A deep-sea cage mesh repair device

Abstract

This invention discloses a deep-sea net cage repair device, comprising a positioning module and a repair module. The positioning module includes a horizontal track assembly, a vertical track assembly, a horizontal moving assembly, and a vertical moving assembly. The horizontal track assembly is adapted to the shape of the net cage to be repaired and fixed to the outside of the net cage. The horizontal moving assembly is disposed on the horizontal track assembly and can move on the horizontal track assembly. The vertical track assembly is perpendicular to the horizontal track assembly and fixedly connected to the horizontal moving assembly. The vertical moving assembly is disposed on the vertical track assembly and can move on the vertical track assembly. The repair module includes a robotic arm and a net assembly. The robotic arm is fixedly connected to the vertical moving assembly. The robotic arm has a telescopic end, and the net assembly is hung on the telescopic end. The net assembly is pushed to the damaged position under the action of the telescopic end to repair the net cage.

Description

Technical Field

[0001] This invention relates to the field of netting repair equipment technology, specifically to a deep-sea cage netting repair device. Background Technology

[0002] Deep-sea aquaculture cages operate in complex marine environments, making their netting susceptible to damage from marine life and wave impacts. Failure to repair them promptly can lead to the escape of farmed organisms and structural damage to the cages. Current netting repair methods primarily rely on manual diving, which suffers from high labor costs, significant operational risks, and low repair efficiency. A smaller number of solutions utilize underwater robots for repair; however, most of these robots currently used for netting repair rely on propeller propulsion to reach the repair location, making them highly susceptible to interference from seawater currents and resulting in poor positioning accuracy. Furthermore, robotic arms used for repair are prone to entanglement in the netting. Therefore, existing underwater robots for netting repair are ill-suited to the complexities of underwater repair scenarios. Summary of the Invention

[0003] To address the shortcomings of the existing technologies, this invention provides a deep-sea cage mesh repair device. The mechanical movement method solves the problems of existing underwater repair robots being greatly affected by seawater fluids and having poor positioning accuracy. The telescopic robotic arm solves the technical problem of existing repair methods being easily interfered with by the mesh.

[0004] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution: This invention provides a deep-sea cage mesh repair device, comprising: The positioning module includes a horizontal track assembly, a vertical track assembly, a horizontal moving assembly, and a vertical moving assembly. The horizontal track assembly is adapted to the shape of the cage to be repaired and is fixed to the outside of the cage. The horizontal moving assembly is disposed on the horizontal track assembly and can move on the horizontal track assembly. The vertical track assembly is perpendicular to the horizontal track assembly and is fixedly connected to the horizontal moving assembly. The vertical moving assembly is disposed on the vertical track assembly and can move on the vertical track assembly. The repair module includes a robotic arm and a mesh assembly. The robotic arm is fixedly connected to the vertical moving component. The robotic arm has a telescopic end, and the mesh assembly is hung on the telescopic end. The mesh assembly is pushed to the damaged position under the action of the telescopic end to repair the mesh of the cage.

[0005] In some embodiments, the horizontal track assembly includes a first track unit and a second track unit, which are parallel and spaced apart at both ends of the outer side of the cage. The first track unit and the second track unit are respectively adapted to the corresponding outer shape of the cage. The horizontal moving component is respectively disposed on the first track unit and the second track unit and can move synchronously on the first track unit and the second track unit.

[0006] In some embodiments, the first track unit includes a double-tube track, a bracket, and a first lock head. The double-tube track is adapted to the external shape of the net cage. One end of the bracket is fixed to the bottom of the double-tube track, and the other end of the bracket is fixed to the first lock head. The first lock head is engaged with the top of the outside of the net cage. The horizontal moving component is slidably connected to the double-tube track.

