An underwater net cage cleaning structure and cleaning robot

Abstract

The application discloses an underwater net cage cleaning structure and a cleaning robot. The underwater net cage cleaning structure comprises a bionic frame module, a cleaning module and a cleaning robot. The bionic frame module comprises a skeleton and a protective film. The protective film is arranged on the outer side of the skeleton and connected with the skeleton. The skeleton comprises a left chest fin, a right chest fin and a body. The left chest fin and the right chest fin are symmetrically arranged on the left side and the right side of the body and are movably connected with the body. The protective film comprises a skin layer and an antifouling coating. The skin layer is made of a flexible material. The antifouling coating is arranged on the outer surface of the skin layer. The skin layer is fixedly connected with the skeleton. The cleaning module is installed on the bionic frame module and comprises a vibration cleaning unit and a brush cleaning unit. The vibration cleaning unit is installed at the front end of the body and located between the skeleton and the protective film. The brush cleaning unit is installed on the skeleton. The cleaning robot comprises the underwater net cage cleaning structure. The application has high underwater adaptability and stability and can adhere to the deformation of the soft curved net clothes in the cleaning process, thereby enhancing the efficiency and effect of the net cage cleaning.

Description

Technical Field

[0001] This invention relates to the field of mechanical cleaning technology, and more specifically, to an underwater cage cleaning structure and cleaning robot. Background Technology

[0002] Affected by fishing moratoriums and declining fishery resources, catches have decreased, making aquaculture the primary means of obtaining fishery resources. Cage aquaculture has gained widespread attention due to its advantages such as low site investment, convenient management, and flexibility. Aquaculture cages generally consist of a frame system, a netting system, and an anchoring system. The netting material is mostly polyethylene or nylon. These materials are non-toxic and have a large specific surface area. However, prolonged contact with nutrient-rich aquaculture water leads to the proliferation of fouling organisms (mainly mussels, sea squirts, barnacles, hydras, and algae) on the netting. These organisms gradually clog the netting holes, hindering natural water flow and exchange, resulting in insufficient dissolved oxygen levels and the inability to remove harmful substances. This deterioration in water quality directly impacts fish health. Furthermore, excessive fouling... Biological attachment significantly increases the weight of the netting, potentially causing deformation, sinking, or even breakage of the net cages. Furthermore, in areas with severe shellfish attachment, the sharp points of the shellfish can cut through the netting or damage its structure, severely impacting the safety and lifespan of the net cages and increasing the risk of fish escape, resulting in economic losses. More seriously, some fouling organisms may carry pathogens, which multiply more easily in this environment of poor water flow and abundant organic matter, greatly increasing the risk of disease in farmed fish. Therefore, regular cleaning of aquaculture net cages is essential.

[0003] However, traditional aquaculture cage cleaning relies on manual labor, which is labor-intensive and dangerous. Biological removal reduces labor costs and offers both ecological and economic benefits, but some fouling organisms, such as polyculture fish, have specific feeding preferences, making it impossible to completely solve the problem of fouling organism attachment. Antifouling coatings are also an important approach to addressing fouling organisms, but they are costly and pose risks of pollution and harm to farmed organisms. In comparison, mechanical removal is more efficient, environmentally friendly, and responsive, making it the core method for cleaning cage netting. Mechanical removal primarily achieves cleaning through principles such as high-pressure water jets, cavitation, friction, suction, and vibration. Currently, considering fish welfare and facility protection, research trends in mechanical cleaning are gradually shifting towards preventing the development of mature biofouling communities. This involves frequent disturbances using gentle brushing to reduce noise and the release of larger waste particles during cleaning, minimizing the impact on fish and reducing damage to the netting. While brush cleaning is widely used in gentle cleaning, it has several drawbacks: traditional mechanical cleaning mechanisms have a simple design, high structural rigidity, are easily affected by water flow, have poor adhesion, and low cleaning coverage. While existing bionic mechanisms can mimic biological morphology or movement and are more suitable for underwater operations, they lack dedicated designs for cage cleaning scenarios, and there is still room for improvement in the layout of cleaning components. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides an underwater net cage cleaning structure and a cleaning robot. Using the manta ray as a biomimetic prototype, this invention designs a biomimetic frame module based on the manta ray's external morphology and structural characteristics. This enhances the underwater adaptability and stability of the cleaning mechanism, better accommodates the deformation of soft, curved netting during the cleaning process, and incorporates multimodal cleaning modules to improve the efficiency and effectiveness of net cage cleaning, providing a new research approach for underwater net cage cleaning machines.

[0005] The technical solution adopted in this invention is:

[0006] I. A cleaning structure for underwater cages

[0007] The underwater cage cleaning structure includes

[0008] A biomimetic frame module includes a skeleton and a protective membrane. The protective membrane is disposed on the outside of the skeleton and connected to it. The skeleton includes a left pectoral fin, a right pectoral fin, and a body. The left and right pectoral fins are symmetrically arranged on the left and right sides of the body and are both connected to the body for movement. The protective membrane includes a skin layer and an anti-fouling coating. The skin layer is made of a flexible material, and the anti-fouling coating is disposed on the outer surface of the skin layer. The skin layer is fixedly connected to the skeleton.

[0009] The cleaning module, installed on the bionic frame module, includes a vibration cleaning unit and a brush cleaning unit. The vibration cleaning unit is installed at the front end of the body and between the body and the protective membrane, while the brush cleaning unit is installed on the skeleton.

[0010] The body of the bionic frame module is mainly composed of a base plate and a curved plate fixedly connected together. The curved plate bends upward from the front end of the base plate and backward. A vibration cleaning unit is installed on the curved plate.

[0011] The biomimetic frame module comprises at least two pectoral fin plates arranged sequentially in a left-right direction for both the left and right pectoral fins. The outermost edges of the pectoral fin plates of the left and right pectoral fins are rounded, with a diameter larger than the mesh length of the netting in the cage. All pectoral fin plates and the base plate are initially coplanar. Adjacent pectoral fin plates and the base plate are movably connected, either by hinges or via a crank-slider mechanism.

[0012] The vibration cleaning unit includes two vibration cleaning mechanisms, which are symmetrically arranged on the front end face of the bending plate. The vibration cleaning mechanism mainly consists of a first hook spring, a second hook spring, a non-elastic rope, and a counterweight. The first hook spring and the second hook spring are connected end to end and are respectively connected to the bending plate and the protective membrane. One end of the non-elastic rope is connected to the connection point of the second hook spring on the protective membrane, and the other end is connected to the middle of the counterweight. The counterweight is arranged at the connection point of the first hook spring and the second hook spring and is fixedly connected to the first hook spring and the second hook spring.

