Deep sea netting cleaning robot with efficient cleaning function

Abstract

The deep sea netting cleaning robot comprises a machine frame, a power module, a mechanical arm, a cleaning assembly, a control system, a camera and a power source, and the power module drives the cleaning robot to move; the mechanical arm comprises a base assembly, a first swing arm, a second swing arm, a first turnover motor and a second turnover motor, the base assembly is fixedly arranged on the rack, the two ends of the first swing arm are hinged to the base assembly and the second swing arm respectively, the first turnover motor is fixed to the base assembly, and the second turnover motor is fixed to the second swing arm. A rotating shaft of the first overturning motor and a rotating shaft of the second overturning motor are fixed to the two ends of the first swing arm respectively. The cleaning assembly comprises a water sprayer and a dirt removing rod, the water sprayer is movably arranged at the end, away from the first arm body, of the second swing arm, and the dirt removing rod is fixedly arranged at the bottom end of the water sprayer. The cleaning robot has the advantages that the cleaning robot has a good cleaning effect on stubborn dirt such as shellfish and algae on the netting.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially relates to a high -efficient cleaning's deep sea net clothes cleaning robot. BACKGROUND

[0002] As a key equipment for fishing and mariculture, deep sea net clothes are subject to the attachment of algae, shellfish and other sediments when submerged in water for a long time. These fouling not only clogs the mesh, increases the weight, reduces the water permeability and the efficiency of the net clothes, but also easily induces the overpopulation of the net clothes organisms, leading to ecological imbalance. If the attached fouling and organisms are not removed in time, they may damage the net structure of the net clothes, cause material aging, and shorten the service life, thereby increasing the cost of replacement and maintenance. At the same time, some microorganisms or parasites in the fouling may spread through the net clothes, threatening the health of nearby mariculture and natural organisms, and bringing adverse effects on the ecological environment. Therefore, regular cleaning of deep sea net clothes is not only a necessary measure to maintain the normal function of the equipment, but also crucial to ensure the sustainability of fishing or mariculture production. Cleaned net clothes can improve the yield and quality of the mariculture farm, reduce unnecessary economic expenditure, and largely avoid ecological risks.

[0003] Currently, the cleaning of deep sea net clothes mainly relies on manual operation or simple mechanical cleaning equipment. However, these traditional methods have significant limitations. First, manual cleaning requires workers to operate in a deep sea environment, which is labor-intensive and inefficient. Moreover, it is difficult to achieve comprehensive and meticulous cleaning during the operation process, and the cleaning effect often depends on personal experience, making it difficult to standardize. Manual cleaning also faces safety risks, especially when operating in deep sea, where factors such as underwater pressure, temperature and visibility greatly limit the operating conditions. On the other hand, although mechanical cleaning equipment has improved efficiency and reduced manual burden to some extent, most mechanical equipment is not designed specifically for deep sea environments and is difficult to cope with high pressure, low temperature and complex water flow in deep sea. Existing equipment often lacks sufficient cleaning power when encountering thick or firm layers of fouling, and cannot effectively remove stubborn contaminants such as shellfish and algae attached to the surface of the net clothes, which leaves residual materials on the surface of the net clothes, affecting subsequent fishing and mariculture effects, and needs to be improved. SUMMARY

[0004] The utility model aims at providing a deep sea net clothes cleaning robot that has good cleaning effect on stubborn contaminants such as shellfish and algae on the surface of the net clothes.