[0007] In some embodiments, the second track unit includes an inner track, an outer track, and a second lock head. The inner track is adapted to the outside of the cage, and the outer track is arranged parallel to and spaced outside the inner track. The two ends of the second lock head are fixedly connected to the inner track and the outer track, respectively, and the second head is snapped into the bottom of the outside of the cage. The horizontal moving component is slidably connected to the inner track and the outer track.

[0008] In some embodiments, the vertical track assembly includes a rack and pins, with both ends of the rack fixedly connected to the horizontal moving assembly via the pins, and the vertical moving assembly being connected to the vertical track assembly.

[0009] In some embodiments, the horizontal movement assembly includes a main drive unit and an auxiliary drive unit. The main drive unit includes a main motor, adjusting bolts, and drive wheels. Each of the two main motors has an opening. One end of the rack is fixed in the opening by a pin. The two main motors are connected by several adjusting bolts so that the relative angle between them is variable. The two drive wheels are respectively connected to the two main motors and are slidably connected to the double-tube track. The auxiliary drive unit includes an auxiliary motor and rollers. Each of the two auxiliary motors has a connecting hole. The other end of the rack is fixed in the connecting hole by a pin. The two rollers are respectively connected to the two auxiliary motors and are slidably connected to the inner track and the outer track.

[0010] In some embodiments, the vertical movement component includes a drive member and a transmission member, the drive member being mounted on the robotic arm, the transmission member being connected to the drive member, and the transmission member engaging with the rack.

[0011] In some embodiments, the robotic arm includes a torso and multiple telescopic legs. The torso is movably connected to the vertical track assembly via the vertical moving assembly. The multiple telescopic legs are evenly connected around the torso, and the end of each telescopic leg away from the torso forms the telescopic end.

[0012] In some embodiments, the telescopic foot includes a primary telescopic joint, a secondary telescopic joint, a tertiary telescopic joint, and a magnetic leg that are sequentially connected to the torso. The primary telescopic joint is located in the same plane as the torso. The secondary telescopic joint is inclined to the primary telescopic joint. The tertiary telescopic joint is perpendicular to the secondary telescopic joint. The magnetic leg is located at the bottom of the tertiary telescopic joint.

[0013] In some embodiments, the mesh assembly includes a flexible hanging head, a hanging ring, a connecting line, and a repair mesh. The flexible hanging head is stored inside the magnetic leg of the repair module located inside the mesh cage. The hanging ring is stored inside the magnetic leg of the repair module located outside the mesh cage and corresponds to the position of the flexible hanging head. The two ends of the connecting line are respectively connected to the repair mesh and the hanging ring. The hanging ring can extend out of the magnetic leg under the drive of the telescopic end and hang on the corresponding flexible hanging head to fix the repair mesh to the damaged part of the mesh cage.

[0014] Compared with the prior art, the beneficial effects of the present invention mainly include: This invention provides a deep-sea net cage repair device, comprising a positioning module and a repair module. The horizontal and vertical track components in the positioning module provide a precise movement trajectory for the repair module. The horizontal movement component drives the vertical track component to move horizontally relative to the net cage, and the vertical movement component drives the repair module to move vertically relative to the net cage. This allows the repair module to accurately reach the damaged location of the net cage. Compared to existing spiral propulsion methods, the mechanical transmission of this invention is more precise and less susceptible to water flow. Furthermore, after the repair module reaches the accurate position, a robotic arm with a telescopic end pushes the net cage component to the damaged location of the net cage, thus repairing the damaged net cage. Compared to existing technologies, this invention reduces the interference of the net cage on the mechanical device during the repair process. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in this application, the accompanying drawings used in the embodiments will be briefly described below: Figure 1 This is a schematic diagram of the overall structure of the repair device described in this invention; Figure 2 yes Figure 1 Enlarged view of point A in the middle; Figure 3 This is a schematic diagram of the positioning module described in this invention; Figure 4 yes Figure 3 Enlarged view of point B in the middle; Figure 5 yes Figure 3 Enlarged view of point C in the middle; Figure 6 This is a schematic diagram of the structure of the main drive unit described in this invention; Figure 7 This is a schematic diagram of the vertical movement and the connection between the vertical track assembly described in this invention; Figure 8 This is a schematic diagram of the structure of the robotic arm described in this invention; Figure 9 This is another structural schematic diagram of the robotic arm described in this invention; Figure 10 This is a schematic diagram illustrating the working principle of the telescopic foot described in this invention; Figure 11 This is a schematic diagram of the magnetic leg described in this invention (a robotic arm located inside the mesh). Figure 12 This is a schematic diagram of the magnetic leg described in this invention (the robotic arm located outside the mesh). Figure 13 This is a schematic diagram of the structure of the mesh assembly described in this invention; Figure 14 yes Figure 13 Enlarged view at point D; Figure 15 This is a schematic diagram of the repair device provided by the present invention in use.