[0013] Both the first and second hook springs are tilted inwards and downwards, with the second hook spring having a larger tilt angle than the first hook spring.

[0014] The brush cleaning unit includes a brush mounting bracket and several fixed brushes, brush discs, and brush rollers. The brush mounting bracket includes several sub-brackets, each of which is arranged below each pectoral fin and base plate. The sub-brackets adopt a frame structure, with columns and connecting plates on the upper layer for connecting the corresponding pectoral fins or base plates, and fixed brushes installed on the lower layer. The first bristles of the fixed brushes are perpendicular to the corresponding pectoral fin or base plate and face downwards. The brush discs are arranged in pairs below the base plate. Each brush roller is arranged below the pectoral fin and base plate, and the number and length of the brush rollers on each pectoral fin and base plate may be the same or different.

[0015] In the brush mounting bracket, the edges of the two sub-brackets corresponding to the outermost pectoral fin plates of the left and right pectoral fins are rounded with the same diameter as the outermost pectoral fin plates.

[0016] The brush plate includes a cleaning plate, a second brush bristle, a motor, a motor mounting base, and a first one-way control structure; the second brush bristle is installed on the bottom surface of the cleaning plate, the top surface of the cleaning plate is connected to the output shaft of the motor, and the motor is installed on the base plate and / or the corresponding sub-bracket of the base plate through the motor mounting base;

[0017] The brush roller includes a roller, several bristle bundles, and a second unidirectional control structure. Each bristle bundle is evenly spaced on the outer circumferential surface of the roller. The circumferential distance between two adjacent bristle bundles is less than or equal to the thickness of the mesh used in the netting in the net cage. The bristles in each bristle bundle are symmetrically arranged along the circumference of the roller, and their lengths are distributed according to a pattern of increasing from short to long and then decreasing from long to short.

[0018] The cleaning disc of the brush disc and the roller of the brush roller are both hollow structures; several through holes are opened on the outer peripheral surface and the bottom surface of the cleaning disc, and a first one-way control structure is arranged in each through hole opened on the outer peripheral surface; several through holes are opened on both end faces and the outer peripheral surface of the roller, and a second one-way control structure is arranged in each through hole opened on the end face.

[0019] Both the first and second unidirectional control structures are mainly composed of springs, small balls, and supports. The springs pass through the through holes and supports, with both ends connected to the supports and small balls, respectively. One end of the through hole, near the outer circumferential surface of the cleaning disc or the end face of the roller, serves as the inlet, and the other end as the outlet. The small ball is arranged at the inlet of the through hole. The support passes through the through hole and includes several support plates parallel to and / or perpendicular to the spring axis. The support plate near the inlet is parallel to the spring axis and fixed to the inner circumferential surface of the cleaning disc or the inner end face of the roller. The support plate near the outlet is perpendicular to the spring axis and fixed to the inner end face of the cleaning disc or the inner circumferential surface of the roller. A central hole communicating with the through hole is also provided.

[0020] For the brush rollers arranged below each pectoral fin, the axis of the brush roller is perpendicular to the front-to-back direction and parallel to the pectoral fin; for the brush rollers arranged below the base plate, there is one horizontal brush roller and two inclined brush rollers, the horizontal brush roller is arranged on the front side and the two inclined brush rollers are arranged on the rear side; the axes of both the horizontal brush roller and the inclined brush roller are parallel to the base plate, the horizontal brush roller is arranged on the front side and its axis is perpendicular to the front-to-back direction, and the axes of the two inclined brush rollers are inclined relative to the front-to-back direction and are arranged symmetrically about the front-to-back direction.

[0021] The biomimetic frame module mimics the external morphology and structure of a manta ray, the skeleton mimics the pectoral fins and body curves of a manta ray, and the vibration cleaning unit imitates the morphology and function of the head fin of a manta ray.

[0022] II. An underwater cage cleaning robot

[0023] The underwater cage cleaning robot includes

[0024] The cleaning structure adopts the underwater cage cleaning structure described above.

[0025] The driving module is used to drive the underwater net cage cleaning structure to move vertically on the net of the net cage, thereby cleaning the net cage. During the cleaning process, the underwater net cage cleaning structure is arranged vertically, with the front end of the bionic frame module facing upward and the brush cleaning unit facing the net cage.

[0026] The control module is used to control the underwater cage cleaning robot.

[0027] Compared with the prior art, the beneficial effects of the present invention are:

[0028] 1. The biomimetic frame module of this invention uses the manta ray as a biomimetic prototype. The frame shape imitates the external morphology of the manta ray, and the combination of a split skeleton and flexible skin mimics the cartilage characteristics and structural composition of the manta ray. This improves the fit of the mesh on the frame and the cleaning effect.

[0029] 2. The present invention is equipped with a multi-modal cleaning module. The vibration cleaning unit achieves vibration through a spring vibration principle to perform auxiliary cleaning. The brush cleaning unit completes the main cleaning work through a multi-stage brush cleaning mechanism (fixed brush, brush plate and brush roller). The two cleaning units work together to form a three-stage cleaning mechanism of "vibration-brushing-peeling" to thoroughly clean the net cage and enhance the cleaning effect of the net cage.

[0030] 3. The layout design of the brush roller bristles of the present invention forms a hook, with dense bristles at the root and sparse bristles at the top. During operation, the mesh naturally slides into the gap between the bristle bundles and then rolls out along the brush roller into the next gap, enhancing the mesh's fit. In this process, the bristles pass through the mesh and can clean the dirt and organisms on the opposite side.

[0031] 4. The present invention is designed with a self-cleaning structure for the bristles, which controls the water flow from the root of the bristles in a directional manner, combs out the bristles and removes the debris entangled on the bristles, reducing the loss caused by manual cleaning.

[0032] 5. This invention adopts a modular design. The bionic frame module and brush cleaning unit can be quickly disassembled for easy independent operation and to achieve multi-functional and multi-scenario applications. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the overall structure of an underwater cage cleaning structure according to an embodiment of the present invention.

