Underwater robot for cleaning net cage in marine ranch

Abstract

The utility model relates to the technical field of underwater cleaning, and discloses an underwater robot for cleaning net cages in a marine ranch. The robot comprises an equipment body, the top is provided with a buoyancy block, and a circulation pipeline is arranged in the equipment body; the crawling assembly comprises a plurality of rotating wheels rotationally arranged on the equipment body, and the rotating wheels are wrapped and connected with crawler belts. The power assembly comprises a longitudinal propeller and a horizontal propeller, the longitudinal propeller drives the robot to be attached to a to-be-cleaned surface, and the horizontal propeller drives the robot to walk; and each cleaning assembly comprises a connecting base, a cleaning disc and a high-pressure jet device, the connecting bases are detachably arranged on the equipment body, the cleaning discs are connected to the connecting bases in a swinging mode, the high-pressure jet devices are rotationally connected to the circulation pipeline, and the water outlet ends of the high-pressure jet devices are located in the cleaning discs. The multiple cleaning discs swing back and forth along with the change of the shape of the to-be-cleaned surface, compared with synchronous swing, flexibility is higher, the cleaning discs can be better attached to the to-be-cleaned surface, and the cleaning efficiency and the cleaning effect are improved.

Description

Technical Field

[0001] The present application relates to the technical field of underwater cleaning, and in particular to an underwater robot for cleaning marine ranch cages. Background Art

[0002] During deep-water cage aquaculture, since the nets are in the seawater environment for a long time, they will be attached by fouling organisms such as marine animals and plants, affecting the water exchange in the cages. Fish feces and leftover bait cannot be carried away by the water flow in time, increasing the risk of local hypoxia in the sea area and fish disease during the aquaculture process, which is not conducive to the growth and survival of farmed fish and may cause disease invasion and affect the survival rate.

[0003] The current cage cleaning methods include regular net replacement, manual cleaning, lifting and sinking, biological removal and mechanical cleaning, but these methods have certain disadvantages, such as long cleaning cycle, low cleanliness, high cleaning cost, low cleaning efficiency, etc., which cannot meet the needs of actual production. Therefore, improving the cleaning efficiency and cleaning effect of cages is an important issue that needs to be solved in marine ranch cage farming. Utility Model Content

[0004] The technical problem to be solved by the present application is to design an underwater robot that can be used for cleaning marine ranch cages to clean attachments on the nets so as to better adhere to the nets, thereby improving the cleaning efficiency and cleaning effect of the cages.

[0005] In order to solve the above problems, the present application provides an underwater robot for cleaning marine ranch cages, including an equipment body, a buoyancy block is installed on the top, and a circulation pipe is arranged inside to connect to an external water source; a crawling component, including a plurality of rotating wheels rotatably arranged on both sides of the equipment body along the forward direction, and the rotating wheels on the same side are covered with connecting tracks; a power component, including a longitudinal propeller and a horizontal propeller, the longitudinal propeller is used to drive the robot to adhere to the surface to be cleaned, and the horizontal propeller is used to drive the robot to walk along the surface to be cleaned; a plurality of cleaning components rotatably arranged on the equipment body, including a connecting seat, a cleaning disc and a high-pressure ejector, the connecting seat is detachably arranged on the equipment body, the cleaning disc is swingably connected to the connecting seat along the forward direction, the water inlet end of the high-pressure ejector passes through the cleaning disc and is rotatably connected to the circulation pipe, and the water outlet end of the high-pressure ejector is located in the cleaning disc.

[0006] Preferably, the connecting seat is provided with a first connecting part and a second connecting part, a sliding groove is provided through the side of the first connecting part, and the cleaning disc is provided with a first matching part and a second matching part, the first matching part slides in the sliding groove to realize the swing of the cleaning disc along the forward direction, and the second matching part is rotatably connected to the second connecting part.

[0007] Preferably, the cleaning assembly further comprises a support member, the support member comprises a support portion and a support net, the support net is arranged on the opening side of the cleaning disc, and two ends of the support portion are respectively fixedly connected to the middle portion of the support net and the high-pressure ejector.

[0008] Preferably, the high-pressure ejector has a plurality of gun heads arranged in an array along a circumferential direction, the gun heads are inclined toward the opening side of the cleaning disk, and there is a gap between the gun heads and the supporting net.

[0009] Preferably, the crawling assembly also includes a drive, the wheel includes two groups of first wheels and second wheels, each group of the first wheels and the second wheels are respectively rotatably connected to one side of the equipment body along the forward direction, the track covering is connected to the first wheel and the second wheel, the drive is arranged on the equipment body, and the output end of the drive is connected to the first wheel.

[0010] Preferably, the longitudinal thrusters are evenly distributed on the device body.

