Multi-directional attitude self-stabilization structural frame

Abstract

The utility model discloses a multidirectional posture self-stabilization structural frame, which is applied to an underwater operation robot and comprises an external frame, the external frame comprises a buoyancy pipe, an injection hole is arranged on the buoyancy pipe, and flowing media are filled in the pipe through the injection hole. According to the structural frame with the multidirectional posture self-stabilizing function, the gravity center of the robot can be located below the buoyancy center when the underwater operation robot with the structural frame with the multidirectional posture self-stabilizing function is in postures such as the horizontal posture, the transverse posture and the vertical posture, the robot has good self-stabilizing performance, the posture can be kept stable without additional operation, and the working efficiency is improved. And the robot posture keeping and motion control difficulty is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially relates to a multi -directional posture self -stabilizing structure frame. BACKGROUND

[0002] The existing culture net cage structure is mainly composed of flexible / rigid netting, structure frame, setting cable and the like. Under the comprehensive influence of the porous water permeable structure of the netting and the feed feeding in the net cage, the netting often adheres various aquatic organisms such as shellfish and algae during the culture process. When these aquatic organisms gather in large quantities, they will seriously affect the water exchange efficiency of the netting and the living environment of the cultured fish population. At the same time, the secretions of some shellfish and algae or the decayed substances after death can cause corrosion of the netting, which will cause damage to the netting over a long period of time, leading to fish escape and causing serious economic losses. The traditional method of cleaning the netting is manual cleaning, which involves removing the netting from the water and washing it on shore or directly washing it underwater by a diver. This method is not only inefficient, but also poses a significant safety risk for underwater manual operations. Therefore, in recent years, netting cleaning has become a research hotspot in the underwater robot industry, and robots are used to replace manual operations to avoid accidents and improve efficiency.

[0003] In terms of technology, the existing robots at home and abroad use a variety of methods to clean the netting, including the friction cleaning method and the high-pressure water jet cleaning method. When using the friction cleaning method, the robot carries a high-speed rotating cleaning brush to polish the netting and remove surface attachments. However, due to the material properties of the flexible netting, this method can cause wear and thinning of the netting, and the high-speed rotating brush head can easily cause the flexible netting to entangle and pull, thereby reducing the service life of the netting. On the other hand, due to the complexity of the underwater environment, the robot cannot ensure that the rotating brush head is tightly attached to the netting, resulting in missed cleaning and reduced efficiency. At the same time, the brush head can easily entangle with algae and other strip-shaped aquatic organisms, which need to be removed manually, further reducing the efficiency of the robot. When using the high-pressure water jet cleaning method, it is difficult to control the distance between the water outlet and the netting. When the distance is too close, the high-pressure water jet can easily produce a "water knife" effect, resulting in unstable cleaning effect and potentially causing further damage to the netting.

[0004] In addition, the existing technical problems also include: it is difficult to maintain the stability of the underwater robot posture. For example, when cleaning the vertical surface of the net, the robot should first adjust to a side-up posture underwater, so that the working plane of the robot is parallel to the vertical surface of the net, and then the working plane of the robot is close to or attached to the net under the action of the propeller thrust, to achieve the cleaning of the vertical surface of the net. When adjusting the posture underwater, the existing robots use the method of propeller thrust cooperation, that is, the propellers symmetrical about the rotation axis exert opposite thrust, generating a rotation torque on the robot body to achieve underwater posture adjustment. However, this method is difficult to apply in actual work. First, in order to ensure the flexibility of the robot's posture adjustment underwater, the designer often sets a small metacentric height, and the center of gravity and the center of buoyancy of the robot are close to or even coincide. The disadvantage is that although the robot can complete the posture transformation action under the action of the rotation torque of the propeller, when the posture is adjusted to the predetermined posture, due to the small metacentric height, it is difficult to maintain the predetermined posture (under the condition of small metacentric height or metacentric height equal to zero, the predetermined posture is approximately or belongs to the critical state, which is difficult to maintain), even the posture is adjusted too much, resulting in the phenomenon that the robot exceeds the predetermined posture and overturns. Second, whether it is the adjustment of the underwater posture of the robot or the close to the net after the posture adjustment, it is completed only by relying on the propeller, which puts high requirements on the control of the propeller. Especially under the influence of underwater resistance changes and complex environment, the robot cannot stably maintain the predetermined posture, cannot maintain the posture after maintaining the posture, or cannot maintain the posture during the process of approaching the net, that is, the posture maintenance and the movement under the posture maintenance cannot be accurately controlled at the same time, so the planned work task cannot be completed.

[0005] In summary, the existing problems of underwater working robots are generally divided into the following four points:

[0006] Insufficient stability: Under the complex environmental conditions of underwater flow and water pressure, some robots may have poor stability problems, such as shaking, deviating from the predetermined cleaning position, etc., affecting the cleaning effect and work efficiency.

[0007] Poor practicality: The design of some robots does not fully meet the needs of actual breeding scenes, and they are not strongly adaptable to different specifications and shapes of net cages, limiting their application range in practice.

[0008] Complex operation: The operation of some robots is difficult, and professional personnel need to be trained for a long time to master their operation methods, which not only increases labor costs, but also is not conducive to popularization and promotion among ordinary breeders.

[0009] Expensive: high R&D and production costs lead to high market prices, making it difficult for some small-scale breeders or breeding enterprises to bear, limiting its market share and industrial development.

[0010] Difficult to achieve stable control: high requirements for control system, control accuracy and component accuracy, further increasing R&D difficulty and R&D cost. Practical new type content

[0011] According to one aspect of the present application, a multi-directional attitude self-stabilizing structure frame is provided for underwater operating robots, comprising an external frame, the external frame comprising a buoyancy tube, the buoyancy tube being provided with an injection hole, and the injection hole being filled with a flow medium.

[0012] In some embodiments, a sealing plug is further provided at the injection hole for closing the injection hole.

