An underwater cleaning robot for deep sea fish farm net pens

Abstract

This invention relates to the field of marine cage cleaning equipment technology, and discloses an underwater cleaning robot for deep-sea fish farm cages. The robot includes a frame, a cleaning roller rotatably connected to the cleaning end of the frame, a water gun nozzle for high-pressure water spray cleaning at the top of the frame, a cleaning mechanism for controlling the water gun nozzle to reciprocate towards the cleaning roller inside the frame, and a moving mechanism for controlling its rapid movement at the bottom of the frame. This robot effectively removes marine organisms and sediments adhering to the surface of the cleaning roller, restoring its original surface structure and cleaning performance, maintaining stable cleaning capacity during continuous operation, improving the reliability and sustainability of the overall cleaning operation, achieving self-cleaning of the cleaning roller, reducing the frequency of manual maintenance or component replacement, lowering equipment operation and maintenance costs, and extending the effective working time of the cleaning roller and the entire machine in the deep-sea high-attachment environment.

Description

Technical Field

[0001] This invention relates to the field of marine cage cleaning equipment technology, specifically to an underwater cleaning robot for deep-sea fish farm cages. Background Technology

[0002] In recent years, with the rapid development of aquaculture and the continuous advancement of marine ranching construction, deep-sea aquaculture farms have moved from conception to reality, powerfully promoting the expansion of aquaculture into the deep sea. However, since net cages are submerged in seawater for extended periods, they inevitably breed and attach large amounts of marine organisms, such as barnacles, hydroids, and oysters. If these organisms are not cleaned in time, they will rapidly grow densely on the surface of the netting, gradually clogging the mesh and severely hindering the free exchange of water inside and outside the net cage. This leads to poor water circulation inside the net cage and a continuous decrease in dissolved oxygen content, directly threatening the health and growth of farmed fish. At the same time, the extra weight brought by the large number of attached organisms also significantly increases the overall load on the net cage. Under long-term effects, this can easily cause structural deformation or even damage to the net cage, greatly shortening its service life and bringing safety hazards and economic burdens to aquaculture production.

[0003] Current underwater cleaning robots for fish cages still have the following problems: Due to the large size of deep-sea aquaculture cages, the cleaning area of ​​a single cage can often reach hundreds of square meters. Existing underwater cage cleaning robots, which are widely used, usually rely on the mechanical contact between the cleaning roller and the net to remove attached organisms, in order to achieve large-scale and periodic cleaning operations. However, as the cleaning work continues, the cleaning roller itself will also be exposed to a high-risk environment during long-term reciprocating operations. Marine organisms such as barnacles, shellfish larvae, algae, and mucus will gradually accumulate and adhere tightly to its surface. If not treated in time, these deposits will change the surface structure and contact characteristics of the cleaning roller, weakening its effective friction and peeling action with the net, resulting in a gradual decrease in cleaning efficiency and making it difficult to maintain the overall cleanliness standard of the cage. This will affect the reliability and cleaning effect of the robot's long-term operation. To address this, we propose an underwater cleaning robot for deep-sea fish farm cages. Summary of the Invention

[0004] The purpose of this invention is to provide an underwater cleaning robot for deep-sea fish cages to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an underwater cleaning robot for deep-sea fish cages, comprising a body frame, a cleaning roller rotatably connected to the cleaning end of the body frame, a water gun nozzle for connecting high-pressure water jet spray cleaning is provided above the body frame, a cleaning mechanism for controlling the water gun nozzle to swing back and forth toward the cleaning roller is provided inside the body frame, and a moving mechanism for controlling its rapid movement is provided at the bottom end of the body frame.

[0006] Preferably, the cleaning mechanism includes a support frame fixedly connected inside the machine frame, a servo motor fixedly connected to the outer surface of the support frame, a rotating shaft fixedly connected to the output end of the servo motor, and a main toothed bevel gear fixedly connected to the end of the rotating shaft away from the servo motor.

[0007] Preferably, the support frame has a rotating column internally connected to a water gun nozzle, and the rotating column is fixedly connected to the water gun nozzle. The outer surface of the rotating column is symmetrically fixedly connected to a secondary toothed bevel gear, and the secondary toothed bevel gear meshes with the main toothed bevel gear.