[0005] The utility model provides a kind of high-efficiency cleaning's deep sea net clothes cleaning robot, including rack, power module, manipulator, cleaning assembly, control system, camera and power, the power module is arranged at the bottom end of rack, and drive cleaning robot moves;The manipulator includes base assembly, first swing arm, second swing arm, first turnover motor and second turnover motor, the base assembly is fixedly arranged on rack, and the two ends of the first swing arm are respectively hinged with base assembly and second swing arm, the first turnover motor is fixed on base assembly, and the second turnover motor is fixed on second swing arm, and the shaft of the first turnover motor and the shaft of the second turnover motor are respectively fixed with the two ends of the first swing arm;The cleaning assembly includes water sprayer and dirt-removing rod, the water sprayer is movably arranged at the one end of second swing arm away from first arm body, and the dirt-removing rod is fixedly arranged at the bottom end of water sprayer, and the camera, drive motor, first turnover motor, second turnover motor and water sprayer are electrically connected with control system.

[0006] Preferably, the rack is provided with a water flow velocity sensor, a pressure sensor and a temperature sensor, and the water flow velocity sensor, the pressure sensor and the temperature sensor are electrically connected with the control system.

[0007] Preferably, the rack is provided with a tidal power generator, and the tidal power generator is electrically connected with the power supply.

[0008] Preferably, the base assembly comprises an upper seat body, a lower seat body and a rotating motor, the upper seat body is rotatably arranged on the lower seat body, the rotating motor is arranged in the lower seat body, and the upper seat body is fixed with the rotating shaft of the rotating motor.

[0009] Preferably, an adjusting motor is movably arranged on the second swing arm, and the water sprayer is vertically fixed on the rotating shaft of the adjusting motor.

[0010] Preferably, the two ends of the adjusting motor are provided with mounting discs, a limiting block is fixedly arranged on one side of the mounting disc, a mounting groove is formed in the top end of the second swing arm, the mounting groove penetrates the top end of the second swing arm, and a plurality of limiting rods are detachably fixed on the inner side wall of the mounting groove.

[0011] Preferably, a guide support block is formed on the inner side wall of the mounting groove, the top end of the guide support block is arc-shaped, the mounting disc is disc-shaped, and the bottom end of the mounting disc abuts and is clamped with the top end of the guide support block.

[0012] Preferably, the rack, the power module, the manipulator, the water sprayer and the dirt-removing rod are made of carbon fiber material.

[0013] Preferably, the power module comprises a driving motor and a propeller, and the propeller is fixedly arranged on a rotating shaft of the driving motor.

[0014] From the above description of the utility model, the utility model has the following beneficial effects:

[0015] 1、The cleaning robot recognizes the shellfish and algae and other stubborn dirt on the net clothes through the camera, knocks off the shellfish and algae and other stubborn dirt on the net clothes through the dirt removal rod, and then the water sprayer sprays water to clean the net clothes; this has a good cleaning effect on the dirt on the net clothes.

[0016] 2、The water flow speed sensor, pressure sensor and temperature sensor are arranged on the rack, the water flow speed and flow direction are monitored through the water flow speed sensor, the water flow impact force is detected through the pressure sensor, and the deep sea environment temperature is monitored through the temperature sensor, so that the information monitored by the water flow speed sensor, pressure sensor and temperature sensor is transmitted to the control system; the control system uses data fusion technology to comprehensively analyze the information from different sensors, monitors the cleaning effect and environmental changes in real time, and automatically adjusts the working parameters of the water sprayer, such as the flow rate of the water spray, the pressure of the water spray and the spray angle of the water spray, to maintain the best cleaning state.

[0017] 3、The tidal generator is arranged on the rack, the tidal generator generates electricity on the seabed by itself, and stores the generated electricity in the power supply, so that the cleaning robot can be powered continuously, and the working time of the cleaning robot can be prolonged. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a schematic view of the overall structure of the embodiment of the high-efficiency deep-sea net cleaning robot;

[0019] Figure 2 is a schematic view of the structure of the power module of the embodiment;

[0020] Figure 3 is a schematic view of the structure of the mechanical hand of the embodiment;

[0021] Figure 4 is a schematic view of the structure of the base assembly of the embodiment;

[0022] Figure 5 is a schematic view of the structure of the second swing arm and the mounting groove of the embodiment;

[0023] Figure 6 is a schematic view of the structure of the adjusting motor, the mounting disc and the limiting block;

[0024] Figure 7 is a schematic view of the structure of the dirt removal rod and the water sprayer.