[0011] Preferably, the horizontal thrusters are symmetrically arranged on both sides of the equipment body along the forward direction.

[0012] Preferably, a camera device is also provided at the front end of the equipment body along the forward direction of the robot.

[0013] Preferably, a lighting device is also provided at the front end of the equipment body along the forward direction of the robot.

[0014] Compared with the prior art, the present invention has at least one of the following beneficial technical effects:

[0015] When the robot performs underwater cleaning tasks, it first dives and crawls to the surface to be cleaned, attaches to the surface to be cleaned through the longitudinal propeller, and drives the robot to walk along the surface to be cleaned through the horizontal propeller. While walking, the robot starts the high-pressure ejector to rotate and spray water to clean the attachments on the surface to be cleaned. Here, several cleaning discs can swing back and forth respectively according to the shape of the surface to be cleaned. Compared with the synchronous swinging of several cleaning discs, it is more flexible and can better adhere to different positions of the surface to be cleaned, thereby improving the cleaning efficiency and cleaning effect of the surface to be cleaned. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1A schematic diagram of the overall structure of the underwater robot provided in an embodiment of the present application.

[0018] Figure 2 A schematic diagram of the overall structure of the underwater robot provided in an embodiment of the present application from another perspective.

[0019] Figure 3 for Figure 2 Enlarged view of part A.

[0020] Explanation of the accompanying drawings: 1. Equipment body; 11. Buoyancy block; 12. Circulation pipe; 2. Crawling assembly; 21. Rotor; 211. First rotor; 212. Second rotor; 22. Track; 23. Drive; 3. Power assembly; 31. Longitudinal propeller; 32. Horizontal propeller; 4. Cleaning assembly; 41. Connecting seat; 411. First connecting part; 4111. Sliding groove; 412. Second connecting part; 42. Cleaning disc; 421. First matching part; 422. Second matching part; 43. High-pressure ejector; 431. Gun head; 44. Support member; 441. Support part; 442. Support net; 5. Camera device; 6. Illuminating device. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0022] It should be understood that when used in this specification and the appended claims, the terms "include" and "comprises" indicate the presence of described features, integers, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or combinations thereof.

[0023] It should also be understood that the terms used in this application specification are only for the purpose of describing specific embodiments and are not intended to limit the application. As used in this application specification and the appended claims, the singular forms "a", "an" and "the" are intended to include plural forms unless the context clearly indicates otherwise.

[0024] It should be further understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0025] Please refer to Figures 1 to 3The embodiment of the present application provides an underwater robot for cleaning marine ranch cages, which can clean marine animals and plants and other fouling organisms attached to the surface of the cage nets, and can also be used to clean the surface of other underwater objects and equipment, and replace the traditional cleaning method. The underwater robot includes an equipment body 1, a crawling component 2, a power component 3, and a plurality of cleaning components 4 rotatably arranged on the equipment body 1.

[0026] Specifically, a buoyancy block 11 is fixedly installed on the top of the equipment body 1, and a circulation pipe 12 is provided inside the equipment body 1 and the buoyancy block 11 to connect to an external water source. The crawling assembly 2 includes a plurality of rotating wheels 21 rotatably arranged on both sides of the equipment body 1 along the forward direction, wherein the rotating wheels 21 on the same side are covered with a connecting track 22. The power assembly 3 includes a longitudinal propeller 31 and a horizontal propeller 32, wherein the longitudinal propeller 31 is used to drive the robot to adhere to the surface to be cleaned, and the horizontal propeller 32 is used to drive the robot to walk along the surface to be cleaned, and the surface to be cleaned in this embodiment is the net of the net cage. Each cleaning assembly 4 includes a connecting seat 41, a cleaning disc 42 and a high-pressure ejector 43, wherein the connecting seat 41 is detachably arranged at the bottom of the equipment body 1, and the cleaning disc 42 is swingably connected to the connecting seat 41 along the forward direction; the water inlet end of the high-pressure ejector 43 penetrates the cleaning disc 42 and is rotatably connected to the circulation pipe 12, thereby connecting to an external water source, and the water outlet end of the high-pressure ejector 43 is located in the cleaning disc 42.

[0027] Here, when the robot performs underwater cleaning tasks, it first dives and crawls to the surface to be cleaned, adheres to the surface to be cleaned through the longitudinal propeller 31, and drives the robot to walk along the surface to be cleaned through the horizontal propeller 32. While walking, the robot starts the high-pressure ejector 43 to rotate and spray water to clean the attachments on the surface to be cleaned. Here, several cleaning discs 42 can swing back and forth respectively according to the shape of the surface to be cleaned, so as to better adhere to the surface to be cleaned, thereby improving the cleaning efficiency and cleaning effect of the surface to be cleaned.

