Floating center adjusting device of net cage cleaning robot based on floating material position

Abstract

The utility model discloses a floating center adjusting device of a net cage cleaning robot based on the position of a floating material, guide rods are symmetrically arranged on a body in the left-right direction, and the guide rods extend in the vertical direction; the floating materials are in sliding fit with the corresponding guide rods in the vertical direction; the body is provided with a height adjusting assembly used for driving the floating material to move along the guide rod. When the net cage cleaning robot is converted from the vertical posture to the horizontal posture, the stepping motor controls the lead screw to rotate, the floating material moves downwards, the buoyancy center coincides with the gravity center, and in the process, the propeller is matched, and conversion from the vertical posture to the horizontal posture can be achieved; when the net cage cleaning robot is converted from the horizontal posture to the vertical posture, the floating material moves upwards, the buoyancy center is far away from the gravity center, in the process, conversion from the horizontal posture to the vertical posture can be achieved without a propeller, and therefore due to the arrangement of the height-adjustable floating material, in the posture conversion process, power consumption of the needed propeller is reduced.

Description

Technical Field

[0001] The utility model belongs to the technical field of net cage cleaning robots, and in particular relates to a buoyancy center adjusting device of the net cage cleaning robot based on the position of floating materials. Background Art

[0002] Cage aquaculture is one of the important forms of fishery aquaculture. Cage aquaculture is mainly used for marine aquaculture, such as marine fish farming. With the expansion of cage aquaculture, some problems are also accompanied, such as the rapid reproduction of algae, shellfish and other attachments on the surface of the net, which will cause the mesh to be blocked, affecting the exchange of water inside and outside the cage, reducing the dissolved oxygen and food supply, and affecting the growth rate and survival rate of fish. Therefore, cage cleaning robots are needed to complete the work of regular cage cleaning.

[0003] The structure of the cage cleaning robot currently used is as follows: Figure 1 As shown, the robot comprises a main body 01 and a plurality of thrusters 02 arranged on the main body 01, a plurality of brush assemblies 03 for cleaning net clothes are arranged on one side of the main body 01, and a float 04 is also arranged on the main body 01, wherein the float 04 is fixedly connected to the main body 01. Once the float 04 is installed, the buoyancy center position of the entire robot is determined. When the robot needs to switch between a vertical posture and a horizontal posture, it can only rely on the thrusters 02, so that the power consumption of the thrusters 02 required for posture conversion is relatively large. Utility Model Content

[0004] The purpose of the utility model is to overcome the deficiencies of the prior art and to provide a buoyancy center adjustment device for a cage cleaning robot based on the position of a floating material.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A buoyancy center adjustment device for a net cage cleaning robot based on the position of a floating material, the net cage cleaning robot comprises a main body and a plurality of propellers arranged on the main body, a plurality of brush assemblies for cleaning nets are arranged on one side of the main body, and the floating materials are symmetrically arranged on the main body along the left and right directions;

[0007] The main body is symmetrically provided with guide rods along the left and right directions, and the guide rods extend along the vertical direction;

[0008] The floating material and the corresponding guide rod are slidably matched in the vertical direction;

[0009] The main body is provided with a height adjustment component for driving the floating material to move along the guide rod.

[0010] Preferably, the height adjustment assembly comprises a lead screw extending in the vertical direction, and the axial ends of the lead screw are rotatably matched with the body;

[0011] The floating material is provided with a through hole penetrating in the vertical direction, and a screw nut threadably matched with a corresponding screw is provided in the through hole;

[0012] The main body is provided with a driving member for driving the lead screw to rotate.

[0013] Preferably, screw seats are provided at both ends of the screw, the screw seats are fixedly provided on the body, and the screw and the screw seats are rotatably matched;

[0014] One end of the lead screw passes through the lead screw seat and is connected to the corresponding driving member.

[0015] Preferably, the driving member comprises a stepper motor fixedly mounted on the body, and a driving pulley is coaxially fixedly mounted on the end of the output shaft of the stepper motor;

[0016] One end of the lead screw passes through the lead screw seat and is coaxially fixedly connected to the driven pulley;

[0017] A transmission belt is connected between the corresponding driving pulley and the driven pulley.

[0018] Preferably, a distance sensor for measuring the distance from the bottom end surface of the floating material is provided on the screw seat at the lower end of the screw;

[0019] The distance sensor is connected to a controller, and the controller is connected to a stepping motor.