[0025] : 1, rack; 11, water flow speed sensor; 12, temperature sensor; 13, pressure sensor; 14, tidal power generator; 2, power module; 21, drive motor; 22, propeller pusher; 3, mechanical hand; 31, base assembly; 311, upper seat body; 312, lower seat body; 313, rotating motor; 32, first swing arm; 33, second swing arm; 331, mounting groove; 332, limiting rod; 333, supporting block; 34, first overturning motor; 35, second overturning motor; 36, adjusting motor; 361, mounting disc; 362, limiting block; 4, cleaning assembly; 41, dirt removal rod; 42, water sprayer; 5, control system; 6, camera; 7, power supply. DETAILED DESCRIPTION

[0026] In order to make the technical problems, technical schemes and beneficial effects to be solved by the utility model more clear, explicit, the following will be combined with the drawings of the utility model, and the embodiments will be further described in detail. It should be understood that the specific embodiments described herein are only used to explain the utility model, and are not used to limit the utility model. Figures 1-7 The utility model is further described in detail. It should be understood that the specific embodiments described herein are only used to explain the utility model, and are not used to limit the utility model.

[0027] Referring to Figure 1 and Figure 2 , a high-efficiency cleaning deep-sea net cleaning robot comprises a rack 1, a power module 2, a mechanical hand 3, a cleaning assembly 4, a control system 5, a camera 6 and a power supply 7, wherein the mechanical hand 3, the control system 5 and the power supply 7 are all arranged on the rack 1, the power module 2 is fixedly arranged at the bottom end of the rack 1, the power module 2 comprises a drive motor 21 and a propeller pusher, the drive motor 21 is fixed to the bottom end of the rack 1, and the propeller pusher 22 is vertically fixed to the rotating shaft of the drive motor 21. When the cleaning robot works in the sea, the rotating shaft of the drive motor 21 rotates to drive the propeller pusher 22 to rotate, so that the cleaning robot can move in the deep sea. The power supply 7 is electrically connected with the drive motor 21, and the power supply 7 supplies power for the start of the drive motor 21.

[0028] The camera 6 is arranged on the mechanical hand 3, and the arranged camera 6 is electrically connected with the control system 5, so as to transmit the monitored dirt information to the control system 5, for real-time visual monitoring and dirt detection, so as to facilitate the mechanical hand 3 to accurately remove the dirt on the net. The water flow speed sensor 11 is also arranged on the rack 1, and the water flow speed sensor 11 and the drive motor 21 are electrically connected with the control system 5. The water flow speed sensor 11 monitors the water flow speed and direction, and feeds back the monitoring information of the water flow speed and direction to the control system 5. Then the control system 5 controls the rotating speed of the rotating shaft of the drive motor 21, so that the cleaning robot can move in the deep sea at an ideal speed.