[0028] In a specific embodiment, three cleaning components 4 are provided, and the three cleaning components 4 are arranged in an isosceles triangle array at the bottom of the device body 1, one of the cleaning components 4 is located in the front along the forward direction of the robot, and the other two cleaning components 4 are located in the rear along the forward direction of the robot. Here, the three cleaning discs 42 can swing with different amplitudes according to the different contact positions to better adhere to the surface to be cleaned, and the three cleaning discs 42 cooperate with each other to clean the surface to be cleaned, thereby reducing the possibility of leaking the surface to be cleaned, and further improving the cleaning efficiency and cleaning effect. In other embodiments, the number of cleaning components 4 can also be set to one, two, or four according to actual needs.

[0029] Please refer to Figure 3In a specific embodiment, the bottom of the connection seat 41 is provided with a first connection part 411 and a second connection part 412, the side of the first connection part 411 is penetrated by a sliding groove 4111, and the top of the cleaning plate 42 is provided with a first matching part 421 and a second matching part 422. Among them, the first connection part 411 is located in the front along the forward direction of the robot, and the second connection part 412 is symmetrically arranged at the rear along the forward direction of the robot; the first matching part 421 is provided with a sliding shaft, and the sliding shaft can slide up and down along the sliding groove 4111 to realize the swing of the cleaning plate 42 along the forward direction, thereby driving the second matching part 422 and the second connection part 412 to rotate relative to each other.

[0030] In a specific embodiment, the cleaning assembly 4 also includes a support member 44, and the support member 44 includes a support portion 441 and a support net 442. Among them, the support portion 441 is integrally formed in the middle of one side of the support net 442, and the support portion 441 is fixedly connected to the rotation center of the high-pressure ejector 43 at one end away from the support net 442, and the support net 442 is fixedly arranged on the opening side of the cleaning disk 42 in a cross shape. At the same time, the high-pressure ejector 43 has a plurality of gun heads 431 arranged in an array along the circumferential direction of the rotation center. In this embodiment, three gun heads 431 are provided, and the gun heads 431 are inclined toward the opening side of the cleaning disk 42, and there is a gap between the gun heads 431 and the support net 442 to prevent the gun heads 431 from rubbing against the support net 442 and the surface to be cleaned when rotating. In other embodiments, the gun heads 431 can also be set to two, four, etc.

[0031] Here, the high-pressure ejector 43 is located in the cleaning disk 42. When the cleaning assembly 4 is working, the three gun heads 431 rotate simultaneously and spray high-pressure water jets toward the surface to be cleaned. The three high-pressure water jets flush the attachments on the surface to be cleaned, which can improve the cleaning efficiency and cleaning effect of the surface to be cleaned. At the same time, the support net 442 abuts against the surface to be cleaned to prevent the gun head 431 of the high-pressure ejector 43 from colliding with the surface to be cleaned, causing wear on the surface to be cleaned. On the other hand, it can extend the service life of the high-pressure ejector 43 and further reduce the working cost of the robot.

[0032] Please refer to Figure 1 and Figure 2In a specific embodiment, the crawling assembly 2 further includes a driver 23, and the rotating wheel 21 includes two groups of first rotating wheels 211 and second rotating wheels 212. Each group of first rotating wheels 211 and second rotating wheels 212 is respectively rotatably connected to one side of the device body 1 along the forward direction, the first rotating wheel 211 is located at the front end, and the second rotating wheel 212 is located at the rear end; the crawler 22 is covered and connected to the first rotating wheel 211 and the second rotating wheel 212, the driver 23 is fixedly arranged on the device body 1, and the output end of the driver 23 is connected to the first rotating wheel 211. Here, the first rotating wheel 211 is driven to rotate by the driver 23, the first rotating wheel 211 drives the crawler 22 to rotate, and then the crawler 22 drives the second rotating wheel 212 to rotate, so as to realize the walking of the robot.

[0033] In a specific embodiment, the longitudinal propellers 31 are evenly distributed on the device body 1, and the horizontal propellers 32 are symmetrically arranged on both sides of the device body 1 along the forward direction. Specifically, there are four longitudinal propellers 31, and the four longitudinal propellers 31 are respectively arranged in four directions of the buoyancy block 11, and the robot is driven to adhere to the surface to be cleaned by the longitudinal propellers 31; there are two horizontal propellers 32, and the two horizontal propellers 32 are respectively symmetrically arranged on both sides of the buoyancy block 11, and the robot is driven to walk along the surface to be cleaned by the horizontal propellers 32. In other embodiments, the longitudinal propellers 31 can also be set to two, six or eight, and the horizontal propellers 32 can also be set to four, six, etc.