[0020] The beneficial effects of the utility model are:

[0021] When the net cage cleaning robot switches from a vertical posture to a horizontal posture, the stepper motor controls the lead screw to rotate, so that the floating material moves downward, so that the center of buoyancy coincides with the center of gravity. In this process, the propeller uses a smaller power operation according to the existing technology to cooperate, and the conversion from vertical to horizontal posture can be achieved; when the net cage cleaning robot switches from a horizontal posture to a vertical posture, the stepper motor controls the lead screw to rotate, so that the floating material moves upward, so that the center of buoyancy is away from the center of gravity. In this process, the conversion from horizontal to vertical posture can be achieved without a propeller. Therefore, the setting of the floating material with adjustable height in this application reduces the power consumption of the required propeller during the posture conversion process. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings in the specification, which constitute a part of the present application, are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0023] Figure 1 It is a structural schematic diagram of a cage cleaning robot in the background technology;

[0024] Figure 2This is a schematic structural stereogram of a buoyancy center adjustment device based on the position of floating materials of the utility model cage cleaning robot;

[0025] Figure 3 This is a schematic front view of the structure of the buoyancy center adjustment device based on the position of the floating material of the cage cleaning robot of the utility model;

[0026] Figure 4 It is a schematic top view of the structure of the buoyancy center adjustment device based on the position of the floating material of the cage cleaning robot of the utility model;

[0027] Figure 5 It is a schematic diagram of the positional relationship between two floating materials and corresponding height adjustment components in the utility model;

[0028] in:

[0029] 01-main body, 02-thruster, 03-brush assembly, 04-floating material;

[0030] 1-guide rod, 2-screw, 21-screw seat, 3-stepping motor, 4-driving pulley, 5-driven pulley. DETAILED DESCRIPTION

[0031] It should be noted that the following detailed descriptions are illustrative and are intended to provide further explanation of the present application. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present application belongs.

[0032] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0033] In the present invention, the directions or positional relationships indicated by terms such as "upper", "lower", "bottom", "top", etc. are based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various parts or elements of the present invention. They do not specifically refer to any part or element in the present invention and cannot be understood as limitations on the present invention.

[0034] In the present utility model, terms such as "connected" and "connection" should be understood in a broad sense, indicating that the connection can be fixed, integral or detachable; it can be directly connected or indirectly connected through an intermediate medium. For relevant scientific research or technical personnel in this field, the specific meaning of the above terms in the present utility model can be determined according to specific circumstances, and it cannot be understood as a limitation of the present utility model.

[0035] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0036] like Figure 2-5 As shown, a buoyancy center adjustment device of a cage cleaning robot based on the position of a floating material, the cage cleaning robot comprises a body 01 and a plurality of propellers 02 arranged on the body 01, a plurality of brush assemblies 03 for cleaning nets are arranged on one side of the body 01, and floating materials 04 are symmetrically arranged on the body 01 along the left-right direction;

[0037] The body 01 is symmetrically provided with guide rods 1 along the left-right direction, and the guide rods 1 extend along the vertical direction;

[0038] The floating material 04 is slidably matched with the corresponding guide rod 1 in the vertical direction;

[0039] The main body 01 is provided with a height adjustment assembly for driving the floating material 04 to move along the guide rod 1 .

[0040] Preferably, the height adjustment assembly comprises a lead screw 2 extending in the vertical direction, and the axial ends of the lead screw 2 are rotatably matched with the body 01;

[0041] The float material 04 is provided with a through hole penetrating in the vertical direction, and a screw nut threadedly matched with the corresponding screw 2 is provided in the through hole;

[0042] The main body 01 is provided with a driving member for driving the lead screw 2 to rotate.

[0043] Preferably, screw seats 21 are provided at both ends of the screw 2, the screw seats 21 are fixedly provided on the body 01, and the screw 2 and the screw seats 21 are rotationally matched;

[0044] One end of the lead screw 2 passes through the lead screw seat 21 and is connected to a corresponding driving member.

[0045] Preferably, the driving member comprises a stepper motor 3 fixedly mounted on the body 01, and a driving pulley 4 is coaxially fixedly mounted on the end of the output shaft of the stepper motor 3;

[0046] One end of the screw 2 passes through the screw seat 21 and is coaxially fixedly connected to the driven pulley 5;

[0047] A transmission belt is connected between the corresponding driving pulley 4 and the driven pulley 5.