[0029] Referring to Figure 1 ,Figure 3 and Figure 4 , the mechanical arm 3 comprises a base assembly 31, a first swing arm 32, a second swing arm 33, a first overturning motor 34 and a second overturning motor 35, wherein the base assembly 31 comprises an upper seat body 311, a lower seat body 312 and a rotating motor 313, the lower seat body 312 is fixedly arranged on the rack 1, the upper seat body 311 is rotatably arranged on the lower seat body 312, the rotating motor 313 is arranged in the lower seat body 312, and the rotating shaft of the rotating motor 313 is fixedly connected with the upper seat body 311. One end of the first swing arm 32 is hingedly connected with the upper seat body 311, the first overturning motor 34 is fixedly arranged on the upper seat body 311, and the rotating shaft of the first overturning motor 34 is fixedly connected with the end of the first swing arm 32, so that the first swing arm 32 is driven to swing around the base assembly 31 by the first overturning motor 34. One end of the second swing arm 33 is hingedly connected with the end of the first swing arm 32 away from the base assembly 31, and the second overturning motor 35 is fixedly connected with the second swing arm 33, so that the rotating shaft of the second overturning motor 35 is fixedly connected with the hinged connection position of the end of the first swing arm 32. Thus, when the rotating shaft of the second overturning motor 35 rotates, the second swing arm 33 is driven to swing around the first swing arm 32 in the opposite direction. The cleaning assembly 4 is movably arranged at the end of the second swing arm 33 away from the second overturning motor 35, the camera is fixedly arranged on the upper seat body 311 and faces the cleaning assembly 4, and the rotating shaft of the rotating motor 313 is rotated to drive the upper seat body 311 to rotate, thereby finally driving the cleaning assembly 4 located at the end of the second swing arm 33 to rotate; during cleaning, the cleaning assembly 4 can maintain a proper angle with the deep-sea net clothes, thereby ensuring that the cleaning of the deep-sea net clothes by the cleaning assembly 4 has higher cleaning efficiency.

[0030] With reference to Figure 5 , Figure 6 and Figure 7 , in order to movably arrange the cleaning assembly 4 at the end of the second swing arm 33, a mounting groove 331 is formed at the end of the second swing arm 33 away from the first swing arm 32, and the mounting groove 331 penetrates through the top end of the second swing arm 33. An adjusting motor 36 is movably arranged in the mounting groove 331, the cleaning assembly 4 comprises a water sprayer 42 and a dirt removal rod 41, the water sprayer 42 is fixedly arranged on the rotating shaft of the adjusting motor 36 and is perpendicular to the rotating shaft of the adjusting motor 36, and the dirt removal rod 41 is fixedly arranged at the bottom end of the water sprayer 42. The first overturning motor 34 and the second overturning motor 35 are respectively electrically connected with the power supply 7, the first overturning motor 34 and the second overturning motor 35 are powered by the power supply 7, and the rotating shafts of the first overturning motor 34 and the second overturning motor 35 are rotated to drive the first swing arm 32 and the second swing arm 33 to swing, thereby driving the water sprayer 42 and the dirt removal rod 41 to move.

[0031] With reference to Figure 1In order to avoid the cleaning robot from lacking power supply when used in the deep sea, the tide generator 14 is arranged on the rack 1, the tide generator 14 is connected with the power supply 7 in phase, the tide generator 14 generates power by using the tidal energy in the sea, and the generated power is stored in the power supply 7, so as to avoid the cleaning robot from lacking power in the sea and being unable to continue working. The rack 1, the power module 2, the manipulator 3, the water sprayer 42 and the dirt removing rod 41 are all made of carbon fiber material, the rack 1, the power module 2, the manipulator 3, the water sprayer 42 and the dirt removing rod 41 made of carbon fiber material have high structural strength, so that they can adapt to the high pressure environment of the seabed. In addition, the carbon fiber material also has good corrosion resistance, so that the rack 1, the power module 2, the manipulator 3, the water sprayer 42 and the dirt removing rod 41 made of carbon fiber material can adapt to the marine environment, and the cleaning robot has a longer working life in the sea.

[0032] With reference to Figure 7 When the dirt on the net cover is cleaned, the water sprayer 42 and the dirt removing rod 41 are moved in position under the drive of the first swing arm 32 and the second swing arm 33, and the dirt removing rod 41 effectively knocks off stubborn dirt such as shellfish and algae attached to the net cover during the swing. Then the water sprayer 42 sprays water to carefully clean the dirt attached to the net cover. Through the double cleaning of the dirt removing rod 41 and the water sprayer 42, the dirt attached to the net cover is cleaned. At the same time, the rotating shaft of the adjusting motor 36 is adjusted to drive the water sprayer 42 and the dirt removing rod 41 to swing, so that the cleaning assembly 4 can clean the dirt on the net cover from different angles.

