Underwater wall-climbing cleaning robot for inner wall of factory culture pond

Abstract

The utility model discloses an underwater wall-climbing cleaning robot facing the inner wall of a factory culture pond, and relates to the technical field of wall-climbing cleaning, the underwater wall-climbing cleaning robot comprises a shell, a brushing system, an adsorption filtration system, a propulsion system and a control system, the shell is a bionic flexible shell, and the front and rear sides of the top of the shell are connected with rapid maintenance plates through buckles; the right end of the shell is connected with a tail fin, the left end of an inner cavity of the shell is connected with a semicircular top plate, the right end of the semicircular top plate is connected with a front supporting plate, the top of the middle of the inner cavity of the shell is connected with a middle supporting plate, and the top of the right side of the inner cavity of the shell is connected with a rear supporting plate. The device does not make contact with the pond wall during advancing, abrasion to the pond wall is reduced, the device adapts to different culture pond wall faces, filtered reuse water is converted into propelling power, and the energy utilization rate is remarkably increased.

Description

Technical Field

[0001] This utility model relates to the field of wall-climbing cleaning technology, specifically an underwater wall-climbing cleaning robot for cleaning the inner walls of factory-scale aquaculture ponds. Background Technology

[0002] With the development of large-scale and high-density aquaculture in my country, the need for cleaning aquaculture ponds is becoming increasingly urgent. Indoor aquaculture generally uses aquaculture ponds or tanks. Long-term rearing can lead to the accumulation of algae and other deposits on the tank walls. Traditional cleaning methods mainly involve removing all water and aquatic organisms from the pond and cleaning manually or mechanically. This is time-consuming and labor-intensive. Because algae deposits adhere very firmly to the walls after long-term growth, manual cleaning cannot be done frequently and takes a long time. It is also ineffective in removing algae deposits that have been attached for a long time. After the algae deposits have been growing for too long, they will cause a decline in water quality in the pond along with aquatic organism excrement, which can easily lead to infectious diseases and a decline in aquatic organism quality. Traditional cleaning machines generate a lot of noise when they are working, and the sharp external edges of the cleaning robots can frighten aquatic organisms, especially fish, and cause fish injuries.

[0003] Currently, a few domestic companies have launched semi-automatic cleaning machines or track-type algae scrapers, but their functions are limited (only applicable to regular ponds) and their prices are high (tens of thousands to hundreds of thousands of yuan). They are mainly used in large-scale aquaculture enterprises, while small and medium-sized farms still rely on manual cleaning.

[0004] Therefore, we have made improvements to the aforementioned existing technologies based on actual usage. Utility Model Content

[0005] The purpose of this section is to outline some aspects of the embodiments of this utility model and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of this section, the abstract and the title of this utility model. Such simplifications or omissions shall not be used to limit the scope of this utility model.

[0006] In view of the problems existing in the above and / or prior art, this utility model is proposed.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] An underwater wall-climbing cleaning robot for cleaning the inner wall of a factory-style aquaculture pond includes a shell, a brushing system, an adsorption and filtration system, a propulsion system, and a control system;

[0009] The outer shell is a biomimetic flexible shell, and the top front and rear sides of the shell are connected to quick maintenance plates by buckles. The right end of the shell is connected to the tail fin, the left end of the inner cavity of the shell is connected to the semi-circular top plate, and the right end of the semi-circular top plate is connected to the front support plate. The top of the middle of the inner cavity of the shell is connected to the middle support plate, and the top right side of the inner cavity of the shell is connected to the rear support plate.

[0010] The cleaning system is located on the left side of the inner cavity of the housing and is mounted on the front support plate.

[0011] The adsorption filtration system is located in the inner middle of the outer shell and is mounted on the middle support plate.

[0012] The propulsion system is located at the right end of the outer casing and is connected to the adsorption filtration system via a delivery pipe.

[0013] The control system is located on the right side of the inner cavity of the housing and is mounted on the rear support plate.