[0013] In some embodiments, the buoyancy tube comprises a top buoyancy tube and a bottom buoyancy tube oppositely arranged in the vertical direction, and the external frame further comprises a vertical buoyancy tube connecting the top buoyancy tube and the bottom buoyancy tube, the vertical buoyancy tube being inclined relative to the vertical direction.

[0014] In some embodiments, the external frame further comprises a lateral support plate connecting the top buoyancy tube and the bottom buoyancy tube, both ends of the lateral support plate being provided with an arc-shaped clamping groove, the curvature of the arc-shaped clamping groove being matched with the curvature of the outer circumference of the top buoyancy tube and the bottom buoyancy tube.

[0015] In some embodiments, the structure frame further comprises an internal frame assembled with the external frame.

[0016] In some embodiments, the top buoyancy tube is provided with a first horizontal butt joint plate, and the bottom buoyancy tube is provided with a second horizontal butt joint plate.

[0017] When assembled, the internal frame is abutted above the first horizontal butt joint plate and the second horizontal butt joint plate.

[0018] In some embodiments, the internal frame comprises a top cross beam and a bottom cross beam oppositely arranged in the vertical direction, a plurality of support columns connecting the top cross beam and the bottom cross beam, and a bottom longitudinal beam connected to the bottom cross beam.

[0019] When assembled, the top cross beam is abutted above the first horizontal butt joint plate, and the bottom cross beam and the bottom longitudinal beam are abutted above the second horizontal butt joint plate.

[0020] In some embodiments, the second horizontal butt joint plate is provided with a positioning seat, and the end of the bottom transverse beam and the bottom longitudinal beam is clamped on the positioning seat.

[0021] In some embodiments, the top buoyancy tube is provided with a first vertical butt joint plate, the bottom buoyancy tube is provided with a second vertical butt joint plate, and the first horizontal butt joint plate, the second horizontal butt joint plate, the first vertical butt joint plate and the second vertical butt joint plate are used for assembly connection with the guard plate structure of the underwater operation robot.

[0022] In some embodiments, the external frame and the internal frame are made of aluminum profiles.

[0023] The underwater operation robot with the multi-directional attitude self-stabilizing structure frame has the advantages that the underwater operation robot can autonomously maintain the underwater attitude of the robot, the center of gravity of the robot is located below the center of buoyancy in the horizontal, transverse upright, vertical upright and other attitudes, the robot has good self-stabilizing performance, the attitude of the robot can be maintained stably without additional operation, and the difficulty of attitude maintenance and motion control of the robot is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 FIG. 1 is a whole structure schematic view of the underwater operation robot according to the present application from one angle;

[0025] Figure 2 FIG. 2 is a whole structure schematic view of the underwater operation robot according to the present application from another angle;

[0026] Figure 3 FIG. 3 is a structure schematic view of the multi-directional attitude self-stabilizing structure frame according to the present application from one angle;

[0027] Figure 4 FIG. 4 is a structure schematic view of the multi-directional attitude self-stabilizing structure frame according to the present application from another angle

[0028] Figure 5 FIG. 5 is a structure schematic view of the external frame according to the present application;

[0029] Figure 6 FIG. 6 is a structure schematic view of the multi-directional attitude self-stabilizing structure frame according to the present application from another angle;

[0030] Figure 7 FIG. 7 is a structure schematic view of the internal frame according to the present application;

[0031] Figure 8 FIG. 8 is a cooperation schematic view of the rotating cleaning system and the internal frame according to the present application;

[0032] Figure 9 FIG. 9 is a structure schematic view of the rotating cleaning system according to the present application;

[0033] Figure 10 It is the internal structure schematic view of the rotary cleaning disc of the utility model;

[0034] Figure 11 It is the cooperation schematic view of the nozzle connector, the air bubble nozzle and the shell connecting piece of the utility model;

[0035] Figure 12 It is the structure schematic view of the nozzle connector of the utility model;

[0036] Figure 13 It is the cooperation schematic view of the nozzle connector, the air bubble nozzle and the shell connecting piece of the utility model for realizing the rotation / counter-rotation of the rotary cleaning disc;

[0037] Figure 14 It is the cooperation schematic view of the power system and the structure frame of the utility model;

[0038] Figure 15 It is the cooperation schematic view of the power system, the rotary cleaning system and the internal frame of the utility model;

[0039] Figure 16 It is the relative position schematic view of the power system and the rotary cleaning system of the utility model;

[0040] Figure 17 It is the cooperation schematic view of the environmental perception system and the structure frame at an angle of the utility model;

[0041] Figure 18 It is the cooperation schematic view of the environmental perception system and the structure frame at another angle of the utility model;

[0042] Figure 19 It is the structure schematic view of the guard plate structure of the utility model;

[0043] Figure 20 It is the structure schematic view of the top guard plate and the guard net plate of the utility model;

[0044] Figure 21 It is the connection schematic view of the structure frame and the internal thread pipe at an angle of the utility model;

[0045] Figure 22 It is the connection schematic view of the structure frame and the internal thread pipe at another angle of the utility model. DETAILED DESCRIPTION

[0046] The utility model will be further explained in detail below in connection with the drawings. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the ordinary skilled in the art without making creative labor belong to the protection scope of the utility model.

[0047] It should be noted that the terms "first", "second" and the like in the description and in the claims are used for descriptive purposes only and do not necessarily connote an ordering of importance, sequence, or numerical preferences. Thus, a feature defined with "first" and "second" can be implicitly or explicitly included in one or more embodiments. In the description, the meaning of "a plurality" is at least two, for example, two, three, etc., unless otherwise specifically defined.

[0048] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected or in communication with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication or interaction relationship between two elements, unless otherwise specifically defined. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0049] In the present application, unless otherwise specifically defined and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0050] In the above description, the description of the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In the description, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in the specification and the features of different embodiments or examples without contradiction.