[0008] Preferably, the cleaning mechanism further includes a guide channel opened inside the body frame, with dust-removing blades rotatably connected inside the guide channel, and a dust-guiding platform fixedly connected to the inner wall of the body frame.

[0009] Preferably, the cleaning mechanism also includes a dust collection box that is snapped onto the top of the machine frame, the top of the dust collection box is snapped onto a cover, and a filter screen is fixedly connected inside the dust collection box.

[0010] Preferably, the moving mechanism includes a positioning frame fixedly connected to the bottom of the machine frame, a dual-axis motor fixedly connected to the bottom of the positioning frame, a main rotating shaft fixedly connected to one end of the dual-axis motor, and a main bevel gear plate fixedly connected to the end of the main rotating shaft away from the dual-axis motor.

[0011] Preferably, the moving mechanism further includes a rotating column symmetrically rotatably connected inside the machine frame. A secondary bevel gear is fixedly connected to the outer surface of one of the rotating columns, and the secondary bevel gear meshes with the main bevel gear. Both ends of the rotating column are fixedly connected to moving wheels, and a walking track is driven between adjacent moving wheels.

[0012] Preferably, a secondary rotating shaft is fixedly connected to the other end of the dual-axis motor, a fan blade is fixedly connected to the end of the secondary rotating shaft away from the dual-axis motor, and a protective frame is fixedly connected to the bottom end of the machine frame.

[0013] Compared with the prior art, the beneficial effects of the present invention are: The cleaning mechanism effectively removes marine organisms and sediments from the surface of the cleaning roller, restoring its original surface structure and cleaning performance. This ensures the cleaning roller maintains stable cleaning capacity during continuous operation, preventing the cleaning effect of the net cage from being affected by its own contamination. It also prevents the adhering substances that are washed off from the washing process from scattering and re-adhering to the net or cleaning equipment, thus avoiding secondary pollution. This improves the reliability and sustainability of the overall cleaning operation, realizes the self-cleaning function of the cleaning roller, reduces the frequency of manual downtime maintenance or replacement of parts, lowers equipment operation and maintenance costs, and extends the effective working time of the cleaning roller and the whole machine in the deep-sea high-adhesion environment. The mobile mechanism improves the mobility and coverage efficiency of the cleaning operation, enabling the cleaning roller to traverse a large area of ​​the netting in a short time, reducing blind spots and ensuring that the entire net cage receives uniform and timely cleaning. The continuous and rapid movement helps to prevent the cleaning roller from staying in a certain area for too long, which could cause excessive wear or damage to the netting. At the same time, combined with high-pressure water jet rinsing, a synergistic effect of mobile rinsing can be formed, further improving the removal rate of attached organisms. Attached Figure Description

[0014] Figure 1 A three-dimensional structural diagram of an underwater cleaning robot for deep-sea fish cages; Figure 2 This is a cross-sectional schematic diagram of the overall structure of the underwater cleaning robot for deep-sea fish cages of the present invention; Figure 3 The underwater cleaning robot for deep-sea fish cages of this invention Figure 2 Enlarged structural diagram at point A; Figure 4 The underwater cleaning robot for deep-sea fish cages of this invention Figure 2 Enlarged structural diagram at point B; Figure 5 This is a schematic diagram of the connection structure between the main toothed bevel gear and the secondary toothed bevel gear of the underwater cleaning robot for deep-sea fish cages of the present invention. Figure 6 This is a schematic diagram of the connection structure between the main bevel gear disk and the auxiliary bevel gear disk of the underwater cleaning robot for deep-sea fish cages of the present invention; Figure 7 This is a schematic diagram of the connection structure between the body frame and the cleaning roller of the underwater cleaning robot for deep-sea fish cages of the present invention.