[0016] As shown in the figure: 100. Positioning module; 110. Horizontal track assembly; 111. First track unit; 1111. Double-tube track; 1112. Bracket; 1113. First lock; 112. Second track unit; 1121. Inner track; 1122. Outer track; 1123. Second lock; 120. Vertical track assembly; 121. Rack; 130. Horizontal movement assembly; 131. Main drive unit; 1311. Main motor; 1312. Adjusting bolt; 1313. Drive wheel; 132. Auxiliary drive unit; 1321. Auxiliary motor; 1322. Roller; 140. Vertical movement assembly; 141. Drive component; 142. Transmission component; 143. Locking component; 200. Repair module; 210. Robotic arm; 211. Torso; 212. Telescopic leg; 2121. First-stage telescopic joint; 2122. Second-stage telescopic joint; 2123. Third-stage telescopic joint; 2124. Magnetic leg; 2124a. First-stage push rod; 2124b. Second-stage push rod; 2124c. Magnetic coil; 2124d. Wheel; 220. Netting assembly; 221. Flexible hanging head; 222. Hanging ring; 223. Connecting line; 224. Repair netting. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0018] Currently, the repair of net cages mainly relies on manual underwater repair, which is costly, difficult, and inefficient. Some research has been conducted on net cage repair robots; however, most existing net cage repair robots use propeller propulsion, which is easily affected by seawater and other external forces, resulting in low positioning accuracy. Furthermore, existing net cage repair robots use robotic arms, which are greatly affected by the netting, leading to unstable working environments and complex and difficult-to-implement netting processes.

[0019] In response to the above technical problems, such as Figure 1-2 As shown, the present invention provides a deep-sea cage mesh repair device, including a positioning module 100 and a repair module 200. The positioning module 100 includes a horizontal track assembly 110, a vertical track assembly 120, a horizontal movement assembly 130, and a vertical movement assembly 140. The horizontal track assembly 110 is adapted to the shape of the cage to be repaired and fixed to the outside of the cage. The horizontal movement assembly 130 is disposed on the horizontal track assembly 110 and can move on the horizontal track assembly 110. The vertical track assembly 120 is connected to the horizontal track assembly 140. The vertical moving component 110 is vertically positioned and fixedly connected to the horizontal moving component 130. The vertical moving component 140 is positioned on the vertical track component 120 and can move on the vertical track component 120. The repair module 200 includes a robotic arm 210 and a mesh assembly 220. The robotic arm 210 is fixedly connected to the vertical moving component 140. The robotic arm 210 has a telescopic end. The mesh assembly 220 is hung on the telescopic end. Under the action of the telescopic end, the mesh assembly 220 is pushed to the damaged position to repair the mesh of the cage.