[0051] As Figure 1 and Figure 2As shown, this embodiment provides an underwater operation robot 100, which can be used to clean aquaculture cages. The underwater operation robot 100 (hereinafter referred to as robot 100) includes a multi-directional attitude self-stabilizing structural frame, a power system, a rotation cleaning system, an environmental perception system, a control system, and a protective plate structure.

[0052] like Figure 1 As shown, the robot 100 is roughly rectangular in shape. This rectangular design is more stable and easier to control than a cube or cylinder. Different shapes can also be designed to suit specific application scenarios. The overall shape of the robot 100 is largely determined by its structural frame. To better illustrate the various components of the robot 100, as shown... Figure 1 A three-dimensional Cartesian coordinate system with XYZ axes is established. When robot 100 is in a horizontal posture, the X-axis represents the longitudinal direction, which is also the width direction of robot 100; the Y-axis represents the transverse direction, which is also the length direction of robot 100; and the Z-axis represents the vertical direction, which is also the height direction of robot 100. The XZ plane passing through the center of gravity of robot 100 is called the mid-longitudinal plane D; the YZ plane passing through the center of gravity of robot 100 is called the mid-lateral plane E; and the XY plane passing through the center of gravity of robot 100 is called the mid-vertical plane F. The direction of oscillation about the X-axis passing through the center of gravity of robot 100 is the roll direction A; the direction of oscillation about the Y-axis passing through the center of gravity of robot 100 is the pitch direction B; and the direction of oscillation about the Z-axis passing through the center of gravity of robot 100 is the yaw direction C.

[0053] like Figures 3 to 5As shown, in the embodiment, the multi-directional posture self-stabilizing structural frame includes two parts, an outer frame 1 and an inner frame 2. The outer frame 1 is used to maintain the overall shape of the robot 100, and is used to provide buoyancy for the robot 100, and to protect the components arranged inside the robot 100. The outer frame 1 includes a top buoyancy tube 11, a bottom buoyancy tube 12, a vertical buoyancy tube 13, and a lateral support plate 14. The top buoyancy tube 11 and the bottom buoyancy tube 12 are both formed by a closed hollow tube to form a generally rectangular tubular frame, and the corner positions can be arranged as rounded corners to avoid scratching the net during use. Since the robot 100 needs to have the characteristics of flexible adjustment of the posture under water to adapt to the surface of the net with different inclinations, and to realize the adhesion of the lower surface of the robot 100 to the surface of the net, the structural frame adopts a lightweight design idea, and most of the structural materials are selected as aluminum angle or aluminum channel or aluminum pipe to ensure the strength while reducing the total weight of the structure. Preferably, the top buoyancy tube 11 and the bottom buoyancy tube 12 adopt closed aluminum pipes, which ensure the structural strength while providing underwater buoyancy. The top buoyancy tube 11 and the bottom buoyancy tube 12 are arranged opposite to each other in the vertical direction (Z-axis direction), and have a spacing therebetween, and the top buoyancy tube 11 and the bottom buoyancy tube 12 are connected by the vertical buoyancy tube 13. The vertical buoyancy tube 13 is also a hollow aluminum pipe, and the vertical buoyancy tube 13 is connected to the two long pipes of the top buoyancy tube 11 and the bottom buoyancy tube 12 in the length direction (Y-axis direction). Two vertical buoyancy tubes 13 are connected on one long pipe, and the two vertical buoyancy tubes 13 are inclined relative to the median vertical plane F (XY plane), and the inclination directions of the two vertical buoyancy tubes 13 are opposite, i.e. the two vertical buoyancy tubes 13 are symmetrical about the median longitudinal plane D (XZ plane), and the two vertical buoyancy tubes 13 are arranged in the shape of an "eight". The vertical buoyancy tube 13 can be welded to the top buoyancy tube 11 and the bottom buoyancy tube 12. The two short pipes of the top buoyancy tube 11 and the top buoyancy tube 11 in the width direction (X direction) are connected by the lateral support plate 14, two parallel lateral support plates 14 are connected on one short pipe, the lateral support plate 14 is a plate member with a certain arc, the arc top of the lateral support plate 14 is arranged towards the outside (i.e. away from the side of the center of gravity of the robot 100), and the two ends of the lateral support plate 14 are provided with arc-shaped clamping grooves, the arc of the arc-shaped clamping grooves is matched with the outer circumferential arc of the top buoyancy tube 11 and the bottom buoyancy tube 12, and the lateral support plate 14 is clamped with the top buoyancy tube 11 and the bottom buoyancy tube 12 through the arc-shaped clamping grooves at the two ends. In order to better fix, the position where the arc-shaped clamping groove contacts the buoyancy tube can be welded and fixed.

[0054] Further, as Figures 3 to 6As shown, the top buoyancy tube 11 and the bottom buoyancy tube 12 are provided with injection holes 15 for filling the flow medium into the top buoyancy tube 11 and the bottom buoyancy tube 12, and the injection holes 15 are provided with sealing plugs 16 for closing the injection holes 15 to prevent the flow medium in the buoyancy tube from flowing out. The flow medium can be water, oil, steel balls or other easily flowing medium. The injection of the flow medium into the buoyancy tube can help the robot 100 to maintain a stable posture autonomously. When the robot 100 adjusts the posture under the action of the power system (including the propeller), the robot 100 can autonomously reach a stable state without relying on the propeller due to the free flow of the flow medium, which makes the center of gravity of the robot 100 move downward away from the floating center and increases the metacentric height. The use of the multi-directional posture self-stabilizing structural framework can help the robot 100 to maintain the stability of the posture autonomously, reduce the requirement for high-precision control of the control system, and reduce the control difficulty.