[0034] Figure 2 This is a schematic diagram of the biomimetic frame module structure and assembly of an underwater cage cleaning structure according to an embodiment of the present invention.

[0035] Figure 3This is a schematic diagram of the skeleton structure of an underwater cage cleaning structure according to an embodiment of the present invention.

[0036] Figure 4 This is a schematic diagram of the protective membrane structure of an underwater cage cleaning device according to an embodiment of the present invention.

[0037] Figure 5 This is a schematic diagram of the structure, installation position, and working process of the vibration cleaning unit of the underwater cage cleaning structure according to an embodiment of the present invention.

[0038] Figure 6 This is a schematic diagram of the assembly of the brush mounting bracket and the frame of an underwater cage cleaning device according to an embodiment of the present invention.

[0039] Figure 7 This is a schematic diagram of the brush cleaning unit structure of an underwater cage cleaning structure according to an embodiment of the present invention.

[0040] Figure 8 This is a schematic diagram of the brush mounting bracket structure of an underwater cage cleaning structure according to an embodiment of the present invention.

[0041] Figure 9 This is a schematic diagram of the brush disc structure of an underwater cage cleaning structure according to an embodiment of the present invention.

[0042] Figure 10 This is a schematic diagram of the brush roller structure of an underwater cage cleaning structure according to an embodiment of the present invention.

[0043] Figure 11 This is a schematic diagram of the unidirectional control structure of an underwater cage cleaning structure according to an embodiment of the present invention.

[0044] Figure 12 This is a schematic diagram of the working state of an underwater cage cleaning structure according to an embodiment of the present invention.

[0045] In the diagram: 1. Bionic frame module, 11. Skeleton, 111. Left pectoral fin, 1111. Pectoral fin plate I, 1112. Pectoral fin plate II, 112. Right pectoral fin, 1121. Pectoral fin plate III, 1122. Pectoral fin plate IV, 113. Body, 1131. Base plate, 1132. Bending plate, 12. Protective film, 121. Skin layer, 122. Anti-fouling coating; 2. Cleaning module, 21. Vibration cleaning unit, 211. Left vibration cleaning mechanism, 2111. First hook spring, 2112. Second hook spring, 2113. Non-elastic rope, 2114. Counterweight, 212. Right vibration cleaning mechanism. Mechanism, 22, Brush cleaning unit, 221, Brush mounting bracket, 2211, Bracket I, 2212, Bracket II, 2213, Bracket III, 2214, Bracket IV, 2215, Bracket V, 222, Fixed brush, 223, Brush disc, 2231, Cleaning disc, 2232, Second bristles, 2233, Motor, 2234, Motor mounting base, 2235, First one-way control structure, 22351, Spring, 22352, Small ball, 22353, Support, 224, Brush roller, 2241, Roller, 2242, Bristle bundle, 2243, Second one-way control structure. Detailed Implementation

[0046] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0047] The biomimetic principle of this invention is as follows:

[0048] Manta rays possess a flat, broad, and flexible rhomboid body with a streamlined profile, minimizing water resistance and allowing for easier swimming with minimal energy expenditure. The flat body also contributes to good balance, helping manta rays remain stable in strong or turbulent currents and preventing them from being swept away or deviating from their intended path. Their skin, covering muscles and cartilage, provides both flexibility and support. As native aquatic organisms in the marine ecosystem, manta rays have evolved morphological and functional adaptations through long-term natural selection. Furthermore, while active in the upper and middle layers of water, manta rays sometimes dive to the seabed to forage. They approach the seabed, flapping their pectoral fins to stir up sand and mud, exposing hidden benthic organisms, demonstrating some ability and experience in staying close to the ground. Therefore, the frame shape of this invention mimics the external morphology of a manta ray, and the combination of a split skeleton and flexible skin mimics the cartilage characteristics and structural composition of the manta ray. This biomimetic manta ray design allows the net cage cleaning structure to adapt to the contact operation requirements of underwater net cage cleaning. More importantly, the manta ray's flat and wide underside provides ample space for the cleaning module.

[0049] Furthermore, one can notice that the manta ray has a hammer-shaped cephalic fin, which mainly assists in feeding and adjusting direction and posture. It assists in feeding because the cephalic fin is soft and can be flexibly extended or curled. The curling action of the cephalic fin can create a directional water flow channel to guide the food in front of it into the mouth. Currently, most biomimetic applications mainly consider the manta ray's energy-saving swimming and mostly ignore the cephalic fin. However, in the net cage cleaning structure of this invention, this structure and characteristic are also used to enhance the net cage cleaning effect. The cephalic fin is soft and hammer-shaped, and a spring structure is added to it to change the state of the cephalic fin during the cleaning process, so as to achieve vibration, aggregation and directional guidance.

[0050] The first aspect of this invention provides an underwater cage cleaning structure. This invention adopts a modular design; the biomimetic frame module and the cleaning module can be quickly disassembled, facilitating independent operation and enabling multi-functional, multi-scenario applications.

[0051] The underwater cage cleaning structure provided by this invention includes the following two modules:

[0052] The biomimetic frame module 1 includes a skeleton 11 and a protective membrane 12. The protective membrane 12 is disposed on the outside of the skeleton 11 and connected to the skeleton 11. The skeleton 11 includes a left pectoral fin 111, a right pectoral fin 112, and a body 113. The left and right pectoral fins 111 and 112 are symmetrically arranged on the left and right sides of the body 113 and are movably connected to the body 113. The protective membrane 12 includes a skin layer 121 and an antifouling coating 122. The skin layer 121 is made of a flexible material, and the antifouling coating 122 is disposed on the outer surface of the skin layer 121. The skin layer 121 is fixedly connected to the skeleton 11.

[0053] The cleaning module 2 is installed on the bionic frame module 1 and includes a vibration cleaning unit 21 and a brush cleaning unit 22. The vibration cleaning unit 21 is installed at the front end of the body 113 and is located between the body 113 and the protective membrane 12. The brush cleaning unit 22 is installed on the skeleton 11.

[0054] Specifically, the biomimetic frame module 1 mimics the external morphology and structure of a manta ray, the skeleton 11 mimics the pectoral fins and body curves of a manta ray, and the vibration cleaning unit 21 imitates the morphology and function of the head fin of a manta ray.

[0055] Among them, the biomimetic frame module 1 uses the manta ray as a biomimetic prototype. The frame shape imitates the external appearance of the manta ray, and the combination of the split skeleton 11 and the flexible protective film 12 imitates the cartilage characteristics and structural composition of the manta ray, thereby improving the mesh fit and cleaning effect of the biomimetic frame module.