[0020] This invention provides a deep-sea cage mesh repair device, comprising a positioning module 100 and a repair module 200. The horizontal track assembly 110 and vertical track assembly 120 in the positioning module 100 provide a precise movement trajectory for the repair module. Furthermore, the horizontal movement assembly 130 drives the vertical track assembly 120 to move horizontally relative to the cage, and the vertical movement assembly 140 drives the repair module 200 to move vertically relative to the cage. Thus, the repair module 200 can accurately reach the damaged location of the cage mesh. Compared with the existing spiral propulsion method, the mechanical transmission method of the present invention is more precise and less affected by water flow. At the same time, after the repair module 200 reaches the accurate position, the repair module 200 uses a robotic arm 210 with a telescopic end to push the netting assembly 220 to the damaged position of the netting. By replacing the damaged position of the netting with the netting assembly 220 that matches the netting to be repaired, the damaged netting is repaired. Compared with the existing repair method using a robotic arm, the present invention reduces the interference of the netting on the mechanical device during the repair process.

[0021] The technical solution of the present invention will be described in detail below through a specific embodiment. In this embodiment, the net cage to be repaired is circular, and the horizontal track assembly 110 of the repair device provided in this embodiment is also circular. Further, in this embodiment, there are two robotic arms 210, both of which are mounted on the vertical moving assembly 140. One robotic arm 210 is located inside the net cage to be repaired, while the other robotic arm 210 is located outside the net cage to be repaired. The two robotic arms 210 need to move synchronously. The robotic arm 210 located inside the net cage plays the role of clamping the net cage so that the robotic arm 210 located outside the net cage can smoothly repair the net cage. In this way, by having two robotic arms 210 working together on the inner and outer sides of the net cage respectively, the flexibility of the damaged net cage area can be reduced. This is beneficial to reducing the interference of the net cage on the mechanical device and improving the efficiency and quality of repair.

[0022] like Figure 3-7 As shown, the horizontal track assembly 110 includes a first track unit 111 and a second track unit 112. The first track unit 111 and the second track unit 112 are parallel and spaced apart at both ends of the outside of the net cage, specifically at the upper and lower ends of the circular net cage. The first track unit 111 and the second track unit 112 are also circular and adapted to the shape of the outside of the net cage. The horizontal moving assembly 130 is respectively disposed on the first track unit 111 and the second track unit 112 and can move synchronously on the first track unit 111 and the second track unit 112 to drive the vertical track assembly 120 to perform circular motion around the outside of the net cage on the horizontal track assembly 110.

[0023] Furthermore, the first track unit 111 includes a double-tube track 1111, a bracket 1112, and a first lock head 1113. The double-tube track 1111 is adapted to the external shape of the net cage, that is, it is also circular. One end of the bracket 1112 is fixed to the bottom of the double-tube track 1111, and the other end of the bracket 1112 is fixed to the first lock head 1113. The first lock head 1113 is snapped into the top of the net cage. That is, the double-tube track 1111 is fixed to the outside of the net cage by the first lock head 1113. The horizontal moving component 130 is slidably connected to the double-tube track 1111.

[0024] The second track unit 112 includes an inner track 1121, an outer track 1122, and a second locking head 1123. The inner track 1121 is adapted to the outside of the net cage, i.e., it is also circular. The outer track 1122 has the same shape as the inner track 1121 and is arranged parallel to and spaced apart from the outer side of the inner track 1121. The two ends of the second locking head 1123 are respectively fixedly connected to the inner track 1121 and the outer track 1122, and the second locking head 1123 is engaged with the bottom of the outside of the net cage. That is, the inner track 1121 and the outer track 1122 are fixed to the bottom of the outside of the net cage after being connected by the second locking head 1123. The horizontal moving component 130 is slidably connected to the inner track 1121 and the outer track 1122.

[0025] It is understood that in this embodiment, the double-tube track 1111, inner track 1121 and outer track 1112 are circular corresponding to the net cage. For polygonal net cages, the double-tube track 1111, inner track 1121 and outer track 1112 can be a combination of straight track and circular track. They are connected to the net cage through the first lock head 1113 and the second lock head 1123, which will not change the original structure of the net cage and reduce the amount of engineering work.

