Foot support type net cage cleaning robot

Abstract

The utility model relates to the technical field of net cage cleaning, in particular to a foot support type net cage cleaning robot which comprises a polygonal shell, a spiral propeller, a net grabbing foot support and various cleaning devices, and the spiral propeller, a lifting handle and a water inlet of a movable high-pressure water gun are installed at the top of the polygonal shell. The tail part of the polygonal shell is connected with a dirt recovery cabin through a sliding rail, two sides of the polygonal shell are respectively provided with two net grabbing foot supports which are connected through a single connecting rod, and the upper part of the front end of the polygonal shell is provided with two illuminating lamps. The foot support type net cage cleaning robot is provided with the net grabbing foot support, through simple combined application of a spring and a wire pulling mechanism, the net can be grabbed, and the adsorption effect of the robot is achieved. And the net grabbing foot support mechanism is simple, and the maintenance cost is lower. And the hydraulic pistons are connected to the net grabbing foot supports, so that the mobility of the distance between the robot chassis and the net cage netting is improved, and the adsorption effect is better.

Description

Technical Field

[0001] The utility model relates to the technical field of net cage cleaning, in particular to a foot-supported net cage cleaning robot. Background Art

[0002] Since the 1980s, China has vigorously developed marine aquaculture and has now become the world's largest marine aquaculture country, with aquaculture area and output accounting for about 60% of the world's total. Marine aquaculture has become one of China's important marine pillar industries.

[0003] However, prolonged immersion of nets in seawater can lead to the attachment of numerous fouling organisms. Severe attachment can hinder water exchange between the cage and the surrounding water. This, coupled with long-term ocean currents, can lead to the development of fish diseases, resulting in significant economic losses. Manual removal remains the primary method for decontamination, requiring manual labor and resources to clean fouling organisms from nets.

[0004] Mechanical cleaning, also known as mechanical net washing, involves using mechanical equipment such as a net washer to remove or scrape debris from cage nets. Currently, commercially available mechanical cleaning equipment has issues with the large deformation of deep-sea cage nets, making it difficult to attach to them. Furthermore, the simple cleaning mechanism results in low cleaning efficiency.

[0005] Therefore, we proposed a foot-supported cage cleaning robot to solve the above problems. Utility Model Content

[0006] The purpose of the utility model is to provide a foot-supported cage cleaning robot to solve the problem raised in the above background technology that the cleaning robots currently on the market are subject to large deformation of the deep-sea cage net, resulting in poor adsorption effect and low cleaning efficiency.

[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a foot-supported cage cleaning robot, comprising a polygonal shell, a spiral propeller, a net-catching foot support, and a plurality of cleaning devices; a spiral propeller, a lifting handle and a water inlet of a movable high-pressure water gun are installed on the top of the polygonal shell; the tail of the polygonal shell is connected to a dirt recovery cabin through a slide rail; two sides of the polygonal shell are respectively provided with two net-catching feet connected by a single connecting rod; two lighting lamps are installed on the upper front end of the polygonal shell; the movable high-pressure water guns of the various cleaning devices are connected to the front center part of the polygonal shell through a supporting connecting rod; the mechanical clamps of the various cleaning devices are connected to the lower front end of the polygonal shell through a circular base; and the rotating brushes of the various cleaning devices are installed at the bottom of the polygonal shell.

[0008] Preferably, the two side shell surfaces of the polygonal shell are vertical planes, the top and bottom shell surfaces of the polygonal shell are horizontal planes, and the front and rear ends of the polygonal shell are triangles protruding outward when viewed from the side, and the angle between the protruding upper and lower shell surfaces is 90 degrees.

[0009] Preferably, the net-grabbing leg has four grabbing feet integrated in the bottom of the hollow cylinder. The leg is retracted by pulling a wire. The top of the grabbing foot is round-headed, and the leg is opened by a spring. The hollow cylinder is connected to a single connecting rod through a ring clamp. A hydraulic piston is connected to the single connecting rod. The hydraulic piston is connected to the interior through a piston base, and the single connecting rod is connected to the support rod through a U-shaped interface.

[0010] Preferably, the movable high-pressure water gun is connected to the polygonal shell through a supporting connecting rod, the U-shaped connecting rod connects the supporting connecting rod and the nozzle bracket, and there is a distance sensor at the center of the lower end of the nozzle bracket. There are 6 nozzles distributed between the two distance sensors, and the ratio of nozzles to water inlets is 6 to 1.

[0011] Preferably, the mechanical clamp is connected to the polygonal shell through a circular base, the circular base is connected to the rotating base, the double-head connecting rod is respectively connected to the rotating base and the single round-head connecting rod, a right-angle bracket is connected to the round head of the single round-head connecting rod, a camera is installed at the center of the vertical surface of the right-angle bracket, and the horizontal surface of the right-angle bracket is installed with two split metal clamps.