[0056] In the bionic frame module 1, the body 113 is mainly composed of a base plate 1131 and a bending plate 1132 fixedly connected. The bending plate 1132 bends upward from the front end of the base plate 1131 and backward. A vibration cleaning unit 21 is installed on the front side of the bending plate 1132.

[0057] The biomimetic frame module 1 includes at least two pectoral fin plates arranged sequentially along the left-right direction for both the left pectoral fin 111 and right pectoral fin 112. The outermost edges of the pectoral fin plates of the left and right pectoral fins 111 and 112 are rounded, with a diameter larger than the mesh length of the netting in the cage to avoid the risk of snagging between the structure and the netting. All pectoral fin plates and the base plate 1131 are initially coplanar. Adjacent pectoral fin plates and the base plate 1131 are movably connected, either by hinges or through a crank-slider mechanism. Specifically, hinges allow the pectoral fin plates to rotate flexibly within a certain angle range relative to the adjacent base plate 1131 or other pectoral fin plates, while the crank-slider mechanism converts rotational motion into linear motion or achieves a specific motion trajectory, enabling the pectoral fin plates to perform complex movements as needed to meet the functional requirements of the device.

[0058] For the vibration cleaning unit 21 of the cleaning module 2, the vibration cleaning unit 21 includes two identical vibration cleaning mechanisms, which are symmetrically arranged on the left and right sides of the front end face of the bending plate 1132. The vibration cleaning mechanism mainly consists of a first hook spring 2111, a second hook spring 2112, a non-elastic rope 2113, and a counterweight 2114. The first hook spring 2111 and the second hook spring 2112 are connected end to end, and the first hook spring 2111 and the second hook spring 2112 are respectively connected to the bending plate 1132 and the protective membrane 12. One end of the non-elastic rope 2113 is connected to the connection point of the second hook spring 2112 on the protective membrane 12, and the other end is connected to the middle of the counterweight 2114. The counterweight 2114 is arranged at the connection point of the first hook spring 2111 and the second hook spring 2112, and is fixedly connected to the first hook spring 2111 and the second hook spring 2112.

[0059] Preferably, the non-elastic rope 2113 maintains the position of each component of the vibration cleaning mechanism in the initial state.

[0060] Preferably, both the first hook spring 2111 and the second hook spring 2112 are inclined inwards and downwards, with the second hook spring 2112 having a larger inclination angle than the first hook spring 2111. This inclination angle mimics the arrangement of the manta ray's cephalic fins and also controls the direction and range of vibration during cleaning, creating an inward curl and guiding any remaining residue to fall towards the central area of ​​the brush cleaning unit inwards and downwards, achieving a more thorough cleaning.

[0061] For the brush cleaning unit 22 of the cleaning module 2, the brush cleaning unit 22 includes a brush mounting bracket 221 and several fixed brushes 222, a brush disc 223, and a brush roller 224; the brush mounting bracket 221 includes several sub-brackets, each sub-bracket being arranged below each pectoral fin and the base plate 1131 respectively, that is, a corresponding sub-bracket is arranged below the base plate 1131 and each pectoral fin. The sub-bracket adopts a frame structure, and the upper layer of the frame structure is provided with columns and connecting plates. The frame structure is connected to the corresponding pectoral fin or base plate 1131 through the columns and connecting plates. The net cage is connected to the bottom layer of the net cage. The bottom layer is equipped with a fixed brush 222. The first bristles of the fixed brush 222 are perpendicular to the corresponding pectoral fin or bottom plate 1131 and are set downwards, so that the ends of the bristles can contact the net cage during the cleaning process. The brush discs 223 are arranged in pairs below the bottom plate 1131 and are connected to the corresponding sub-support and / or bottom plate 1131. Each brush roller 224 is arranged below each pectoral fin and bottom plate 1131 respectively, and the number and length of the brush rollers 224 on each pectoral fin and bottom plate 1131 are set to be the same or different.

[0062] For the brush mounting bracket 221 of the brush cleaning unit 22, the edges of the two sub-brackets corresponding to the outermost pectoral fin plates of the left pectoral fin 111 and the right pectoral fin 112 are rounded with the same diameter as the outermost pectoral fin plates.

[0063] For the brush disk 223 of the brush cleaning unit 22, the brush disk 223 includes a cleaning disk 2231, a second brush bristle 2232, a motor 2233, a motor mounting base 2234, and a first one-way control structure 2235; the second brush bristle 2232 is installed on the bottom surface of the cleaning disk 2231, the top surface of the cleaning disk 2231 is connected to the output shaft of the motor 2233, the motor 2233 is installed on the base plate 1131 and / or the corresponding sub-bracket of the base plate 1131 through the motor mounting base 2234, and the bottom surface of the cleaning disk 2231 is parallel to the pectoral fin or the base plate 1131.

[0064] For the brush roller 224 of the brush cleaning unit 22, the brush roller 224 includes a roller 2241, several bristle bundles 2242, and a second unidirectional control structure 2243. The axis of the roller 2241 is parallel to the pectoral fin or base plate 1131. Each bristle bundle 2242 is evenly distributed on the outer circumferential surface of the roller 2241 and is connected to the outer circumferential surface of the roller 2241. The circumferential distance between two adjacent bristle bundles 2242, i.e. the circumferential distance on the outer circumferential surface of the roller 2241, is less than or equal to the thickness of the netting used in the netting cage. The bristles in each bristle bundle 2242 are symmetrically arranged along the circumference of the roller 2241, and the length is distributed according to the rule of getting longer and then getting shorter. In each bristle bundle 2242, the bristles arranged in a straight line along the same axis have the same length.

[0065] Preferably, for each pectoral fin, the brush roller 224 arranged below it has its axis perpendicular to the front-back direction and parallel to the pectoral fin; the brush roller 224 arranged below the base plate 1131 includes one horizontal brush roller and two inclined brush rollers, with the horizontal brush roller arranged on the front side and the two inclined brush rollers arranged on the rear side; the axes of both the horizontal and inclined brush rollers are parallel to the base plate 1131, the horizontal brush roller is arranged on the front side and its axis is perpendicular to the front-back direction, and the axes of the two inclined brush rollers are inclined relative to the front-back direction and are arranged symmetrically from left to right.