[0026] Furthermore, the vertical track assembly 120 includes a rack 121 and a pin (not shown in the figure). The two ends of the rack 121 are fixedly connected to the horizontal moving assembly 130 through the pin. The vertical moving assembly 140 is connected to the vertical track assembly 120. The vertical moving assembly 140 can move on the vertical track assembly 120, and the vertical track assembly 120 can move on the horizontal track assembly 110 through the horizontal moving assembly 130. Therefore, the vertical moving assembly 140 can move in both horizontal and vertical directions outside the cage, thereby driving the repair module 200 to move outside the cage to achieve precise positioning.

[0027] The two ends of the rack 121 are thickened and chamfered to reduce stress concentration, and the tooth pitch of the rack 121 is 50mm.

[0028] Further, the horizontal movement assembly 130 includes a main drive unit 131 and an auxiliary drive unit 132. The main drive unit 131 is disposed on the first track unit 111, and the auxiliary drive unit 132 is disposed on the second track unit 112. The main drive unit 111 includes a main motor 1311, adjusting bolts 1312, and a drive wheel 1313. Both main motors 1311 have openings formed therein. One end of the rack 121 is fixed in the opening by the pin. The two main motors 1311 are connected by several adjusting bolts 1312 to make the relative distance between the two main motors 1311... The angle is variable. The two drive wheels 1313 are respectively connected to the two main motors 1311, and the two drive wheels 1313 are slidably connected to the double-tube track 1111. The auxiliary drive unit 132 includes an auxiliary motor 1321 and rollers 1322. Both auxiliary motors 1321 have connection holes (not shown in the figure). The other end of the rack 121 is fixed in the connection hole by the pin. The two rollers 1322 are respectively connected to the two auxiliary motors 1321, and the two rollers 1322 are slidably connected to the inner track 1121 and the outer track 1122.

[0029] In the above technical solution, the main motor 1311 and the auxiliary motor 1321 drive the drive wheel 1313 and the roller 1322 to move synchronously in the first track unit 111 and the second track unit 112, thereby driving the vertical track assembly 120 to move. There are two main motors 1311, which are connected by multiple adjusting bolts 1312. The relative angle between the two main motors 1311 can be adjusted by adjusting the adjusting bolts 1312, thereby adjusting the relative angle between the two drive wheels 1313 and adjusting the turning radius. If the adjusting bolt 1312 on the inner side is shortened, the turning radius becomes smaller; if the adjusting bolt 1312 on the inner side is lengthened, the turning radius becomes larger. The maximum negative angle can be achieved, that is, the turning center can change direction, so that the main drive unit 132 can work on tracks with different radii.

[0030] Furthermore, the vertical moving component 140 includes a driving component 141 and a transmission component 142. The driving component 141 is mounted on the robotic arm 210, and the transmission component 142 is connected to the driving component 141 and meshes with the rack 121. The transmission component 142 is a gear, and both gears are connected to the driving component 141 and mesh with the rack 121 respectively, so as to realize the vertical moving component 140 moving up and down on the vertical track component 120.

[0031] Furthermore, the vertical moving component 140 also includes a locking member 143, which consists of a locking head and a locking lever assembly. When the vertical moving component 140 reaches the target position, the driving member 141 closes, the transmission member 142 stops rotating, and the locking lever drives the locking head to move towards the rack 121 to lock the locking head and engage with the vertical rack to achieve fixation. When the vertical moving component 140 needs to move, the locking lever drives the locking head to retract, and the locking head contacts the restriction on the rack 121. Then, the transmission member 142 can rotate to drive the rack 121 to move up and down.

[0032] like Figure 8-12 As shown, the robotic arm 210 includes a torso 211 and multiple telescopic legs 212. The torso 211 is movably connected to the vertical track assembly 120 via the vertical moving assembly 140. The multiple telescopic legs 212 are evenly connected around the torso 211, and the end of each telescopic leg 212 away from the torso 211 forms the telescopic end.

