, so that the water is sprayed from the nozzle 305 onto the net, and the beam 308 moves back and forth under the drive of the movable arm 407, so that the beam 308 drives the pushing block 307 to move back and forth, and the reciprocating movement of the movable block pushes the guide groove 306, so that the rotating arm 304 flips back and forth, and the rotating arm 304 drives the nozzle 305 to flip back and forth during the reciprocating flipping process, so that the water sprayed from the nozzle 305 can be more fully sprayed onto the net.

[0045] Please refer 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, and the cleaning mechanism 4 includes a front cleaning component 41. The front cleaning component 41 includes a reciprocating disk 401, and the reciprocating disk 401 is rotatably connected to one end of the inner wall of the shell 101 near the forward direction. The edge of the reciprocating disk 401 is provided with multiple sets of serrations, and 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, and the output end of the second motor 403 is fixedly connected to a deflection block 404, and the deflection block 404 slides in contact with the inner wall of the slide groove 402. A group of mounting grooves 405 are respectively provided on the outer wall of the reciprocating disk 401 at both ends, and two groups of positioning columns 406 are fixedly connected to the side wall of the shell 101, and the positioning columns 406 slide in contact with On the inner wall of the mounting groove 405, the cleaning mechanism 4 also includes a rear cleaning assembly 42, and the rear cleaning assembly 42 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 rod 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 deflection block 404 is driven to rotate by the second motor 403, 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 as the shell 101 moves, the reciprocating plate 401 contacts the attachments on the outside of the net. These attachments are separated from the net under the reciprocating friction and cutting action of the serrations on the edge of the reciprocating plate 401, thereby achieving preliminary cleaning of the attachments on the outside of the net. Subsequently, the net is cleaned by the second cleaning of the first scraper 206 and then 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 105, so that the movable arm 407 drives the crossbeam 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 sliding the side wall of the net 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] During use, by arranging separate power sources inside the two sets of driving mechanisms 1 respectively, the two sets of driving mechanisms 1 move synchronously underwater, and the side plates 202 on the other side are pulled by the hooks 204 on the pulling mechanisms 2 on both sides, so that the pulling mechanisms 2 on the two sets of driving mechanisms 1 can pull each other, thereby not increasing the distance between the two sets of pulling mechanisms 2, and the support wheel 110 pushes the track 107 to fit tightly with the net under the elastic force of the support spring 111, thereby ensuring that the net cleaning robot can fit tightly with the net during the cleaning process, ensuring the cleaning effect and avoiding the robot from detaching from the net. The parts not involved in the device are the same as the existing technology or can be implemented using the existing technology.

[0048] Although an embodiment of the present invention has been shown and described, this specific embodiment is merely an explanation of the present invention and is not a limitation of the invention. The specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions and variations to the embodiment without creative contribution as needed without departing from the principles and purpose of the present invention. However, as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. A net cleaning robot for marine aquaculture cages, comprising two sets of drive mechanisms (1), characterized in that: Each group of the driving mechanisms (1) comprises a housing (101), a mechanical arm (5) is provided on the side of the outer wall of the housing (101) facing 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 (503) is fixedly connected to an auxiliary driving motor group (506) at the connection between the forearm (503) and the rear arm (502); Two groups of pulling mechanisms (2) are provided between the two groups of the housings (101), two groups of driving wheels (106) are rotatably connected to the two sides of the housing (101), and the outer walls of the two groups of driving wheels (106) on the same side are engaged with tracks (107), and the side walls of the housing (101) are slidably connected to multiple groups of sliders (109), and the side walls of each group of sliders (109) are rotatably connected to a group of supporting wheels (110), and the multiple groups of supporting wheels (110) are in contact with the inner walls of the tracks (107), and the top ends of each group of sliders (109) are fixedly connected to a group of supporting springs (111), and the top ends of the supporting springs (111) are fixedly connected to the outer wall of the housing (101). 101) is fixedly connected to the inner wall of the housing (101) with a first motor (102), the inner wall of the housing (101) is provided with a gear set (103), the output end of the first motor (102) is fixedly connected to the input end of the gear set (103), a set of output ends of the gear set (103) is fixedly sleeved with a rotating shaft (104), both 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 provided at the connection between the reciprocating screw rods (105) and the driving wheels (106), and the end of the synchronous belt (108) is connected to the other set of driving wheels (106); Each group of the pulling mechanism (2) comprises two groups of guide rods (201), the two groups of guide rods (201) are respectively 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 respectively fixedly connected with a group of side plates (202), and the side walls of each group of the side plates (202) are respectively rotatably connected with a plurality of groups of hooks (204), the hooks A torsion spring is provided at the connection between (204) and the side plate (202), 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 staggered, the side wall of the side plate (202) is provided with multiple groups of limiting grooves (205), 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), and the side wall of the side plate (202) is fixedly connected with multiple groups of first scrapers (206); Cleaning mechanisms (4) are provided at both ends of the housing (101), the cleaning mechanisms (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) in the forward direction, and the edge of the reciprocating disk (401) being provided with a plurality of groups of saw teeth; 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) being fixedly connected to a sliding rod (411) at the connection with the reciprocating screw rods (105), and the end of the sliding rod (411) being slidably connected to the inner wall of the housing (101).

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

3. The marine aquaculture cage net cleaning robot according to claim 2, 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), the inner wall of the water inlet cover (301) is rotatably connected to a fan blade (302), and the end of the fan blade (302) is fixedly connected to the other output end of the gear set (103).

4. The marine aquaculture cage net cleaning robot according to claim 3, characterized in that: One end of the guide tube (303) located outside the housing (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 housing (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).

5. The marine aquaculture cage net cleaning robot according to claim 1, 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).

6. The marine aquaculture cage net cleaning robot according to claim 5, 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).

7. The marine aquaculture cage net cleaning robot according to claim 1, characterized in that: The ends of the movable arms (407) extend to the outside of the housing (101), and the ends of the two groups of movable arms (407) are fixedly connected to 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 housing (101). The bottom end of the reciprocating bars (408) is fixedly connected to multiple groups of second scrapers (409).

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