[0066] For the first unidirectional control structure 2235 and the second unidirectional control structure 2243, the cleaning disc 2231 of the brush disc 223 and the roller 2241 of the brush roller 224 are both hollow structures; several through holes are opened on the outer peripheral surface and the bottom surface of the cleaning disc 2231, and a first unidirectional control structure 2235 is arranged in each through hole opened on the outer peripheral surface; several through holes are opened on both end faces and the outer peripheral surface of the roller 2241, and a second unidirectional control structure 2243 is arranged in each through hole opened on the end face.

[0067] Both the first unidirectional control structure 2235 and the second unidirectional control structure 2243 are mainly composed of a spring 22351, a small ball 22352, and a support 22353. The spring 22351 passes through the through hole, and its two ends are connected to the support 22353 and the small ball 22352, respectively. The end of the through hole near the outer circumference of the cleaning disc 2231 or the end face of the roller 2241 is the inlet, and the other end is the outlet. The small ball 22352 is arranged at the inlet of the through hole, and the support 2235... 3. A support plate is inserted through the through hole to control the deformation direction of the spring. It includes several support plates that are parallel to and / or perpendicular to the axial direction of the spring 22351. The support plate near the inlet is parallel to the axial direction of the spring 22351 and fixed to the inner circumferential surface of the cleaning disc 2231 or the inner end surface of the roller 2241. The support plate near the outlet is perpendicular to the axial direction of the spring 22351 and fixed to the inner end surface of the cleaning disc 2231 or the inner circumferential surface of the roller 2241. A central hole communicating with the through hole is also provided.

[0068] The working principles of the first unidirectional control structure 2235 and the second unidirectional control structure 2243 are as follows:

[0069] The first one-way control structure 2235: In the initial state, the spring 22351 is at its original length and in normal state, and the ball 22352 is pressed against the outer peripheral surface, blocking the through hole; after the cleaning begins, when it first enters the water, due to the pressure difference, the external water enters and squeezes the spring 22351 and the ball 22352. The spring 22351 is in a compressed state, and the ball 22352 gradually moves away from the outer peripheral surface. After the water enters to a certain extent, the external water force is insufficient, the spring 22351 gradually returns to its original length, and the ball 22352 moves closer to the outer peripheral surface until it reaches the outer peripheral surface.

[0070] The second one-way control structure 2243: In the initial state, the spring 22351 is at its original length and in normal state, and the ball 22352 is pressed against the end face, blocking the through hole; after the cleaning begins, when it first enters the water, due to the pressure difference, the external water enters and squeezes the spring 22351 and the ball 22352. The spring 22351 is in a compressed state, and the ball 22352 gradually moves away from the end face. After the water enters to a certain extent, the external water force is insufficient, the spring 22351 gradually returns to its original length, and the ball 22352 moves closer to the end face until it reaches the end face.

[0071] Specifically, the through holes on the side wall of the brush disc 223 are opened radially, and the through holes at each brush bristle arrangement location on the bottom surface are opened axially; the through holes on the two end faces of the roller 2241 are opened axially, and the through holes at each brush bristle arrangement location on the outer circumference are opened radially.

[0072] The underwater cage cleaning structure provided by this invention operates as follows: Figure 12 As shown:

[0073] Motion and Adsorption: The underwater net cage cleaning structure operates with the assistance of a crane. A suspension rope is positioned at each of the left and right pectoral fins, and the up-and-down movement of the structure is achieved through the extension and retraction of these ropes, thus performing the cleaning operation. During the cleaning process, the brush roller 224 acts as a motion actuator to maintain contact. Facing the net surface, the brush roller 224 rotates around its axis in response to contact with the net surface. The special bristle layout on the brush roller 224 ensures stable contact, with dense bristles at the roots and sparse bristles at the top. During operation, the net naturally slides into the gaps between the bristle bundles 2242, and then rolls out along the brush roller 224 into the next gap. Furthermore, the addition of the biomimetic frame module 1 enhances the underwater net cage cleaning structure's fit. The biomimetic frame organically combines the various parts and, using the manta ray as a biomimetic prototype, mimics the external shape and curved structure of the manta ray, exhibiting excellent underwater adaptability and stability. The split skeleton and flexible skin improve the frame's flexibility, actively conforming to the deformation of the net.

[0074] Cleaning process: During the cleaning process, the underwater cage cleaning device is arranged vertically, with the front end of the bionic frame module 1 facing upwards and the brush cleaning unit 22 facing the cage. The main cleaning is done by the brush cleaning unit 22. When moving up and down, the long-bristled brush roller and the inclined brush roller alternately perform a comprehensive cleaning. The brush disc 223 cleans the more stubborn dirt again, enhances the mechanical force, and improves the cleaning rate. The fixed brushes, which are evenly arranged along the frame contour, provide static protection and clean any missed areas. Secondly, the vibration cleaning unit 21 assists in the cleaning. Under the action of gravity, the weight falls downward, pulling the first hook spring 2111, the second hook spring 2112 and the non-elastic rope 2113 to deform downward, giving the skin layer 121 at the head fin a downward force. The skin layer 121 touches the net and then transfers the force to the net. The net also exerts a force on the skin layer 121. The springs (first hook spring 2111 and second hook spring 2112) store energy in this process to prepare for repeating the process, so that the net is continuously subjected to force, the net vibrates, and the dirt on it is loosened.

[0075] Self-cleaning process: For the brush disc 223, the cleaning disc 2231 is hollow. When it is first put into the water, due to the pressure difference and the opening, the water from the outside enters the internal cavity. After a period of time, the water gradually fills up and the pressure increases. The small ball 22352 in the one-way control structure blocks the inlet. The brush disc 223 rotates under the action of the motor 2233. The liquid inside is driven to rotate together and generate centrifugal force. The water is thrown to the outer periphery, but the first one-way control structure 2235 prevents the water from flowing out from the outer periphery. Under the push of the internal water pressure, the water will be forced to flow to the end face opening and seep out from the gaps in the bristles, combing the bristles and taking away the debris wrapped on the bristles.

[0076] For the brush roller 224, the roller 2241 is hollow. When it first enters the water, due to the pressure difference and the opening, the water from the outside enters the internal cavity. After a period of time, the water gradually fills up and the pressure increases. The small ball 22352 in the one-way control structure blocks the inlet. The brush roller 224 faces the mesh surface and rotates around its axis in response to the contact with the mesh surface. The liquid inside is driven to rotate together and generate centrifugal force, which throws the water flow outward and out from the root of the bristles, combing the bristles and taking away the debris wrapped on the bristles.