[0012] Preferably, the rotating brush is connected to the bottom of the polygonal shell, and the rotating brush has coarse hard rubber bristles and 8 scrapers. The center of the bottom of the rotating brush is hollow, and the hollow part is connected to a sewage suction port.

[0013] Preferably, the internal space of the sewage recovery cabin is in the shape of an "I", and is connected at its front end by a pipe, and the pipe is connected to the sewage suction port through a ball bearing. A slide rail is connected on the left and right sides of the sewage recovery cabin respectively, and a partition net and a pumping assembly are at the rear end of the sewage recovery cabin.

[0014] Compared with the existing technology, the beneficial effects of the present invention are: the foot-supported cage cleaning robot:

[0015] (1) The net-grabbing foot support is equipped with a simple spring and wire mechanism to grasp the net and achieve the adsorption effect of the machine. The net-grabbing foot support has a simple structure and lower maintenance costs. The hydraulic piston connected to the net-grabbing foot support increases the mobility of the distance between the robot chassis and the net cage, making it more adsorbent.

[0016] (2) A variety of cleaning mechanisms are provided, such as a movable high-pressure water gun that can flush dirt with high-pressure water; a mechanical clamp that can grab entangled objects and use a rotating mechanism to imitate the death rolling action of a crocodile to clean the entangled objects; and a scraper device on the rotating brush that can scrape off dirt. A variety of cleaning mechanisms can achieve the cleaning of different types of dirt, ensuring more efficient cleaning.

[0017] (3) It is equipped with a movable high-pressure water gun. The multi-nozzle design makes its cleaning range wider, and the intersection of high-pressure water jets increases the force direction of dirt, making it easier to fall off. The multi-link design can make the nozzle move, further increasing the cleaning area. At the same time, its reaction force can be used as an auxiliary motion device to cooperate with other motion mechanisms to drive the machine to move on the net, realizing the multifunctionality of the cleaning structure. The sewage suction port designed at the bottom realizes the recycling of cleaning waste, reduces the pollution of dirt to nearby water bodies, and achieves the purpose of protecting the environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0019] Figure 2 This is a schematic diagram of the structure of the present invention when viewed from above;

[0020] Figure 3 This is a schematic diagram of the partial structure of the foot support of the present invention;

[0021] Figure 4 This is a schematic diagram of the local structure of the high-pressure water gun of the present invention;

[0022] Figure 5 This is a schematic diagram of the mechanical clamp structure of the present invention;

[0023] Figure 6 This is a schematic diagram of the structure of the internal waste recovery cabin of the present invention.

[0024] Figure: 1. Polygonal housing; 2. Screw propeller; 3. Light; 4. Waste recovery chamber; 5. Carrying handle; 6. Movable high-pressure water gun; 7. Mechanical clamp; 8. Rotating brush; 9. Catch net foot support; 10. Ejector; 11. Sewage suction port; 12. Camera; 13. Hard rubber bristles; 14. Scraper; 15. Hydraulic piston; 16. Support rod; 17. Single connecting rod; 18. Spring; 19. Catch foot; 20. Ring clamp; 21 , U-shaped interface; 22. Piston base; 23. Nozzle; 24. Distance sensor; 25. Nozzle bracket; 26. U-shaped connecting rod; 27. Support connecting rod; 28. Round base; 29. Rotating base; 30. Double-head connecting rod; 31. Single round-head connecting rod; 32. Right-angle bracket; 33. Camera; 34. Metal clamp; 35. Water inlet; 36. Ball bearing; 37. Slide rail; 38. Partition; 39. Pumping assembly; 40. Pipeline. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0026] See also Figure 1-6 The present invention provides a technical solution: a leg-supported cage cleaning robot, comprising a polygonal housing 1, a screw propeller 2, a net-catching leg support 9, and a plurality of cleaning devices. The top of the polygonal housing 1 is equipped with the screw propeller 2, a handle 5, and a water inlet 35 for a movable high-pressure water gun 6. The rear of the polygonal housing 1 is connected to a dirt recovery cabin 4 via a slide rail 37. Two net-catching leg supports 9 are connected by a single connecting rod 17 on either side of the polygonal housing 1. Two lighting lamps 3 are installed at the upper front end of the polygonal housing 1. The movable high-pressure water gun 6 of the various cleaning devices is connected to the front center of the polygonal housing 1 via a supporting connecting rod 27. The mechanical clamp 7 of the various cleaning devices is connected to the lower front end of the polygonal housing 1 via a circular base 28. The rotating brush 8 of the various cleaning devices is installed at the bottom of the polygonal housing 1.