[0034] In a specific embodiment, the front end of the device body 1 along the robot's forward direction is also provided with a camera 5 and a lighting device 6. Here, the camera 5 and the lighting device 6 cooperate to monitor the robot's working environment in real time, so as to facilitate the operator to control the robot's working state and adjust the robot's walking path.

[0035] The implementation principle of an underwater robot for cleaning marine ranch cages in an embodiment of the present application is as follows: an operator on the water surface remotely controls the underwater robot by wired or wireless means to drive the robot to perform underwater cleaning tasks. When the robot performs underwater cleaning tasks, it first dives and crawls to the surface to be cleaned, attaches to the surface to be cleaned through the longitudinal propeller 31, and drives the robot to walk along the surface to be cleaned through the horizontal propeller 32. While walking, the robot starts the high-pressure ejector 43 to rotate and spray water to clean the attachments on the surface to be cleaned. Here, several cleaning discs 42 can swing back and forth respectively with the shape change of the surface to be cleaned, which is more flexible than the synchronous swinging of several cleaning discs 42, and can better adhere to different positions of the surface to be cleaned, thereby improving the cleaning efficiency and cleaning effect of the surface to be cleaned.

[0036] In addition, underwater robots can dive to great depths, and are less likely to damage the surface to be cleaned and underwater organisms during cleaning, thus reducing the risk of death of underwater organisms. In addition, underwater robots have a long working time, which can reduce cleaning costs. Compared with manual cleaning, the underwater robot also has a high degree of flexibility and environmental adaptability, and can perform some complex and dangerous underwater tasks, thus avoiding the risks of manual cleaning.

[0037] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in the present application, and these modifications or replacements should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. An underwater robot for cleaning marine ranch cages, characterized by: include, The equipment body has a buoyancy block installed on the top and a circulation pipe inside to connect to an external water source; A crawling assembly includes a plurality of rotating wheels rotatably arranged on both sides of the equipment body along the forward direction, and the rotating wheels on the same side are covered with a connecting crawler belt; A power assembly, including a longitudinal propeller and a horizontal propeller, wherein the longitudinal propeller is used to drive the robot to adhere to the surface to be cleaned, and the horizontal propeller is used to drive the robot to walk along the surface to be cleaned; A plurality of cleaning components rotatably arranged on the equipment body include a connecting seat, a cleaning disc and a high-pressure ejector. The connecting seat is detachably arranged on the equipment body. The cleaning disc is swung and connected to the connecting seat along the forward direction. The water inlet end of the high-pressure ejector passes through the cleaning disc and is rotatably connected to the circulation pipe. The water outlet end of the high-pressure ejector is located in the cleaning disc.

2. The underwater robot for cleaning marine ranch cages according to claim 1, characterized in that: The connecting seat is provided with a first connecting part and a second connecting part, a sliding groove is arranged through the side surface of the first connecting part, and the cleaning disc is provided with a first matching part and a second matching part, the first matching part slides in the sliding groove to realize the swing of the cleaning disc along the forward direction, and the second matching part is rotatably connected to the second connecting part.

3. An underwater robot for cleaning marine ranch cages according to claim 1 or 2, characterized in that: The cleaning assembly also includes a support member, which includes a support portion and a support net. The support net is arranged on the opening side of the cleaning disc, and two ends of the support portion are respectively fixedly connected to the middle of the support net and the high-pressure ejector.

4. The underwater robot for cleaning marine ranch cages according to claim 3, characterized in that: The high-pressure ejector has a plurality of gun heads arranged in an array along a circumferential direction, the gun heads are inclined toward the opening side of the cleaning disk, and there is a gap between the gun heads and the supporting net.

5. The underwater robot for cleaning marine ranch cages according to claim 1, characterized in that: The crawling assembly also includes a drive, and the rotating wheel includes two groups of first rotating wheels and second rotating wheels. Each group of the first rotating wheels and the second rotating wheels are respectively rotatably connected to one side of the equipment body along the forward direction. The track covering is connected to the first rotating wheel and the second rotating wheel. The drive is arranged on the equipment body, and the output end of the drive is connected to the first rotating wheel.

6. The underwater robot for cleaning marine ranch cages according to claim 1, characterized in that: The longitudinal thrusters are evenly distributed on the device body.

7. The underwater robot for cleaning marine ranch cages according to claim 1, characterized in that: The horizontal propellers are symmetrically arranged on both sides of the equipment body along the forward direction.

8. The underwater robot for cleaning marine ranch cages according to claim 1, characterized in that: A camera device is also provided at the front end of the equipment body along the forward direction of the robot.

9. An underwater robot for cleaning marine ranch cages according to claim 1 or 8, characterized in that: The front end of the equipment body along the forward direction of the robot is also provided with a lighting device.

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