[0077] In summary, this invention employs a multimodal cleaning module, with the vibration cleaning unit and brush cleaning unit jointly forming a three-stage cleaning mechanism of "vibration-scraping-peeling," enhancing the efficiency and effectiveness of net cage cleaning. Furthermore, the brush cleaning unit incorporates an adsorption structure and a self-cleaning structure for the bristles, resulting in a smoother working process and better performance. The layout of the brush roller bristles forms a hook, with denser bristles at the roots and sparser bristles at the top. During operation, the netting naturally slides into the gaps between the bristle bundles, then detaches as the brush roller rolls and enters the next gap, enhancing the netting's adhesion. Simultaneously, the bristles penetrate the netting, cleaning dirt on the opposite side. The self-cleaning structure allows for directional control of water flow from the bristle roots, combing out the bristles and removing debris entangled in them, reducing the need for manual cleaning.

[0078] A second aspect of the present invention provides an underwater cage cleaning robot.

[0079] The underwater cage cleaning robot provided by this invention includes:

[0080] The cleaning structure adopts the aforementioned underwater cage cleaning structure;

[0081] The drive module is used to drive the underwater cage cleaning structure to move vertically on the netting of the cage, thereby cleaning the cage. During the cleaning process, the underwater cage cleaning structure is arranged vertically, with the front end of the bionic frame module 1 facing upwards and the brush cleaning unit 22 facing the cage.

[0082] The control module is used to control the underwater cage cleaning robot.

[0083] Specific embodiments of the present invention are as follows:

[0084] The underwater cage cleaning structure provided in this embodiment is as follows: Figure 1 As shown.

[0085] The underwater cage cleaning structure includes a biomimetic frame module 1 and a cleaning module 2. The biomimetic frame module 1 includes a skeleton 11 and a protective membrane 12. The cleaning module 2 includes a vibration cleaning unit 21 and a brush cleaning unit 22.

[0086] In this embodiment, the specific structure and assembly method of the biomimetic frame module 1 are as follows: Figures 2-4 As shown in the figure, the underwater cage cleaning structure is placed horizontally.

[0087] like Figure 2 As shown, the biomimetic frame module 1 imitates the external morphology and structural features of the manta ray; the skeleton 11 imitates the pectoral fins and body curves of the manta ray; the vibration cleaning unit 21 imitates the shape and function of the head fin of the manta ray and is arranged on the upper part of the skeleton 11; the protective film 12 is soft and is attached to the outside of the skeleton 11 and the vibration cleaning unit 21, conforming to the shape of both and being fixed by hook and loop fasteners.

[0088] like Figure 3 As shown, the skeleton 11 includes a left pectoral fin 111, a right pectoral fin 112, and a body 113. The left pectoral fin 111 and the right pectoral fin 112 are the same size and shape and are arranged symmetrically with respect to the body 113.

[0089] The left pectoral fin 111 includes pectoral fin plate I 1111 and pectoral fin plate II 1112;

[0090] The right pectoral fin 112 includes pectoral fin plate III 1121 and pectoral fin plate IV 1122;

[0091] The body 113 includes a base plate 1131 and a curved plate 1132.

[0092] The edges of pectoral fin plates I1111 and III1121 are rounded, and the diameter of the rounded corners is larger than the mesh length of the netting in the cage.

[0093] Pectoral fin plates I 1111, II 1112, III 1121, IV 1122 and the base plate 1131 are all flat, hinged in pairs, and initially positioned on the same horizontal plane.

[0094] The bending plate 1132 is bent and bolted to the base plate 1131, forming a cavity in the middle.

[0095] like Figure 4 As shown, the protective film 12 includes a skin layer 121 and an anti-fouling coating 122. The skin layer 121 is made of a flexible material, and the anti-fouling coating 122 is applied to the outer surface of the skin layer 121.

[0096] In this embodiment, the specific structure and assembly method of the cleaning module 2 are as follows: Figures 5-11 As shown.

[0097] like Figure 5 As shown, the vibration cleaning unit 21 includes a left vibration cleaning mechanism 211 and a right vibration cleaning mechanism 212, both of which have the same structure and achieve vibration through a spring vibration principle. It includes a first hook spring 2111, a second hook spring 2112, a non-elastic rope 2113, and a counterweight 2114. One end of the first hook spring 2111 is connected to the bending plate 1132, and the other end is connected to one end of the second hook spring 2112. The other end of the second hook spring 2112 is connected to the skin layer 121. One end of the non-elastic rope 2113 is tied to the connection between the second hook spring 2112 and the skin layer 121, and the other end is connected to the middle of the counterweight 2114. The upper end of the counterweight 2114 is hung at the connection between the first hook spring 2111 and the second hook spring 2112.

[0098] like Figures 6-11 As shown, the brush cleaning unit 22 includes a brush mounting bracket 221, a fixed brush 222, a brush disc 223, and a brush roller 224.

[0099] like Figure 6 and Figure 8 As shown, the brush mounting bracket 221 includes bracket I 2211, bracket II 2212, bracket III 2213, bracket IV 2214 and bracket V 2215. The brush mounting bracket 221 is welded from rectangular and round rods, and its overall outline and structure roughly correspond to the frame 11. Bracket I 2211 corresponds to pectoral fin I 1111, bracket II 2212 corresponds to pectoral fin II 1112, bracket III 2213 corresponds to the base plate 1131, bracket IV 2214 corresponds to pectoral fin III 1122, and bracket V 2215 corresponds to pectoral fin IV 1121. The edges of bracket I 2211 and bracket V 2215 are rounded corners with the same diameter as the edges of pectoral fin I 1111 and pectoral fin III 1121. Brackets I 2211, II 2212, III 2213, IV 2214, and V 2215 are hinged together to form the brush mounting bracket 221. The brush mounting bracket 221 is provided with a column and a connecting plate on it, which are fixed to the bottom of the frame 11 by threaded connection.

[0100] like Figure 7 As shown, the fixed brush 222 is evenly arranged along the outline of the frame. The fixed brush 222 includes a first brush bristle.