[0055] As shown in FIG. 1, Figures 3 to 5 The outer frame 1 further includes an interface plate for interfacing with other components. Specifically, the inner side of the top buoyancy tube 11 is provided with a first horizontal interface plate 111 arranged inside the two long tubes and the two short tubes of the top buoyancy tube 11. The lower side of the top buoyancy tube 11 is provided with a first vertical interface plate 112 arranged at the lower side of the two short tubes and the corner position of the top buoyancy tube 11.

[0056] As shown in FIG. 1, Figures 3 to 5 The inner side of the bottom buoyancy tube 12 is provided with a second horizontal interface plate 121 arranged inside the two long tubes and the two short tubes of the bottom buoyancy tube 12. The upper side of the bottom buoyancy tube 12 is provided with a second vertical interface plate 122 arranged at the upper side of the two short tubes and the corner position of the bottom buoyancy tube 12.

[0057] As shown in FIG. 1, Figure 3 The vertical buoyancy tube 13 is provided with a third vertical interface plate 131 on both sides in the X-axis direction, and the third vertical interface plate 131 extends obliquely along the vertical buoyancy tube 13.

[0058] In this embodiment, the above-mentioned interface plates and the tubes can be connected by welding. Further, as shown in FIG. 1, Figure 3 and Figure 5 The first horizontal interface plate 111 and the second horizontal interface plate 121 can be provided with an arc-shaped positioning plate 113 arranged perpendicularly to the horizontal interface plate. The outer side of the arc-shaped positioning plate 113 has an arc-shaped edge with an arc degree matched with the arc degree of the inner side of the buoyancy tube. The arc-shaped positioning plate 113 and the buoyancy tube can be fixed by welding.

[0059] As shown in Figure 3 , Figure 4 and Figure 7 , the inner frame 2 is connected in the outer frame 1, and the inner frame 2 is used to improve the overall strength of the robot 100 and provide mounting positions for various loads. The inner frame 2 includes a top beam 21, a bottom beam 22, a bottom longitudinal beam 23, and a support column 24. The length of the top beam 21 and the bottom beam 22 is adapted to the inner length of the outer frame 1. The top beam 21 and the bottom beam 22 are oppositely arranged in the Z-axis direction and are connected by the support column 24. The support column 24 is provided with three support columns, and the three support columns are arranged in the Y direction and are connected to the top beam 21 and the bottom beam 22 at both ends. The support column 24 is fixed to the top beam 21 and the bottom beam 22 by welding. The bottom longitudinal beam 23 can be provided with several, which is set according to the number, position and other settings of the load. The bottom longitudinal beam 23 is connected to the bottom beam 22 and intersects with the bottom beam 22 (which can be perpendicular to each other, or can be inclined to each other). In this embodiment, the bottom longitudinal beam 23 is provided with four, two of which are arranged on one side of the bottom beam 22 in the X-axis direction, and the other two are arranged on the other side of the bottom beam 22 in the X-axis direction. One end of the bottom longitudinal beam 23 is fixedly connected to the bottom beam 22, and the bottom longitudinal beam 23 extends in the X-axis direction. The top beam 21, the bottom beam 22, the bottom longitudinal beam 23 and the support column 24 can be made of channel aluminum, and some of the bottom longitudinal beam 23 can be selected according to the needs.

[0060] As shown in Figure 3 , Figure 4 and Figure 7 , the inner frame 2 is connected to the outer frame 1 by assembly, that is, the inner frame 2 can be integrally detached from the outer frame 1. The inner frame 2 can be assembled into the outer frame 1 from top to bottom. When assembled in place, the two ends of the bottom beam 22 abut above the second horizontal butt joint plate 121, the other end of the bottom longitudinal beam 23 also abuts above the second horizontal butt joint plate 121, and the two ends of the top beam 21 abut above the first horizontal butt joint plate 111. The purpose of this design is that when the robot 100 is disassembled as a whole, the inner frame 2 can be completely taken out of the outer frame 1 upwards (including the components connected to the inner frame 2 are also taken out), which improves the convenience of maintenance of the robot 100.

[0061] Further, as shown in Figure 4 and Figure 5As shown, a plurality of positioning seats 123 can be arranged above the second horizontal butt joint plate 121 of the two long pipes of the bottom buoyancy pipe 12, the number and position of the positioning seats 123 are matched with the number and position of the bottom longitudinal beams 23, when assembled in place, the other end of the bottom longitudinal beam 23 is clamped on the positioning seat 123, and one positioning seat 123 is arranged on each of the two short pipes of the bottom buoyancy pipe 12 for positioning the two ends of the bottom transverse beam 22, the positioning seat 123 can play a positioning role on the internal frame 2, and the assembly and fixation of the internal frame 2 are more convenient.

[0062] As shown in Figure 8 and Figure 9 The rotating cleaning system includes a main hard pipe 31, various pipe joints 32, a rotating joint 33 and a rotating cleaning disc 34. The main hard pipe 31 is provided with a water inlet 311 located at the top position for communicating with an external water supply device, which can be a high-pressure water pump on the working mother ship. The high-pressure water pump communicates with the water inlet 311 through a water supply hose (not belonging to the structure of the robot 100, not shown). The main hard pipe 31 communicates with the rotating cleaning disc 34 through various pipe joints 32, so as to supply high-pressure water on the working mother ship to the rotating cleaning disc 34. The main hard pipe 31 is provided with a plurality of hard pipe clamps 312, which are also connected (can be clamped) with the internal frame 2, so as to assemble the main hard pipe 31 on the internal frame 2. The hard pipe clamps 312 can be clamped or screwed with the support columns 24 and / or the top transverse beam 21. The rotating joint 33 is arranged between the main hard pipe 31 and the rotating cleaning disc 34, so that the rotating cleaning disc 34 can rotate relative to the main hard pipe 31. The rotating joint 33 is assembled with the internal frame 2 through a rotating joint base 331, which can be clamped or screwed on the support column 24.