[0048] In the present application, the transmission belt between the driving pulley 4 and the driven pulley 5 is not shown in the drawings.

[0049] Preferably, a distance sensor for measuring the distance from the bottom end surface of the floating material 04 is provided on the screw seat 21 at the lower end of the screw 2;

[0050] The distance sensor is connected to a controller, and the controller is connected to a stepping motor 3 .

[0051] In the present application, when the main body 01 is in a vertical state, when the two floats 04 move synchronously along the corresponding lead screws 2 to the lower limit position, the center of gravity and the center of buoyancy of the cage cleaning robot coincide with each other.

[0052] A buoyancy center adjustment device for a cage cleaning robot based on the position of a floating material, and its specific implementation is as follows:

[0053] When cleaning the nets on the side wall of the net box, the net box cleaning robot is in a vertical posture, and when cleaning the nets at the bottom of the net box, the net box cleaning robot is in a horizontal posture. When the net box cleaning robot switches from a vertical posture to a horizontal posture, the stepper motor 3 controls the lead screw 2 to rotate, so that the floating material 04 moves downward, so that the center of buoyancy coincides with the center of gravity. In this process, the propeller 02 cooperates with the existing technology to operate with a smaller power, so that the conversion from a vertical posture to a horizontal posture can be achieved; when the net box cleaning robot switches from a horizontal posture to a vertical posture, the stepper motor 3 controls the lead screw 2 to rotate, so that the floating material 04 moves upward, so that the center of buoyancy is away from the center of gravity. In this process, the conversion from a horizontal posture to a vertical posture can be achieved without the propeller 02. Therefore, the setting of the floating material 04 with adjustable height in the present application reduces the power consumption of the propeller 02 required during the posture conversion process.

[0054] Although the above describes the specific implementation mode of the utility model in combination with the accompanying drawings, it is not a limitation of the utility model. Technical personnel in the relevant field should understand that on the basis of the technical solution of the utility model, various modifications or deformations that can be made by technical personnel in this field without creative work are still within the protection scope of the utility model.

Claims

1. A buoyancy center adjustment device for a cage cleaning robot based on the position of a floating material, the cage cleaning robot comprising a main body and a plurality of propellers arranged on the main body, a plurality of brush assemblies for cleaning nets are arranged on one side of the main body, and floating materials are symmetrically arranged on the main body along the left and right directions; characterized in that: The main body is symmetrically provided with guide rods along the left and right directions, and the guide rods extend along the vertical direction; The floating material and the corresponding guide rod are slidably matched in the vertical direction; The main body is provided with a height adjustment component for driving the floating material to move along the guide rod.

2. The buoyancy center adjustment device based on the position of the floating material of the cage cleaning robot according to claim 1, characterized in that: The height adjustment assembly comprises a lead screw extending in the vertical direction, and the axial ends of the lead screw are rotatably matched with the body; The floating material is provided with a through hole penetrating in the vertical direction, and a screw nut threadably matched with a corresponding screw is provided in the through hole; The main body is provided with a driving member for driving the lead screw to rotate.

3. The buoyancy center adjustment device based on the position of the floating material of the cage cleaning robot according to claim 2, characterized in that: Screw seats are arranged at both ends of the screw, the screw seats are fixedly arranged on the body, and the screw and the screw seats are rotatably matched; One end of the lead screw passes through the lead screw seat and is connected to the corresponding driving member.

4. The buoyancy center adjustment device based on the position of the floating material of the cage cleaning robot according to claim 3, characterized in that: The driving member comprises a stepper motor fixedly arranged on the body, and a driving pulley is coaxially fixedly arranged on the end of the output shaft of the stepper motor; One end of the lead screw passes through the lead screw seat and is coaxially fixedly connected to the driven pulley; A transmission belt is connected between the corresponding driving pulley and the driven pulley.

5. The buoyancy center adjustment device of the cage cleaning robot based on the position of the floating material as claimed in claim 4, characterized in that: A distance sensor for measuring the distance from the bottom end surface of the floating material is arranged on the screw seat at the lower end of the screw; The distance sensor is connected to a controller, and the controller is connected to a stepping motor.

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