[0033] Furthermore, the interior of the torso 211 is configured with upper and lower spaces. The upper space is used to arrange the drive component 141, transmission component 142, locking component 143, sensor and controller. The drive component 141 is driven to move on the rack 121 by the meshing of the transmission component 142 and the rack 121, thereby driving the torso 211 to move up and down to realize the up and down movement of the robotic arm 210. The lower space is used to arrange the control circuit, lighting equipment, power supply and image acquisition device of the robotic arm 210. The image acquisition device is used to identify the damaged location of the netting of the cage.

[0034] Furthermore, there are six telescopic feet 212, which are evenly distributed around the torso 211 and fixedly connected to it. Each telescopic foot 212 includes a primary telescopic joint 2121, a secondary telescopic joint 2122, a tertiary telescopic joint 2123, and a magnetic leg 2124, which are connected to the torso 211 in sequence. The primary telescopic joint 2121 is located in the same plane as the torso 211. The secondary telescopic joint 2122 is inclined to the primary telescopic joint 2121. The tertiary telescopic joint 2123 is perpendicular to the secondary telescopic joint 2122. The magnetic leg 2124 is located at the bottom of the tertiary telescopic joint 2123.

[0035] Furthermore, the first-stage telescopic joint 2121, the second-stage telescopic joint 2122, and the third-stage telescopic joint 2123 are respectively composed of servo motors and joints, and the robotic arm 210 achieves six degrees of freedom of movement through these sequentially connected servo motors and joints.

[0036] This embodiment includes two robotic arms 210, respectively disposed on the inner and outer sides of the mesh of the cage to be repaired. The two robotic arms 210 have the same structure, the only difference being the internal structure of the magnetic legs 2124. Further, the magnetic legs 2124 of the robotic arm 210 located on the inner side of the mesh have a magnetic coil 2124c disposed in the middle, and multiple discs 2124d are evenly disposed around the magnetic coil for storing flexible hanging heads 221. The magnetic legs 2124 of the robotic arm 210 located on the outer side of the mesh also have a magnetic coil 2124c disposed in the middle, but a primary push rod 2124a and a secondary push rod 2124b are disposed next to the magnetic coil 2124c. The secondary push rod 2124b is used to store hanging rings 222, and an opening is provided on the side of the secondary push rod 2124b near the edge of the magnetic legs 2124 for placing connecting wires 223.

[0037] like Figure 13-14 As shown, the mesh assembly 220 includes a flexible hanging head 221, a hanging ring 222, a connecting line 223, and a repair net 224. The flexible hanging head 221 is stored inside the magnetic leg 2124 located inside the repair module 200 inside the mesh cage. The hanging ring 222 is stored inside the magnetic leg 2124 located outside the repair module 200 inside the mesh cage and corresponds to the position of the flexible hanging head 221. The two ends of the connecting line 223 are connected to the repair net 224 and the hanging ring 222, respectively. The hanging ring 222 can extend out of the magnetic leg 2124 under the drive of the telescopic end and hang on the corresponding flexible hanging head 221 to fix the repair net 224 to the damaged part of the mesh cage.

[0038] like Figure 15 As shown, the method of using the repair device provided in this embodiment is as follows: After detecting the damaged location of the netting, the device is activated. Next, the vertical track assembly 120 is moved to the damaged location via the horizontal moving component 130, and then the repair module 200 is moved to the precise damaged location via the vertical moving component 140 and locked in the current position. Afterwards, the image acquisition device identifies the damage, the position of the robotic arm 210 is adjusted, and the magnetic coil 2124c is energized so that the robotic arm 210 clamps the netting of the cage. The secondary push rod 2124b pushes the hanging ring 222 to fix it on the flexible hanging head 221, and the primary push rod 2124a pushes the flexible hanging head 221 to fix it on the netting of the cage. Then the magnetic coil 2124c is de-energized, the robotic arm 210 opens, the image acquisition device identifies the damage, and the repair work is completed. The wheel 2124d rotates one notch to start the next repair work.