[0063] In this embodiment, the rotating cleaning disc 34 is arranged in three groups, and the three groups of rotating cleaning discs 34 are arranged in a triangular shape. This arrangement solves the problem of gaps between two commonly arranged straight-line cleaning discs or four commonly arranged rectangular cleaning discs, and the problem of missing scanning during operation.

[0064] As shown in Figure 8 and Figure 9 The rotating cleaning disc 34 includes a water distribution joint 341, a joint positioning block 342, an internal pipe joint 343, a nozzle joint 344, a cavitation nozzle 345, a shell connecting piece 346, a cover plate 347 and a bottom shell 348. The bottom shell 348 is a cylindrical box with an open top, and its outer surface can be smoothed to reduce friction damage to the net during rotation. The cover plate 347 is matched with the bottom shell 348 and used to close the open top of the bottom shell 348.

[0065] As shown in Figures 10 to 12As shown, the center of the bottom shell 348 is provided with a joint positioning block 342 for assembling the water distribution joint 341 to ensure the concentric assembly of the water distribution joint 341 to the bottom shell 348. This method is simple and reliable, easy to process and assemble, and improves the maintainability of the rotary cleaning system. The water distribution joint 341 is connected to the rotary joint 33 through the pipe joint 32, and the water distribution joint 341 is divided into three branches. Each branch extends along the radial direction to a position close to the circumferential wall of the bottom shell 348 through the internal pipe joint 343. An internal pipe joint 343 is connected to a nozzle joint 344 on each branch away from the water distribution joint 341, and a cavitation nozzle 345 is connected to the nozzle joint 344. The bottom surface of the bottom shell 348 is provided with a water outlet 3481, and the cavitation nozzle 345 is aligned with the water outlet 3481. The high-pressure liquid sprayed from the cavitation nozzle 345 is ejected from the water outlet 3481 to clean the screen cloth. The cavitation nozzle 345 has a certain inclination angle with the bottom surface of the bottom shell 348. The inclination angle can be greater than 0° and less than 90°, such as 30°, 45°, 60°, etc. This allows the rotary cleaning disc 34 to rotate by itself using the horizontal component of the reaction force of the cavitation nozzle 345 when the cavitation nozzle 345 sprays high-pressure liquid, without consuming additional energy to drive the rotary cleaning disc 34 to rotate, thereby reducing the power consumption of the robot 100 and improving reliability.

[0066] As shown in Figure 12 The inclination angle of the cavitation nozzle 345 can be determined by the connection port 3441 on the nozzle joint 344 that interfaces with the cavitation nozzle 345. The cavitation nozzle 345 has a generally trapezoidal shape, and the connection port 3441 is provided on two inclined sides 3443 of the trapezoidal body. The extension direction of the connection port 3441 is perpendicular to the inclined side 3443, and the two connection ports 3441 are symmetrically designed. When the cavitation nozzle 345 is assembled in the bottom shell 348, the connection port 3441 is inclined relative to the bottom surface of the bottom shell 348, and the cavitation nozzle 345 connected to the connection port 3441 is also inclined relative to the bottom shell 348. The cavitation nozzle 345 is connected to the downwardly inclined connection port 3441 of the nozzle joint 344, and the other upwardly inclined connection port 3441 is closed by a screw plug 3442.

[0067] As shown in Figures 10 to 13As shown, since the two connection ports 3441 on the nozzle connector 344 are symmetrical, only the positions of the plug 3442 and the cavitation nozzle 345 are exchanged, and the nozzle connector 344 is rotated 180° about the branch where it is located (i.e. the radial direction of the rotating cleaning disc 34), the rotation of the rotating cleaning disc 34 can be reversed. Specifically, the nozzle connector 344 is rotated 180°, the originally downwardly inclined connection port 3441 (connecting the cavitation nozzle 345) becomes upwardly inclined, and the originally upwardly inclined connection port 3441 (connecting the plug 3442) becomes downwardly inclined. Therefore, after the connection ports 3441 of the cavitation nozzle 345 and the plug 3442 are exchanged, the cavitation nozzle 345 also becomes downwardly inclined but the inclination direction is opposite to that before the exchange (the inclination angle remains unchanged), and therefore when the high-pressure liquid is sprayed, the horizontal component of the reaction force is opposite to that before the exchange, and the rotating cleaning disc 34 will be reversed. Since the nozzle connector 344 is rotated 180°, the cavitation nozzle 345 is not aligned with the original water outlet 3481, and therefore another water outlet 3481 needs to be provided on the bottom surface of the bottom shell 348 for the high-pressure liquid to be sprayed. The design of the symmetrical connection ports 3441 can realize both forward and reverse rotation using the same nozzle connector 344, and no connector needs to be replaced when reverse rotation is required, saving materials and processing costs.

[0068] The three nozzle connectors 344 on the water distribution connector 341 are arranged in the same inclination direction, i.e. the horizontal components of the reaction forces of the three nozzle connectors 344 are all in the same direction to rotate the rotating cleaning disc 34.

[0069] The rotating cleaning system includes three sets of rotating cleaning discs 34, two of which are symmetrical about the longitudinal plane D of the robot 100, and the rotating directions of the two rotating cleaning discs 34 are opposite, so that the moment generated by the rotating cleaning discs 34 during operation is balanced, and the attitude stability of the robot 100 is improved. The main hard pipe 31, the pipe connector 32, etc. connected to the two symmetrical rotating cleaning discs 34 are also arranged symmetrically. The other set of rotating cleaning discs 34 in the three sets of rotating cleaning discs 34 has no symmetrical relationship, and the main hard pipe 31, the pipe connector 32, etc. connected thereto are arranged as close to the center of gravity of the robot 100 as possible to reduce the interference of the reaction force of the pipeline with the stability of the robot 100 when water is flowing in.