[0027] The two side shell surfaces of the polygonal shell 1 are vertical planes, and the top and bottom shell surfaces of the polygonal shell 1 are horizontal planes. When viewed from the side, the front and rear ends of the polygonal shell 1 are triangles protruding outward, and the angle between the protruding upper and lower shell surfaces is 90 degrees. The regular plane makes it possible to save space, facilitate the operation of the motion mechanism, reduce its obstruction, and also facilitate the disassembly and maintenance of the machine.

[0028] The net-grabbing foot support (9) has four gripping feet 19 integrated into the bottom of the hollow cylinder, making it more stable and preventing it from falling out. The top of the gripping foot is rounded to facilitate its insertion into the net. The foot support is retracted by pulling the wire, making the foot support upright and easy to pass through the net. The foot support is opened by the spring 18. The hollow cylinder is connected to the single connecting rod 17 through the ring clamp 20. The single connecting rod 17 is connected to the hydraulic piston 15. The hydraulic piston is connected to the interior through the piston base 22. By controlling the hydraulic piston, the distance between the base and the net cage net can be adjusted, thereby more efficiently cleaning the net. The single connecting rod 17 is connected to the support rod 16 through the U-shaped interface 21, so that the support rod structure moves when the hydraulic piston moves.

[0029] The movable high-pressure water gun 6 is connected to the polygonal housing 1 via a support link 2. A U-shaped link 26 connects the support link 27 to the nozzle bracket 25. This multi-link design allows the nozzle to adjust its distance and angle from the net, maintaining an optimal angle and distance, thereby improving cleaning efficiency. The tilt can also be adjusted to assist with turning. A distance sensor 24 is located at the center of the nozzle bracket's lower end. Six nozzles 23 are distributed between the distance sensors, with a nozzle to water inlet 3 ratio of 6 to 1, expanding the high-pressure water gun's spray area and increasing the cleaning range.

[0030] The mechanical clamp 7 is connected to the polygonal shell 1 through a circular base 28. The circular base 28 is connected to the rotating base 29. The double-head connecting rod 30 connects the rotating base 29 and the single round-head connecting rod 31 respectively, so that the mechanical clamp can move flexibly and achieve more precise operation. A right-angle bracket 32 is connected at the round head of the single round-head connecting rod 31. A camera is installed in the center of the vertical surface of the right-angle bracket 32 to facilitate observation of the clamping situation of the clamp. The horizontal surface of the right-angle bracket 32 is installed with two split metal clamps 34. The clamps can be used to handle entangled objects, increasing the total type of dirt that the machine can clean.

[0031] The rotating brush 8 is connected to the bottom of the polygonal shell. The rotating brush 8 has hard rubber bristles 13 and 8 scrapers 14, which are mixed and matched. The scrapers can scrape off large pieces of hard dirt, while the hard rubber bristles can clean residual particles, which can make the overall cleaning effect better. The bottom center of the rotating brush 8 is hollow, and the hollow part is connected to the sewage suction port 11. The suction port in the hollow part sucks in and recycles the dirt cleaned by the brush, and at the same time can also provide a certain suction force to make the net close to the machine chassis.

[0032] The internal space of the sewage recovery cabin 4 is in the shape of an "I" character to better utilize the space inside the cabin. It is connected at its front end by a pipe 40, and the pipe 40 is connected to the sewage suction port 11 through a ball bearing 36, so that when the brush rotates, the suction port remains stationary. A slide rail 37 is connected to the left and right sides of the sewage recovery cabin 4 to fix the left and right. At the rear end of the sewage recovery cabin 4 are a partition net 38 and a pumping assembly 39 to provide suction for recovery.

[0033] Working principle: When using the foot-supported cage cleaning robot, first, according to Figure 1-6As shown, the cleaning robot can move in a fluid, with gravity acting on the center of gravity at its tail end to enable the robot to stand upright in the fluid. In the upright position, the robot is controlled by the operation of the ejector 11 at the tail end to achieve vertical ascent and descent. The propeller 2 at the top of the robot provides thrust to move the robot toward the net. When the robot approaches the net, the wire-pulling mechanism of the net-grabbing foot support 9 reels in the wire, closing the gripping foot 19. Once the gripping foot 19 is successfully inserted into the net, the wire-pulling mechanism unwinds the wire, and the spring 18 pulls the gripping foot 19 open, allowing the robot to attach to the net. To detach from the net, the gripping foot 19 closes, and the propeller 2 at the top of the robot reverses, providing force to pull the robot off the net.