[0015] Legend In the diagram: 1. Machine frame; 2. Cleaning roller; 3. Cleaning mechanism; 31. Servo motor; 32. Support frame; 33. Rotating shaft; 34. Main toothed bevel gear; 35. Rotating column; 36. Secondary toothed bevel gear; 37. Guide channel; 38. Ash-dispensing blade; 39. Ash-guiding platform; 310. Ash storage box; 311. Cover; 312. Filter screen; 4. Moving mechanism; 41. Dual-axis motor; 42. Positioning frame; 43. Main rotating shaft; 44. Main bevel gear disc; 45. Secondary bevel gear disc; 46. Rotating column; 47. Moving wheel; 48. Walking track; 49. Secondary rotating shaft; 410. Fan blade; 411. Protective frame; 5. Water gun nozzle. Detailed Implementation

[0016] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0017] Please see Figure 1 - Figure 7 As shown, the present invention provides a technical solution: an underwater cleaning robot for deep-sea fish cages. The underwater cleaning robot for deep-sea fish cages includes a body frame 1, a cleaning roller 2 rotatably connected to the cleaning end of the body frame 1, a water gun nozzle 5 for connecting high-pressure water jet spraying and cleaning is provided above the body frame 1, a cleaning mechanism 3 for controlling the water gun nozzle 5 to swing back and forth toward the cleaning roller 2 is provided inside the body frame 1, and a moving mechanism 4 for controlling its rapid movement is provided at the bottom end of the body frame 1.

[0018] When the amount of impurities accumulated and tightly attached to the cleaning roller 2 increases, the high-pressure water jet sprayed from the water gun nozzle 5 can be activated by the cleaning mechanism 3 to repeatedly oscillate and rinse the cleaning roller 2, and collect the impurities that fall off. This not only effectively removes marine organisms and sediments attached to the surface of the cleaning roller 2, restoring its original surface structure and cleaning performance, but also ensures that the cleaning roller 2 maintains a stable cleaning capacity during continuous operation, avoiding the impact of its own contamination on the net cage cleaning effect. It also prevents the attached substances that fall off during rinsing from scattering again and re-attaching to the net or cleaning equipment, avoiding secondary pollution. This improves the reliability and sustainability of the overall cleaning operation, realizes the self-cleaning function of the cleaning roller 2, reduces the frequency of manual downtime maintenance or replacement of parts, reduces equipment operation and maintenance costs, and extends the effective working time of the cleaning roller 2 and the whole machine in the deep-sea high-attachment environment. The moving mechanism 4 enables the frame 1 to carry the cleaning roller 2 to move continuously and quickly, improving the mobility and coverage efficiency of the cleaning operation. This allows the cleaning roller 2 to traverse a large area of ​​the netting in a short time, reducing blind spots and ensuring that the entire netting cage receives uniform and timely cleaning. Furthermore, the continuous and rapid movement helps prevent the cleaning roller 2 from staying in a certain area for too long, which could cause excessive wear or damage to the netting. Combined with high-pressure water rinsing, this creates a synergistic effect of "mobile rinsing," further improving the removal rate of attached organisms.

[0019] In the preferred embodiment of this technical solution, please refer to Figure 2 - Figure 5As shown, the cleaning mechanism 3 includes a support frame 32 fixedly connected inside the body frame 1. A servo motor 31 is fixedly connected to the outer surface of the support frame 32. A rotating shaft 33 is fixedly connected to the output end of the servo motor 31. A main toothed bevel gear 34 is fixedly connected to the end of the rotating shaft 33 away from the servo motor 31. A rotating column 35 is rotatably connected inside the support frame 32 and is fixedly connected to the water gun nozzle 5. A secondary toothed bevel gear 36 is symmetrically fixedly connected to the outer surface of the rotating column 35 and meshes with the main toothed bevel gear 34. The cleaning mechanism 3 also includes a guide channel 37 opened inside the body frame 1. A dust-removing blade 38 is rotatably connected inside the guide channel 37. A dust-guiding platform 39 is fixedly connected to the inner wall of the body frame 1. The cleaning mechanism 3 also includes a dust collection box 310 snapped onto the top of the body frame 1. A cover 311 is snapped onto the top of the dust collection box 310. A filter screen 312 is fixedly connected inside the dust collection box 310.