[0070] Further, as shown in FIG. 6, the rotating cleaning system includes a water distribution pipe 340, a water distribution connector 341, a nozzle connector 344, a plug 3442, a cavitation nozzle 345, a water outlet 3481, a bottom shell 348, a rotating cleaning disc 34, a main hard pipe 31, a pipe connector 32, a robot 100, etc. Figure 10 and Figure 11As shown, the nozzle joint 344 is assembled with the bottom shell 348 and the cover plate 347 through the shell connecting piece 346, which comprises a first horizontal plate 3461, a vertical plate 3463 and a second horizontal plate 3462 connected in sequence, so that the shell connecting piece 346 has a substantially "Z" shaped central symmetry structure. The vertical plate 3463 is used to be fixedly connected (by bolt connection) with one side of the nozzle joint 344 (the side away from the connecting port 3441), and the first horizontal plate 3461 and the second horizontal plate 3462 are respectively used to be connected with the bottom shell 348 and the cover plate 347, such as the first horizontal plate 3461 being attached to the bottom surface of the bottom shell 348 and then being fixed by bolts, and the second horizontal plate 3462 being attached to the cover plate 347 and also being fixed by bolts. When the rotary cleaning disc 34 needs to be reversed for rotation cleaning, the nozzle joint 344 is rotated by 180°, and the shell connecting piece 346 is also rotated by 180° with the nozzle joint 344, so that the first horizontal plate 3461 becomes attached to the cover plate 347, and the second horizontal plate 3462 becomes attached to the bottom surface of the bottom shell 348, i.e. two groups of holes are needed to be formed on the bottom surface of the bottom shell 348 and the cover plate 347 to be connected with the shell connecting piece 346 in different positions. When the components inside the rotary cleaning disc 34 need to be maintained, the robot 100 does not need to be disassembled as a whole, and only the bottom shell 348 of the rotary cleaning disc 34 needs to be disassembled (the bolts between the bottom shell 348 and the shell connecting piece 346 are disassembled) at the bottom of the robot 100, so that the components inside the rotary cleaning disc 34 can be maintained.

[0071] The various pipe joints 32, rotary joints 33, rotary cleaning discs 34 and the internal water distribution joint 341, internal pipe joint 343, nozzle joint 344, cavitation nozzle 345 inside the rotary cleaning disc 34 in the rotary cleaning system are connected through pipe threads or taper threads.

[0072] As Figures 14 to 16As shown, the power system includes five thrusters, three of which are vertical thrusters 41 and two of which are horizontal thrusters 42. The vertical thrusters 41 are used to realize vertical direction movement, pitch direction B movement and roll direction A movement of the robot 100. When the robot 100 performs a net cage cleaning operation, the lower surface of the robot 100 needs to be attached to the netting, at which time the three vertical thrusters 41 need to be turned on to provide downward thrust for the robot 100. In the layout of the vertical thrusters 41, thrust balance and thrust torque balance are considered, that is, when the three vertical thrusters 41 are turned on at a rated power, the robot 100 does not produce a planned pitch movement, ensuring the controllability of the robot 100. At the same time, by reasonable layout, the three vertical thrusters 41 are away from the center transverse plane E where the vertical center of the robot 100 is located, so that when the pitch attitude of the robot 100 is adjusted, a large thrust torque can be generated to realize rapid pitch adjustment of the robot 100 and improve the attitude transformation flexibility of the robot 100. The two vertical thrusters 41 symmetrically distributed about the center longitudinal plane D rotate in opposite directions, canceling the interference of the reaction force thereof on the roll attitude maintenance of the robot 100.

[0073] The two horizontal thrusters 42 are symmetrically arranged about the center longitudinal plane D to realize longitudinal direction movement and bow direction C movement of the robot 100. The two horizontal thrusters 42 are away from the center longitudinal plane D where the center of gravity is located to maximize the horizontal thrust torque and improve the flexibility of attitude transformation of the robot 100. The two thrusters rotate in opposite directions, canceling the interference of the reaction force thereof on the roll attitude maintenance of the robot 100.

[0074] The vertical thrusters 41 and the horizontal thrusters 42 are connected to the thruster base 43 through a strap / belt, which can also be a clamping connection; the thruster base 43 is connected to the internal frame 2 of the robot 100 through assembly, which can be welding, screwing or clamping connection. At the same time, as shown, Figure 16 As shown, the three vertical thrusters 41 are arranged alternately with the three rotating cleaning discs 34 below, and the periphery of any vertical thruster 41 is a rotating cleaning disc 34, and the periphery of any rotating cleaning disc 34 is also a vertical thruster 41 when viewed from the vertical direction.

[0075] The power system of the embodiment does not have a function of moving the robot 100 laterally, because the utilization rate of lateral movement is not high in the netting cleaning process, and canceling the lateral movement function can reduce the use of at least one thruster, realizing the goal of reducing the total weight and the moment of inertia. Rationalized space layout is one of the keys to ensuring the flexibility of the robot 100, and symmetrical arrangement of the five thrusters away from the center of gravity of the robot 100 improves the thrust torque, improves the flexibility of the robot 100, is convenient for the user to operate, provides stability, and reduces the number of thrusters, which can also save costs.

[0076] The subsystems of the robot 100 of the embodiment are reasonably arranged and calculated so that the center of gravity, the center of buoyancy and the center of each direction thrust of the robot 100 coincide, achieving the characteristics of flexibility, small size, stability and easy control, and directly ensuring the practicability and convenience during underwater operation.