[0039] The flexible hanging head 221 is designed in the shape of an inverted hook, with hemispherical hollowed-out sections on both sides, made of a flexible material that meets mechanical requirements. This design avoids interference from the netting. The side of the flexible hanging head 221 with a larger radius interacts with the intact netting around the damaged netting of the wire mesh cage. A driving component is set in the magnetic leg 2124 of the inner robotic arm 210 to push the flexible hanging head 221 towards the netting hole. The flexible hanging head 221 is subjected to force, and the larger side is squeezed, compressing inward at the edge, reducing the radius so that it can pass through the netting hole. After passing through the netting hole, the force is no longer applied, and the larger side returns to its original shape. When the flexible hanging head 221 is pulled again, it is now hooked onto the netting of the wire mesh cage. Then, the secondary push rod 2124b of the outer robotic arm 210 pushes the hanging ring 222 to hook onto the flexible hanging head 221. The secondary push rod 2124b pushes the repair net 224 away from its original position and moves towards the netting cage, completing the repair of the damaged netting cage.

[0040] In summary, the repair device and repair method provided by the present invention have the following beneficial effects: 1. The positioning module 100 adopts mechanical transmission, which has higher positioning accuracy and is less affected by fluid interference than underwater robots equipped with propellers; 2. The repair module 200 uses two robotic arms 210 to work together on the inside and outside of the net cage. The two sets of robotic arms 210 can clamp the damaged net area to reduce the flexibility, which is conducive to the repair of the damaged net. 3. The present invention is provided with magnetic legs 2124 and flexible hanging head 221. The magnetic legs 2124 are cylindrical, and the circular area of ​​their end faces is much larger than the mesh holes. The flexible hanging head 221 is designed as a hook shape, with hemispherical sides and hollowed out internally. It is made of flexible material that meets mechanical requirements, which can avoid interference from the mesh.

[0041] This invention provides a device for repairing damaged netting in deep-sea aquaculture cages. Its positioning module 100 is designed with a horizontal track assembly 110 and a horizontal movement assembly 130 to ensure horizontal movement, and a vertical track assembly 120 and a vertical movement assembly 140 to ensure vertical movement, ensuring that the repair module 200 can accurately reach the damaged location to be repaired. Simultaneously, this invention employs the repair module 200 working collaboratively on both the inner and outer sides of the cage, reducing the impact of the flexibility of the damaged netting area on the repair work. Then, a robotic arm 210 can directly fix the netting assembly 220 at the damaged location, reducing interference from the netting on the mechanical device during the repair process and achieving the repair of the damaged netting.

[0042] The specific embodiments of the present invention described above do not constitute a limitation on the scope of protection of the present invention. Any other corresponding changes and modifications made in accordance with the technical concept of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A deep-sea cage mesh repair device, characterized in that, include: The positioning module includes a horizontal track assembly, a vertical track assembly, a horizontal moving assembly, and a vertical moving assembly. The horizontal track assembly is adapted to the shape of the cage to be repaired and is fixed to the outside of the cage. The horizontal moving assembly is disposed on the horizontal track assembly and can move on the horizontal track assembly. The vertical track assembly is perpendicular to the horizontal track assembly and is fixedly connected to the horizontal moving assembly. The vertical moving assembly is disposed on the vertical track assembly and can move on the vertical track assembly. The repair module includes a robotic arm and a mesh assembly. The robotic arm is fixedly connected to the vertical moving component. The robotic arm has a telescopic end, and the mesh assembly is hung on the telescopic end. The mesh assembly is pushed to the damaged position under the action of the telescopic end to repair the mesh of the cage.