[0033] With reference to Figure 1 , Figure 5 and Figure 6 In order to enable the adjusting motor 36 to be installed in the installation groove 331, the installation disc 361 is arranged on both sides of the adjusting motor 36, the installation disc 361 is disc-shaped, and the support block 333 is arranged on one side of the installation disc 361, and a plurality of limiting rods 332 are detachably fixedly arranged on the inner side wall of the installation groove 331 in correspondence with the support block 333, the plurality of limiting rods 332 are surrounded to form a ring, and each limiting rod 332 is fixedly connected with the inner side wall of the installation groove 331 by screw connection, so that each limiting rod 332 and the inner side wall of the installation groove 331 are fixedly connected and detachable. In addition, the support block 333 is fixedly arranged on the inner side wall of the installation groove 331, and the top end of the support block 333 is provided with an arc-shaped surface.

[0034] When the adjusting motor 36 is installed, the mounting disc 361 is abutted against the supporting block, and the limiting rods 332 screwed on the inner side wall of the mounting groove 331 enclose the mounting disc 361, and the limiting block 362 fixed on one side of the mounting disc 361 is embedded between the adjacent two limiting rods 332. By removing the limiting rods 332, the relative angle between the adjusting motor 36 and the second swing arm 33 can be adjusted again, and then the limiting rods 332 are screwed and fixed on the inner side wall of the mounting groove 331 again, and the supporting block 333 facilitates the installation and angle adjustment of the adjusting motor 36.

[0035] In addition, the temperature sensor 12 and the pressure sensor 13 are arranged on the rack 1 and are electrically connected to the control system 5. The pressure sensor 13 detects the water flow impact force, and the temperature sensor 12 monitors the deep-sea environmental temperature. The pressure sensor 13 and the temperature sensor 12 are electrically connected to the control system 5 to transmit the monitored information to the control system 5. In addition, the control system 5 is electrically connected to the first overturning motor 34, the second overturning motor 35, the adjusting motor 36 and the water sprayer 42. The control system 5 uses data fusion technology to comprehensively analyze information from different sensors to provide a basis for subsequent decision-making. A closed-loop control system 5 is constructed to monitor the cleaning effect and environmental changes in real time based on sensor feedback data. The system can automatically adjust the working parameters of the water sprayer 42, such as the flow rate of the water spray, the pressure of the water spray and the spray angle of the water spray, to maintain the best cleaning state according to the preset cleaning parameters and real-time feedback.

[0036] The specific implementation principle of the embodiment of the application is that when the high-efficiency deep-sea net cleaning robot needs to be used to clean the deep-sea net, the adjusting motor 36 and the cleaning assembly 4 are adjusted to a suitable angle, and the limiting rods 332 are screwed on the inner side wall of the mounting groove 331 to limit the limiting block 362. The rotating shaft of the driving motor 21 is rotated to drive the propeller pusher 22 to rotate, which moves the cleaning robot to the vicinity of the deep-sea net under the action of the propeller pusher 22. The rotating shaft of the rotating motor 313 is rotated to drive the upper seat body 311 to rotate, and the upper seat body 311 points to the deep-sea net during rotation.

[0037] The position of the dirt on the deep-sea lichen is recognized by the camera 6, the water flow speed and direction are monitored by the water flow speed sensor 11, the water flow impact force is detected by the pressure sensor 13, and the deep-sea environment temperature is monitored by the temperature sensor 12. Through the high-speed data acquisition system, the real-time data collected by the water flow speed sensor 11, the pressure sensor 13, the temperature sensor 12 and the camera 6 are transmitted to the control system 5, and the fluid mechanics modeling is carried out. Then the rotation shafts of the first and second overturning motors 34 and 35 are rotated to drive the first and second swing arms 32 and 33 to swing, so that the dirt on the deep-sea lichen is knocked off by the dirt removing rod 41; then the water jet 42 sprays water to clean the dirt on the deep-sea lichen, and at the same time, the rotation shaft of the motor 36 is rotated to adjust the angle of the dirt removing rod 41 and the water jet 42, so that the dirt removing rod 41 and the water jet 42 clean the dirt on the deep-sea lichen from different angles.