[0077] As shown in Figure 17 and Figure 18 , the environment perception system includes an underwater camera 51, an underwater lamp 52, an inertial navigation module 53, a depth gauge 54, a water quality analysis system 55 and a plurality of connection seats 56. The underwater camera 51 and the underwater lamp 52 realize the observation of the underwater environment and the operation quality by the operator, and are both assembled and connected with the first horizontal butt joint plate 111 on the top buoyancy pipe 11 through the connection seat 56, which can be welded or bolted. The depth gauge 54 is used to measure the real-time depth of the robot 100 during operation, and is assembled and connected with the support column 24 through the connection seat 56. The inertial navigation module 53 is used to provide the underwater attitude information of the robot 100, and is directly assembled and connected with the support column 24, for example, bolted. The water quality analysis system 55 provides the water temperature environment of the operation position, such as salinity, pH value, microbial content, etc., and is assembled and connected with the support column 24 through the connection seat 56. The connection between each of the above connection seats 56 and the internal frame 2 can be assembled by welding, bolting, clamping and the like. The connection between each of the above devices and the connection seat 56 can be connected by a strap / band, or can be clamped.

[0078] As shown in Figure 17 and Figure 18 , the control system is mainly the electronic cabin 6, which is used for communication and control of various underwater devices. The electronic cabin 6 is connected with the electronic cabin base 61 through a band, the electronic cabin base 61 is assembled and connected with the bottom longitudinal beam 23, and the electronic cabin 6 is connected with each device through a water-tight cable (not shown).

[0079] As shown in Figure 1 , Figure 2 , Figures 19 to 22As shown, the guard structure includes a fish guard and a net guard 73, the fish guard includes a top guard 71 and a circumferential guard 72, which is used to prevent the farmed fish from entering the inside of the robot 100 when the robot 100 is working, causing damage to the fish and the sensors of the robot 100. The top guard 71 is arranged on the top of the robot 100, and a plurality of first internally threaded pipes 114 are arranged in the upper part of the first horizontal butt joint plate 111 of the top buoyancy pipe 11 in a spaced manner, which can be welded and fixed on the first horizontal butt joint plate 111. The first internally threaded pipes 114 can also be arranged on the top cross beam 21. The first connecting holes 711 are adaptively arranged on the top guard 71. When assembling, the top guard 71 is placed on the top of the robot 100 and the first connecting holes 711 are aligned with the first internally threaded pipes 114, and then the top guard 71 is fixed by bolts. The circumferential guard 72 is arranged on the circumference of the robot 100, and the part between the top buoyancy pipe 11 and the bottom buoyancy pipe 12 is enclosed. The second internally threaded pipes 124 are arranged on the first vertical butt joint plate 112 of the top buoyancy pipe 11, the second vertical butt joint plate 122 of the bottom buoyancy pipe 12 and the third vertical butt joint plate 131 of the vertical buoyancy pipe 13 in a spaced manner, and the second connecting holes 721 are correspondingly arranged on the circumferential guard 72. When assembling, the circumferential guard 72 is placed around the robot 100, and then the circumferential guard 72 is fixed by bolts. The circumferential guard 72 can be divided into multiple parts according to the positions of the vertical buoyancy pipe 13 and the lateral support plate 14, and each circumferential guard 72 is separately disassembled. The split guard design is simple to replace, convenient to process, reduces the phenomenon of entanglement, and prevents fish from being hurt.

[0080] As shown in Figure 2 , Figures 19 to 22 , the net guard 73 is arranged on the bottom of the robot 100, which is used to prevent the rotating cleaning disc 34 from entangling and pulling the net when it rotates, and to clean and protect the net at the same time. A plurality of third internally threaded pipes 125 are arranged in the lower part of the second horizontal butt joint plate 121 of the bottom buoyancy pipe 12 in a spaced manner, and the third internally threaded pipes 125 can also be arranged on the bottom longitudinal beam 23. The third connecting holes 731 are correspondingly arranged on the net guard 73, and the first through holes 732 for avoiding the rotating cleaning disc 34 are also arranged on the net guard 73. When assembling, the net guard 73 is placed on the bottom of the robot 100, and the third connecting holes 731 are aligned with the third internally threaded pipes 125, and then the net guard 73 is fixed by bolts.

[0081] As shown in Figure 20 , the water outlet 74 is arranged on the fish guard and the net guard 73, and the position of the water outlet 74 is aligned with the two ends of the propeller, which reduces the interference of the guard structure on the water inlet and drainage process of the propeller, and improves the working efficiency of the propeller. Further, as shown in Figure 19As shown, the water inlet and outlet 74 is provided with a water passing guard 75, and the propeller water passing guard 75 is connected with the fish guard and the guard net plate 73. The water passing guard 75 can prevent the fish from entering the water inlet and outlet while not affecting the water inlet and outlet.

[0082] The fish guard and the guard net plate 73 are provided with lightening holes. The position and size of the lightening holes are reasonably arranged to reduce the weight of the structure, reduce the motion resistance of the robot 100, and reduce the power consumption of the robot 100.

[0083] When the robot 100 performs the cleaning operation, the vertical distance between the net and the cavitation nozzle 345 needs to be adjusted according to the material and characteristics of the net. At this time, the third internal threaded pipe 125 connected with the guard net plate 73 on the second horizontal butt joint plate 121 of the bottom buoyancy pipe 12 can be replaced to increase or decrease the height of the third internal threaded pipe 125. The assembly position of the rotary joint base 331, the hard pipe clamp 312, and the support column 24 is adjusted synchronously to realize the vertical position of the guard net plate 73 and the cavitation nozzle 345 relative to the bottom buoyancy pipe 12 of the robot 100, thereby adjusting the vertical distance between the cavitation nozzle 345 and the net. The guard net plate 73 can be tangent to the lower tangent surface of the bottom buoyancy pipe 12, or the position can be higher or lower than the lower tangent surface of the bottom buoyancy pipe 12, thereby realizing the surface cleaning of the flexible net or the rigid net cage, and the vertical distance between the net and the cavitation nozzle 345 can be adjusted to realize the adaptive cleaning of the net with different strength and adjust the cavitation position.