[0101] like Figure 7 and Figure 9 As shown, the brush discs 223 are arranged in pairs in the middle of the bracket Ⅲ2213. The brush disc 223 includes a cleaning disc 2231, a second bristle 2232, a motor 2233, a motor mounting base 2234, and a first one-way control structure 2235.

[0102] like Figure 7 and Figure 10 As shown, the brush roller 224 includes a roller 2241, a bristle bundle 2242, and a second unidirectional control structure 2243. There are nine brush rollers 224 (their structures are identical except for their arrangement and dimensions): three pairs of short horizontal brush rollers, one long horizontal brush roller, and one pair of inclined brush rollers. One pair of the three short horizontal brush rollers is arranged in the middle of bracket I 2211 and bracket V 2215, and the other two pairs are arranged in the middle of bracket II 2212 and bracket IV 2214. The long horizontal brush roller is arranged on the upper part of bracket III 2213, and the inclined brush rollers are arranged in pairs on the lower part of bracket III 2213, with their axes parallel to the lowest member of bracket III 2213.

[0103] like Figure 9 and Figure 10As shown, the first bristles of the fixed brush 222 are arranged with consistent and uniform length; the second bristles 2232 of the brush disc 223 are arranged with consistent and uniform length; the bristle bundles 2242 of the brush roller 224 are spaced apart by a distance less than or equal to the thickness of the wire mesh in the circumferential direction, and all exhibit a consistent symmetrical arrangement of long and short bristles. The bristles of each bristle bundle change from short to long and then from long to short. The bristles are arranged along the axial direction according to this rule, and the bristle arrangement rule is consistent when viewed from any cross-section.

[0104] like Figure 9 and Figure 10 As shown, the cleaning disc 2231 is hollow, with evenly spaced openings on its side walls and where the brush bristles are arranged; the roller 2241 is a hollow structure with evenly spaced openings on its two end faces and where the brush bristles are arranged.

[0105] like Figure 11 As shown, both the first one-way control structure 2235 of the brush disc 223 and the second one-way control structure 2243 of the brush roller 224 include a spring 22351, a small ball 22352, and a support 22353. The one-way control structure is similar to a one-way valve. One such structure is arranged in each hole on the side wall of the cleaning disc 2231 and the end face of the brush roller 224. In the initial state, one end of the small ball 22352 blocks the hole, and the other end is connected to the spring 22351. The spring 22351 passes through the through hole and the support 22353, and its two ends are respectively connected to the support. 22353 and small ball 22352 are connected. Support 22353 is made of three support plates welded together. Two of the support plates are clamped on both sides of spring 22351 parallel to the axial direction of spring 22351. One end is welded to the third support plate, and the other end is fixed to the inner circumferential surface of cleaning disc 2231 or the inner end surface of roller 2241. The third support plate is perpendicular to the axial direction of spring 22351 and acts as the base of spring 22351. It is fixed to the inner end surface of cleaning disc 2231 or the inner circumferential surface of roller 2241 and has a central hole that communicates with the through hole.

[0106] Furthermore, the front ends of the two support plates of the first unidirectional control structure 2235's support 22353 are arc-shaped, allowing them to fit against the inner circumferential surface of the cleaning tray 2231, while the third support plate is flat, allowing it to fit against the inner end surface of the cleaning tray 2231. Similarly, the front ends of the two support plates of the second unidirectional control structure 2243's support 22353 are flat, allowing them to fit against the inner end surface of the roller 2241, while the third support plate is arc-shaped, allowing it to fit against the inner circumferential surface of the roller 2241.

[0107] Example 2

[0108] This embodiment provides an underwater cage cleaning robot.

[0109] The underwater cage cleaning robot includes an underwater cage cleaning structure, a remote control module, an observation module, a control module, and a buoyancy module. This underwater cage cleaning robot can complete cleaning and monitoring tasks.

[0110] The underwater cage cleaning structure in this embodiment is basically the same as that in embodiment 1, except that the two adjacent pectoral fins and the bottom plate 1131 are connected by a crank-slider mechanism.

[0111] The underwater cage cleaning robot in this embodiment works as follows:

[0112] Regular cleaning: Use a remote control module to control the brush roller 224 to move and clean various parts of the mesh.

[0113] Monitoring and Cleaning: The crank-connecting rod structure and the left and right pectoral fins form a power module. This power module mimics the movement mechanism of manta rays, making the movement more energy-efficient and less turbulent, which is more suitable for underwater operations. The underwater net cage cleaning robot monitors the parameters of each part and observes whether the net cage needs cleaning during movement. If cleaning is required, it brings its underside close to the net to complete the cleaning.

[0114] Monitoring: The bionic frame module and brush cleaning unit can be quickly disassembled. Only the brush cleaning unit needs to be disassembled during monitoring to reduce the robot's weight and movement losses. The underwater cage cleaning robot monitors the parameters of various parts during movement.

[0115] The above specific embodiments are used to explain and illustrate the present invention, but not to limit the present invention. Any modifications and changes made to the present invention within the spirit and scope of the claims shall fall within the protection scope of the present invention.

[0116] The above description is only a preferred embodiment of the present invention. Therefore, all equivalent changes or modifications made to the structure, features and principles described in the claims of this patent application are included in the scope of this patent application.