[0038] The utility model has been described above in conjunction with the drawings, and obviously, the specific implementation of the utility model is not limited by the above mode, as long as various non-essential improvements are made by adopting the method concept and technical scheme of the utility model, or the concept and technical scheme of the utility model are directly applied to other occasions without improvement, and the utility model is protected.

Claims

1. A high-efficiency deep-sea net cleaning robot, characterized in that: Including rack, power module, manipulator, cleaning assembly, control system, camera and power supply, the power module is arranged at the bottom end of the rack and drives the cleaning robot to move; The manipulator includes a base assembly, a first swing arm, a second swing arm, a first overturning motor and a second overturning motor, the base assembly is fixedly arranged on the rack, the two ends of the first swing arm are respectively hinged to the base assembly and the second swing arm, the first overturning motor is fixed on the base assembly, the second overturning motor is fixed on the second swing arm, the shaft of the first overturning motor and the shaft of the second overturning motor are respectively fixed to the two ends of the first swing arm. The cleaning assembly includes a water sprayer and a dirt removal rod, the water sprayer is movably arranged at the end of the second swing arm away from the first arm body, the dirt removal rod is fixedly arranged at the bottom end of the water sprayer, the camera, the driving motor, the first overturning motor, the second overturning motor and the water sprayer are electrically connected with the control system.

2. The high-efficiency cleaning deep-sea net-cleaning robot according to claim 1, characterized in that: The rack is provided with a water flow speed sensor, a pressure sensor and a temperature sensor, and the water flow speed sensor, the pressure sensor and the temperature sensor are electrically connected with the control system.

3. The high-efficiency cleaning deep-sea net-cleaning robot according to claim 1, characterized in that: The rack is provided with a tidal power generator, and the tidal power generator is electrically connected with the power supply.

4. The high-efficiency cleaning deep-sea net-cleaning robot according to claim 1, characterized in that: The base assembly includes an upper seat body, a lower seat body and a rotating motor, the upper seat body is rotatably arranged on the lower seat body, the rotating motor is arranged in the lower seat body, and the upper seat body is fixed with the rotating shaft of the rotating motor.

5. The high-efficiency cleaning deep-sea net-cleaning robot according to claim 1, characterized in that: The second swing arm movably arranged has an adjusting motor, and the water sprayer is vertically fixed on the rotating shaft of the adjusting motor.

6. The high-efficiency cleaning deep-sea net-cleaning robot according to claim 5, characterized in that: The two ends of the adjusting motor are provided with mounting discs, one side of the mounting disc is fixedly provided with a limiting block, the top end of the second swing arm is provided with a mounting groove, the mounting groove penetrates through the top end of the second swing arm, and the inner side wall of the mounting groove is detachably fixedly provided with a plurality of limiting rods. The adjusting motor is embedded in the mounting groove, a plurality of limiting rods surround the mounting disc and abut the outer side surface of the mounting disc, and the limiting block is embedded between the two limiting rods.

7. The high-efficiency cleaning deep-sea net-cleaning robot according to claim 6, characterized in that: The inner side wall of the mounting groove is provided with a guide support block, the top end of the guide support block is an arc surface, the mounting disc is disc-shaped, and the bottom end of the mounting disc abuts and is embedded with the top end of the guide support block.

8. The high-efficiency cleaning deep-sea net-cleaning robot according to claim 1, characterized in that: The rack, power module, manipulator, water sprayer and dirt removal rod are made of carbon fiber material.

9. The high-efficiency cleaning deep-sea net-cleaning robot according to claim 1, characterized in that: The power module includes a driving motor and a propeller, and the propeller is fixedly arranged on the rotating shaft of the driving motor.

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