[0020] Additional explanation: The tooth blocks fixed on the main toothed bevel gear 34 are evenly distributed at 90-degree intervals, while the tooth blocks fixed on the secondary toothed bevel gear 36 are evenly distributed at 180-degree intervals. This allows the main toothed bevel gear 34 to intermittently mesh with the symmetrically distributed secondary toothed bevel gear 36 during its circular rotation. This ensures that the rotating column 35 carries the water gun nozzle 5 in a fan-shaped reciprocating oscillation. This intermittent meshing design, which is not a full-tooth design, allows the water gun nozzle 5 to automatically reverse direction within a set angle range without the need for additional reversing control elements. This simplifies the transmission structure and reduces the underwater failure rate and maintenance costs. Meanwhile, the water gun nozzle 5 sprays the cleaning roller 2 with a fan-shaped reciprocating trajectory, which expands the effective rinsing area of ​​the high-pressure water flow, avoids the cleaning blind spots caused by fixed-angle spraying, and ensures that all parts of the surface of the cleaning roller 2 can be subjected to uniform and repeated water impact, thereby peeling off tightly attached marine organisms and impurities. At the same time, the periodic speed change brought about by intermittent meshing can produce a pulse rinsing effect, which enhances the destructive force of the water flow on stubborn attachments, further improving the self-cleaning efficiency and recovery ability of the cleaning roller 2, and providing a reliable drive guarantee for the long-term, stable and efficient operation of the deep-sea cage cleaning robot. When the accumulated and tightly attached impurities on the cleaning roller 2 increase, the operator remotely controls the servo motor 31 to start, causing the rotating shaft 33 to carry the main toothed bevel gear 34 to rotate along the support frame 32. The continuous rotation of the main toothed bevel gear 34, in conjunction with the intermittent meshing of the symmetrically distributed secondary toothed bevel gears 36, causes the rotating column 35 to carry the water gun nozzle 5 to swing back and forth in a fan shape. The high-pressure water jet sprayed by the water gun nozzle 5 impacts the cleaning roller 2. When the marine organisms and sediments attached to the surface of the cleaning roller 2 are impacted and detached by the water jet, they will enter the ash collection box 310 through the guide channel 37 for collection.

[0021] In the preferred embodiment of this technical solution, please refer to Figure 2 - Figure 7 As shown, the moving mechanism 4 includes a positioning frame 42 fixedly connected to the bottom of the body frame 1. A dual-axis motor 41 is fixedly connected to the bottom of the positioning frame 42. A main rotating shaft 43 is fixedly connected to one end of the dual-axis motor 41. A main bevel gear disk 44 is fixedly connected to the end of the main rotating shaft 43 away from the dual-axis motor 41. The moving mechanism 4 also includes a rotating column 46 symmetrically rotatably connected inside the body frame 1. A secondary bevel gear disk 45 is fixedly connected to the outer surface of one rotating column 46. The secondary bevel gear disk 45 meshes with the main bevel gear disk 44. Moving wheels 47 are fixedly connected to both ends of the rotating column 46. A walking track 48 is connected between adjacent moving wheels 47. A secondary rotating shaft 49 is fixedly connected to the other end of the dual-axis motor 41. A fan blade 410 is fixedly connected to the end of the secondary rotating shaft 49 away from the dual-axis motor 41. A protective frame 411 is fixedly connected to the bottom of the body frame 1.

[0022] When the aforementioned machine frame 1 needs to move with the cleaning roller 2 to clean the net cage, the operator remotely controls the dual-axis motor 41 to start, causing the main rotating shaft 43 and the auxiliary rotating shaft 49 to rotate. The auxiliary bevel gear disk 45 rotates along with the main rotating shaft 43 carrying the main bevel gear disk 44. The meshing rotation causes the rotating column 46 to carry the moving wheel 47 to rotate, and the machine frame 1 moves through the drive of the walking track 48. At the same time, the rotation of the auxiliary rotating shaft 49 will carry the fan blade 410 to rotate, and the rotation and agitation of the water flow by the fan blade 410 will push the machine frame 1 to move.

[0023] Working principle: First, the operator installs the supercharger turbine inside the machine frame 1, and the supercharger turbine delivers high-pressure water from the work area to the water gun nozzle 5, enabling the water gun nozzle 5 to continuously spray high-pressure water. Then, the remote-controlled servo motor 31 and dual-axis motor 41 are started. The start of the dual-axis motor 41 causes the main rotating shaft 43 and the auxiliary rotating shaft 49 to rotate. The auxiliary bevel gear disk 45 rotates along with the main rotating shaft 43, carrying the main bevel gear disk 44. The meshing rotation causes the rotating column 46 to rotate, carrying the moving wheel 47. Driven by the walking track 48, the machine frame 1 moves via the walking track 48. At the same time, the rotation of the auxiliary rotating shaft 49 will cause the fan blade 410 to rotate as well. The rotation and agitation of the water flow by the fan blades 410 propels the movement of the machine frame 1. The start of the servo motor 31 causes the rotating shaft 33 to carry the main toothed bevel gear 34 to rotate along the support frame 32. The continuous rotation of the main toothed bevel gear 34, in conjunction with the intermittent meshing of the symmetrically distributed secondary toothed bevel gears 36, causes the rotating column 35 to carry the water gun nozzle 5 to swing back and forth in a fan shape. The high-pressure water flow sprayed by the water gun nozzle 5 impacts the cleaning roller 2. When the marine organisms and sediments attached to the surface of the cleaning roller 2 are knocked off by the water flow, the ash-removing blades 38 rotate in the water flow along with the movement of the machine frame 1, and move the impurities that have passed through the guide groove 37 into the ash storage box 310.