[0034] When the machine is hanging the net for cleaning, the movable high-pressure water gun 6 detects the distance between the nozzle and the net through the distance sensor 24, and transmits the data to the processor. The processor makes corresponding adjustments based on the data to maintain the optimal cleaning distance between the nozzle and the net, and adjusts the hydraulic piston 15. When the chassis is too far away from the net, the hydraulic piston 15 is compressed to shorten the distance between the chassis and the net. When the chassis is too close to the net, the hydraulic piston is expanded to increase the distance between the chassis and the net. When the rotating brush 8 at the bottom is turned on, the pumping component 39 of the dirt recovery cabin is turned on synchronously, and the water is sucked in from the suction port 11 and discharged at the tail of the cabin through the pumping component 39. The dirt cleaned by the rotating brush is sucked into the cabin through the water at the suction port 11, and is blocked and retained in the cabin by the partition net 38. The water flows out from the tail of the cabin, thereby realizing the function of dirt recovery.

[0035] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A leg-supported cage cleaning robot, comprising a polygonal housing (1), a screw propeller (2), a net-catching leg (9) and a plurality of cleaning devices, characterized in that: The top of the polygonal shell (1) is provided with a screw propeller (2), a handle (5) and a water inlet (35) of a movable high-pressure water gun (6); the tail of the polygonal shell (1) is connected to a dirt recovery cabin (4) via a slide rail (37); two sides of the polygonal shell (1) are provided with two catching net legs (9) connected via a single connecting rod (17); two lighting lamps (3) are provided on the upper front end of the polygonal shell (1); the movable high-pressure water gun (6) of the various cleaning devices is connected to the front center of the polygonal shell (1) via a supporting connecting rod (27); the mechanical clamp (7) of the various cleaning devices is connected to the lower front end of the polygonal shell (1) via a circular base (28); and the rotating brush (8) of the various cleaning devices is installed at the bottom of the polygonal shell (1).

2. The leg-supported cage cleaning robot according to claim 1, characterized in that: The two side shell surfaces of the polygonal shell (1) are vertical planes, and the top and bottom shell surfaces of the polygonal shell (1) are horizontal planes. When viewed from the side, the front and rear ends of the polygonal shell (1) are triangles protruding outwards, and the angle between the protruding upper and lower shell surfaces is 90 degrees.

3. The leg-supported cage cleaning robot according to claim 1, characterized in that: The net-grabbing foot support (9) has four grasping feet (19) integrated at the bottom of the hollow cylinder. The top of the grasping foot (19) is round-headed. The foot support is retracted by pulling a wire, and the foot support is opened by a spring (18). The hollow cylinder is connected to the single connecting rod (17) through a ring clamp (20). The single connecting rod (17) is connected to a hydraulic piston (15). The hydraulic piston (15) is connected to the interior through a piston base (22). The single connecting rod (17) is connected to the support rod (16) through a U-shaped interface (21).

4. The leg-supported cage cleaning robot according to claim 1, characterized in that: The movable high-pressure water gun (6) is connected to the polygonal housing (1) via a supporting connecting rod (27). A U-shaped connecting rod (26) connects the supporting connecting rod (27) and the nozzle bracket (25). A distance sensor (24) is provided at the center of the lower end of the nozzle bracket (25). Six nozzles (23) are distributed between the two distance sensors (24). The ratio of the nozzles to the water inlet (35) is 6 to 1.

5. The leg-supported cage cleaning robot according to claim 1, characterized in that: The mechanical clamp (7) is connected to the polygonal shell (1) via a circular base (28), the circular base (28) is connected to a rotating base (29), a double-head connecting rod (30) is respectively connected to the rotating base (29) and a single round-head connecting rod (31), a right-angle bracket (32) is connected to the round head of the single round-head connecting rod (31), a camera (33) is installed at the center of the vertical surface of the right-angle bracket (32), and a two-piece split metal clamp (34) is installed on the horizontal surface of the right-angle bracket (32).

6. The leg-supported cage cleaning robot according to claim 1, characterized in that: The rotating brush (8) is connected to the bottom of the polygonal shell. The rotating brush (8) has hard rubber bristles (13) and 8 scrapers (14). The bottom center of the rotating brush (8) is hollow, and the hollow part is connected to the sewage suction port (11).

7. The leg-supported cage cleaning robot according to claim 1, characterized in that: The interior space of the sewage recovery cabin (4) is in the shape of an "I" character, and is connected at its front end by a pipe (40). The pipe (40) is connected to the sewage suction port (11) via a ball bearing (36). A slide rail (37) is connected to the left and right sides of the sewage recovery cabin (4), respectively. A partition net (38) and a pumping assembly (39) are provided at the rear end of the sewage recovery cabin (4).

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