[0084] The flow of the underwater operation robot 100 in the cleaning operation of the embodiment includes: adding a flow medium in the top buoyancy pipe 11 and the bottom buoyancy pipe 12, the robot 100 entering the water, adjusting the posture, diving, approaching the net, adjusting the posture of the robot 100 according to the posture of the net, starting the vertical propeller 41 to make the bottom buoyancy pipe 12 of the robot 100 close to the net, keeping the vertical propeller 41 working to press the net downward, making the net inside the bottom buoyancy pipe 12 generate tension and keep the flexible net tight and flat, starting the rotary cleaning system to perform the cleaning flow, starting the horizontal propeller 42 to make the robot 100 move on the net, stopping the rotary cleaning system, operating the robot 100 to return to the working mother ship, and maintaining the robot 100.

[0085] The underwater operation robot 100 of the embodiment adopts a structural frame with multi-directional posture self-stabilization function. By injecting a flow medium into the buoyancy pipe, the autonomous maintenance of the underwater posture of the robot 100 is realized, and the control difficulty is reduced. The structural frame replaces the traditional buoyancy material, has high strength, realizes the structural and buoyancy integration scheme, and is lightweight and miniaturized. The structural frame has strong expandability, and the internal frame 2 can carry more functional subsystems, such as an ultrasonic fish repelling device, to avoid fish interference during work.

[0086] The underwater operation robot 100 of the embodiment has reasonable assembly sequence and is easy to maintain, when the rotating cleaning system is maintained, the bottom shell 348 of the rotating cleaning disc 34 can be directly disassembled from the bottom of the robot 100 without disassembling the structural frame of the robot 100, and the joint can be maintained or replaced; when the internal environment sensing system is maintained, the internal environment sensing system can be directly maintained by disassembling the fish guard; when the internal frame 2 is maintained, the internal frame 2 can be integrally disassembled upward from the external frame 1 by disassembling the top guard 71. The assembly sequence of the overall structure of the robot 100 is reasonable, and in an environment such as high sea conditions that is not conducive to assembly operation, rapid and simple maintenance and repair can be realized.

[0087] The rotating cleaning system of the embodiment adopts three groups of large-size rotating cleaning discs 34, improves work efficiency, reasonably arranges the cleaning discs, and avoids the phenomenon of missing scanning. The rotating cleaning disc 34 adopts the cavitation jet technology, the pressure size and the size of the cavitation nozzle 345 are reasonable, and the cleaning effect is better than that of the physical friction and high-pressure water jet technology. And by deflecting the angle of the cavitation nozzle 345, the rotating cleaning disc 34 can rotate, reducing the use of complex mechanisms (such as drive motors) when the rotating cleaning disc 34 rotates, reducing the work failure rate, and the structure is simple and reliable.

[0088] The underwater operation robot 100 of the embodiment retains necessary functions, realizes lightweight design, reduces unnecessary functions such as the lateral translational degree of freedom of the robot 100, reduces the number of propellers, and reduces the total weight; the structural frame is selected from aluminum profiles, which ensures the strength while realizing the light structure weight; lightening holes are formed on the fish guard and the mesh guard 73; and the robot 100 is lightened by various methods.

[0089] The above only describes some embodiments of the present application. For those skilled in the art, without departing from the creative concept of the present application, a number of modifications and improvements can be made, which all belong to the protection scope of the present application.

Claims

1. A multi-directional posture self-stabilizing structural frame applied to an underwater operation robot, characterized in that, The external frame comprises a buoyancy tube, and an injection hole is arranged on the buoyancy tube to fill the tube with a flow medium; A sealing plug is arranged at the injection hole to close the injection hole; The buoyancy tube comprises a top buoyancy tube and a bottom buoyancy tube arranged opposite in the vertical direction, and the external frame further comprises a vertical buoyancy tube connecting the top buoyancy tube and the bottom buoyancy tube, and the vertical buoyancy tube is inclined relative to the vertical direction.

2. The multi-directional stance self-stabilizing structural frame of claim 1, wherein, The external frame further comprises a lateral support plate connecting the top buoyancy tube and the bottom buoyancy tube, and two ends of the lateral support plate are provided with arc-shaped clamping grooves, and the curvature of the arc-shaped clamping grooves is matched with the curvature of the outer circumferences of the top buoyancy tube and the bottom buoyancy tube.

3. The multidirectional, self-stabilizing structural frame of claim 1, wherein, The structural frame further comprises an internal frame assembled with the external frame.

4. The multi-directional attitude self-stabilizing structural frame of claim 3, wherein, The top buoyancy tube is provided with a first horizontal butt joint plate, and the bottom buoyancy tube is provided with a second horizontal butt joint plate. During assembly, the internal frame is abutted above the first horizontal butt joint plate and the second horizontal butt joint plate.

5. The multi-directional attitude self-stabilizing structural frame of claim 4, wherein, The internal frame comprises a top cross beam and a bottom cross beam arranged opposite in the vertical direction, a plurality of support columns connecting the top cross beam and the bottom cross beam, and a bottom longitudinal beam connected to the bottom cross beam. During assembly, the top cross beam is abutted above the first horizontal butt joint plate, and the bottom cross beam and the bottom longitudinal beam are abutted above the second horizontal butt joint plate.

6. The multi-directional, self-stabilizing attitude of the structural frame according to claim 5, wherein, The second horizontal butt joint plate is provided with a positioning seat, and the end portions of the bottom cross beam and the bottom longitudinal beam are clamped on the positioning seat.

7. The multidirectional, self-stabilizing structural frame of claim 5, wherein, The top buoyancy tube is provided with a first vertical butt joint plate, and the bottom buoyancy tube is provided with a second vertical butt joint plate, and the first horizontal butt joint plate, the second horizontal butt joint plate, the first vertical butt joint plate and the second vertical butt joint plate are used to assemble and connect with the guard plate structure of the underwater working robot.

8. The multi-directional, self-stabilizing structural frame of any of claims 3-7, wherein, The external frame and the internal frame are made of aluminum profiles.

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