[0024] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0025] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A deep-sea fish farm cage underwater cleaning robot, comprising a body frame (1), wherein a cleaning roller (2) is rotatably connected to the cleaning end of the body frame (1), characterized in that: The upper part of the machine frame (1) is provided with a water gun nozzle (5) for continuous high-pressure water spray cleaning. The interior of the machine frame (1) is provided with a cleaning mechanism (3) for controlling the water gun nozzle (5) to swing back and forth toward the cleaning roller (2). The bottom end of the machine frame (1) is provided with a moving mechanism (4) for controlling its rapid movement.

2. The underwater cleaning robot for a net cage of a deep sea fish farm according to claim 1, characterized in that: The cleaning mechanism (3) includes a support frame (32) fixedly connected inside the body frame (1). A servo motor (31) is fixedly connected to the outer surface of the support frame (32). A rotating shaft (33) is fixedly connected to the output end of the servo motor (31). A main toothed bevel gear (34) is fixedly connected to the end of the rotating shaft (33) away from the servo motor (31).

3. The underwater cleaning robot for a net-pen in a deep-sea fish farm according to claim 2, characterized in that: The support frame (32) is rotatably connected to a rotating column (35), and the rotating column (35) is fixedly connected to the water gun nozzle (5). The outer surface of the rotating column (35) is symmetrically fixedly connected to a secondary toothed bevel gear (36), and the secondary toothed bevel gear (36) meshes with the main toothed bevel gear (34).

4. The underwater cleaning robot for a net-pen in a deep-sea fish farm according to claim 2, characterized in that: The cleaning mechanism (3) also includes a guide channel (37) opened inside the body frame (1), and a dust-removing blade (38) is rotatably connected inside the guide channel (37), and a dust-guiding platform (39) is fixedly connected to the inner wall of the body frame (1).

5. The underwater cleaning robot for a net-pen in a deep-sea fish farm according to claim 2, characterized in that: The cleaning mechanism (3) also includes a dust collection box (310) that is snapped onto the top of the body frame (1). The top of the dust collection box (310) is snapped onto a cover (311), and a filter screen (312) is fixedly connected inside the dust collection box (310).

6. The underwater cleaning robot for deep-sea fish cages according to claim 1, characterized in that: The moving mechanism (4) includes a positioning frame (42) fixedly connected to the bottom of the body frame (1). A dual-axis motor (41) is fixedly connected to the bottom of the positioning frame (42). A main rotating shaft (43) is fixedly connected to one end of the dual-axis motor (41). A main bevel gear disk (44) is fixedly connected to the end of the main rotating shaft (43) away from the dual-axis motor (41).

7. A deep sea fish farm net pen underwater cleaning robot according to claim 6, characterized in that: The moving mechanism (4) also includes a rotating column (46) symmetrically rotatably connected inside the body frame (1). A secondary bevel gear disk (45) is fixedly connected to the outer surface of the rotating column (46), and the secondary bevel gear disk (45) meshes with the main bevel gear disk (44). Both ends of the rotating column (46) are fixedly connected to moving wheels (47), and a walking track (48) is connected between adjacent moving wheels (47).

8. The underwater cleaning robot for a net-pen in a deep-sea fish farm according to claim 6, characterized in that: The other end of the dual-axis motor (41) is fixedly connected to a secondary rotating shaft (49), and the end of the secondary rotating shaft (49) away from the dual-axis motor (41) is fixedly connected to a fan blade (410). The bottom end of the body frame (1) is fixedly connected to a protective frame (411).

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