2. The deep-sea cage mesh repair device according to claim 1, characterized in that, The horizontal track assembly includes a first track unit and a second track unit. The first track unit and the second track unit are parallel and spaced apart at both ends of the outside of the cage. The first track unit and the second track unit are respectively adapted to the external shape of the corresponding cage. The horizontal moving component is respectively disposed on the first track unit and the second track unit and can move synchronously on the first track unit and the second track unit.

3. The deep-sea cage mesh repair device according to claim 2, characterized in that, The first track unit includes a double-tube track, a bracket, and a first lock head. The double-tube track is adapted to the external shape of the cage. One end of the bracket is fixed to the bottom of the double-tube track, and the other end of the bracket is fixed to the first lock head. The first lock head is engaged with the top of the cage. The horizontal moving component is slidably connected to the double-tube track.

4. The deep-sea cage mesh repair device according to claim 3, characterized in that, The second track unit includes an inner track, an outer track, and a second lock head. The inner track is adapted to the outside of the cage. The outer track is arranged parallel to and spaced outside the inner track. The two ends of the second lock head are fixedly connected to the inner track and the outer track, respectively, and the second lock head is engaged with the bottom of the outside of the cage. The horizontal moving component is slidably connected to the inner track and the outer track.

5. The deep-sea cage mesh repair device according to claim 4, characterized in that, The vertical track assembly includes a rack and pins. The two ends of the rack are fixedly connected to the horizontal moving assembly via the pins. The vertical moving assembly is connected to the vertical track assembly.

6. The deep-sea cage mesh repair device according to claim 5, characterized in that, The horizontal movement assembly includes a main drive unit and an auxiliary drive unit. The main drive unit includes a main motor, adjusting bolts, and drive wheels. Each of the two main motors has an opening. One end of the rack is fixed in the opening by a pin. The two main motors are connected by several adjusting bolts so that the relative angle between them is variable. The two drive wheels are connected to the two main motors respectively, and are slidably connected to the double-tube track. The auxiliary drive unit includes an auxiliary motor and rollers. Each of the two auxiliary motors has a connecting hole. The other end of the rack is fixed in the connecting hole by a pin. The two rollers are connected to the two auxiliary motors respectively, and are slidably connected to the inner track and the outer track respectively.

7. The deep-sea cage mesh repair device according to claim 6, characterized in that, The vertical movement component includes a drive component and a transmission component. The drive component is mounted on the robotic arm, the transmission component is connected to the drive component, and the transmission component meshes with the rack.

8. The deep-sea cage mesh repair device according to claim 1, characterized in that, The robotic arm includes a torso and multiple telescopic legs. The torso is movably connected to the vertical track assembly via the vertical moving assembly. The multiple telescopic legs are evenly connected around the torso, and the end of each telescopic leg away from the torso forms the telescopic end.

9. The deep-sea cage mesh repair device according to claim 8, characterized in that, The telescopic leg includes a primary telescopic joint, a secondary telescopic joint, a tertiary telescopic joint, and a magnetic leg, which are connected to the torso in sequence. The primary telescopic joint is located in the same plane as the torso. The secondary telescopic joint is inclined to the primary telescopic joint. The tertiary telescopic joint is perpendicular to the secondary telescopic joint. The magnetic leg is located at the bottom of the tertiary telescopic joint.

10. The method for repairing deep-sea cage mesh according to claim 9, characterized in that, The mesh assembly includes a flexible hanging head, a hanging ring, a connecting line, and a repair mesh. The flexible hanging head is stored inside the magnetic leg of the repair module located inside the mesh cage. The hanging ring is stored inside the magnetic leg of the repair module located outside the mesh cage and corresponds to the position of the flexible hanging head. The two ends of the connecting line are connected to the repair mesh and the hanging ring, respectively. The hanging ring can extend out of the magnetic leg under the action of the telescopic end and hang on the corresponding flexible hanging head to fix the repair mesh to the damaged part of the mesh cage.

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