Claims

1. An underwater cage cleaning structure, characterized in that, include: A biomimetic frame module (1) includes a skeleton (11) and a protective membrane (12). The protective membrane (12) is disposed on the outside of the skeleton (11) and connected to the skeleton (11). The skeleton (11) includes a left pectoral fin (111), a right pectoral fin (112), and a body (113). The left pectoral fin (111) and the right pectoral fin (112) are symmetrically arranged on the left and right sides of the body (113) and are movably connected to the body (113). The protective membrane (12) includes a skin layer (121) and an antifouling coating (122). The skin layer (121) is made of a flexible material, and the antifouling coating (122) is disposed on the outer surface of the skin layer (121). The skin layer (121) is fixedly connected to the skeleton (11). The cleaning module (2) is installed on the bionic frame module (1) and includes a vibration cleaning unit (21) and a brush cleaning unit (22). The vibration cleaning unit (21) is installed at the front end of the body (113) and between the body (113) and the protective membrane (12). The brush cleaning unit (22) is installed on the skeleton (11). The body (113) is mainly composed of a base plate (1131) and a curved plate (1132) fixedly connected. The curved plate (1132) bends upward and backward from the front end of the base plate (1131). A vibration cleaning unit (21) is installed on the curved plate (1132). The left pectoral fin (111) and the right pectoral fin (112) each include at least two pectoral fin plates arranged sequentially in the left-right direction. The edges of the outermost pectoral fin plates of the left pectoral fin (111) and the right pectoral fin (112) are rounded, and the diameter of the rounded corner is larger than the mesh length of the netting in the net cage. All pectoral fin plates and the base plate (1131) are initially coplanar. There are movable connections between two adjacent pectoral fin plates and between the base plate (1131) and the adjacent pectoral fin plates. The movable connections are hinged or connected by a crank-slider mechanism. The brush cleaning unit (22) includes a brush mounting bracket (221) and several fixed brushes (222), a brush disc (223), and a brush roller (224); the brush mounting bracket (221) includes several sub-brackets, each sub-bracket being arranged below each pectoral fin and base plate (1131). The sub-brackets adopt a frame structure, and the upper layer of the frame structure is provided with columns and connecting plates for connecting the corresponding pectoral fins or base plates (1131). 1) A fixed brush (222) is installed on the lower layer. The first bristles of the fixed brush (222) are perpendicular to the corresponding pectoral fin or base plate (1131) and are set downwards. The brush discs (223) are arranged in pairs below the base plate (1131). Each brush roller (224) is arranged below the pectoral fin and the base plate (1131) respectively. The number and length of the brush rollers (224) on each pectoral fin and the base plate (1131) are the same or different. In the brush mounting bracket (221), the edges of the two sub-brackets corresponding to the outermost pectoral fin plates of the left pectoral fin (111) and the right pectoral fin (112) are rounded corners with the same diameter as the outermost pectoral fin plates. The brush roller (224) includes a roller (2241), several bristle bundles (2242), and a second unidirectional control structure (2243). Each bristle bundle (2242) is evenly spaced on the outer circumferential surface of the roller (2241). The circumferential distance between two adjacent bristle bundles (2242) is less than or equal to the thickness of the netting used in the netting cage. The bristles in each bristle bundle (2242) are symmetrically arranged along the circumference of the roller (2241), and their lengths are distributed according to the pattern of increasing from short to long and then decreasing from long to short.

2. The underwater cage cleaning structure according to claim 1, characterized in that: The vibration cleaning unit (21) includes two vibration cleaning mechanisms, which are symmetrically arranged on the front end face of the bending plate (1132). The vibration cleaning mechanism mainly consists of a first hook spring (2111), a second hook spring (2112), a non-elastic rope (2113), and a counterweight (2114). The first hook spring (2111) and the second hook spring (2112) are connected end to end and are respectively connected to the bending plate (1132) and the protective film (12). One end of the non-elastic rope (2113) is connected to the connection point of the second hook spring (2112) on the protective film (12), and the other end is connected to the counterweight (2114). The counterweight (2114) is arranged at the connection point of the first hook spring (2111) and the second hook spring (2112) and is fixedly connected to the first hook spring (2111) and the second hook spring (2112).

3. The underwater cage cleaning structure according to claim 2, characterized in that: Both the first hook spring (2111) and the second hook spring (2112) are inclined inward and downward, with the second hook spring (2112) having a larger inclination angle than the first hook spring (2111).

4. The underwater cage cleaning structure according to claim 1, characterized in that: The brush disc (223) includes a cleaning disc (2231), a second brush bristle (2232), a motor (2233), a motor mounting base (2234), and a first one-way control structure (2235); the second brush bristle (2232) is installed on the bottom surface of the cleaning disc (2231), the top surface of the cleaning disc (2231) is connected to the output shaft of the motor (2233), and the motor (2233) is installed on the base plate (1131) and / or the corresponding sub-support of the base plate (1131) through the motor mounting base (2234).

5. The underwater cage cleaning structure according to claim 1, characterized in that: The cleaning disc (2231) of the brush disc (223) and the roller (2241) of the brush roller (224) are both hollow structures; the outer peripheral surface and bottom surface of the cleaning disc (2231) are provided with several through holes, and a first one-way control structure (2235) is arranged in each through hole on the outer peripheral surface; the two end faces and the outer peripheral surface of the roller (2241) are provided with several through holes, and a second one-way control structure (2243) is arranged in each through hole on the end face; Both the first unidirectional control structure (2235) and the second unidirectional control structure (2243) are mainly composed of a spring (22351), a small ball (22352), and a support (22353). The spring (22351) passes through the through hole and the support (22353), with its two ends connected to the support (22353) and the small ball (22352) respectively. The through hole has one end near the outer circumference of the cleaning disc (2231) or the end face of the roller (2241) as the inlet and the other end as the outlet. The small ball (22352) Arranged at the entrance of the through hole, the support (22353) passes through the through hole and includes several support plates parallel and / or perpendicular to the axis of the spring (22351). The support plate near the entrance is parallel to the axis of the spring (22351) and fixed to the inner circumferential surface of the cleaning disc (2231) or the inner end face of the roller (2241). The support plate near the exit is perpendicular to the axis of the spring (22351) and fixed to the inner end face of the cleaning disc (2231) or the inner circumferential surface of the roller (2241). At the same time, a central hole communicating with the through hole is provided.

6. The underwater cage cleaning structure according to claim 1, characterized in that: For each pectoral fin, the brush roller (224) is arranged below the pectoral fin, and its axis is perpendicular to the front-back direction and parallel to the pectoral fin. For the brush roller (224) arranged below the base plate (1131), it includes one horizontal brush roller and two inclined brush rollers. The horizontal brush roller is arranged on the front side and the two inclined brush rollers are arranged on the rear side. The axes of the horizontal brush roller and the inclined brush roller are parallel to the base plate (1131). The horizontal brush roller is arranged on the front side and its axis is perpendicular to the front-back direction. The axes of the two inclined brush rollers are inclined relative to the front-back direction and are arranged symmetrically about the front-back direction.

7. An underwater cage cleaning robot, characterized in that, include: The cleaning structure adopts the underwater cage cleaning structure as described in any one of claims 1 to 6; The driving module is used to drive the underwater cage cleaning structure to move vertically on the netting of the cage, thereby cleaning the cage. During the cleaning process, the underwater cage cleaning structure is arranged vertically, with the front end of the bionic frame module (1) facing upwards and the brush cleaning unit (22) facing the cage. The control module is used to control the underwater cage cleaning robot.

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