[0014] Furthermore: The cleaning system includes a brush disc power motor mounted on the front support plate. A motor shaft is connected to the left power end of the brush disc power motor. A bevel gear one is connected to the left end of the motor shaft. A bevel gear two meshes with the bevel gear one. The bevel gear two is sleeved on the drive shaft. Both ends of the drive shaft are connected to bevel gear three. A bevel gear four meshes with the bevel gear three. A connecting vertical rod is provided at the bottom of the bevel gear four. The bottom of the connecting vertical rod passes through the front support plate and is connected to a replaceable brush disc.

[0015] Furthermore: both the motor shaft and the drive shaft are fitted with support columns via bearing assemblies, and the support columns are mounted on the front support plate.

[0016] Furthermore: The adsorption filtration system includes an adsorption suction cup installed at the bottom of the housing, a filter box connected to the top of the adsorption suction cup, an inlet pipe connected to the outlet of the filter box, the other end of the inlet pipe connected to the inlet of the adsorption water pump, an outlet pipe connected to the outlet of the adsorption water pump, and the adsorption water pump connected to the middle support plate. A U-shaped branch pipe is connected to the end of the outlet pipe, and a delivery pipe is connected to the end of the U-shaped branch pipe.

[0017] Furthermore: the propulsion system includes baffle control rods, which are two sets of identical baffle control rods. The left and right sides of the two sets of baffle control rods are rotatably connected to two sets of movable nozzle baffles with identical structures. The top and bottom of the two sets of movable nozzle baffles are rotatably connected to fixed nozzle baffles. A nozzle structure is connected in the square frame cavity formed between the movable nozzle baffles and the fixed nozzle baffles. The inlet of the nozzle structure is connected to the outlet of the delivery pipe.

[0018] Furthermore, the control system includes a battery pack, with a gyroscope and control board assembly and a motor control board connected to the left and right ends of the battery pack, respectively.

[0019] Compared with the prior art, the beneficial effects of this utility model are:

[0020] In this invention, the outer shell is made of flexible material and features an adaptive curved surface design, ensuring no contact with the pool wall during movement, thus reducing wear and tear. It adapts to different aquaculture pool walls and can achieve optimal adsorption force by conforming to the wall surface. The adsorption suction cup, nozzle structure, and gyroscope are combined to ensure that the robot's central axis remains parallel to the wall surface. The "adsorption-propulsion" coupling system converts 80% of the filtered recycled water into propulsion power, significantly improving energy utilization. The quick-access cover design facilitates the replacement of the disc brush, cleaning of the nozzle, and maintenance of internal components, reducing operation and maintenance costs.

[0021] Other features and advantages of this application will be set forth in the following description and will be apparent in part from the description or may be learned by practicing the application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description and the accompanying drawings.

[0022] The technical solution of this application will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of this utility model;

[0025] Figure 2 This is a bottom view of the present invention;

[0026] Figure 3 This is a schematic diagram of the internal structure of this utility model;

[0027] Figure 4 This is a schematic diagram of the cleaning system structure of this utility model;

[0028] Figure 5 This is a schematic diagram of the adsorption filtration system of this utility model;

[0029] Figure 6 This is a schematic diagram of the propulsion system structure of this utility model;

[0030] Figure 7 This is a schematic diagram of the control system structure of this utility model.

[0031] In the diagram: 1. Outer shell; 101. Quick-access cover; 102. Tail fin; 103. Semi-circular dome plate; 104. Front support plate; 105. Middle support plate; 106. Rear support plate; 2. Cleaning system; 21. Brush disc motor; 22. Motor shaft; 23. Bevel gear one; 24. Bevel gear two; 25. Drive shaft; 26. Bevel gear three; 27. Bevel gear four; 28. Connecting vertical rod; 29. ​​Replaceable disc brush; 3. Adsorption filtration system; 31. Adsorption suction cup; 32. Filter box; 33. Water inlet pipe; 34. Adsorption water pump; 35. Water outlet pipe; 36. U-shaped branch pipe; 4. Delivery pipe; 5. Propulsion system; 51. Baffle control rod; 52. Movable nozzle baffle; 53. Fixed nozzle baffle; 54. Nozzle structure; 6. Control system; 61. Battery pack; 62. Motor control board; 63. Gyroscope and control board assembly. Detailed Implementation

[0032] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0033] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0034] Secondly, this utility model is described in detail with reference to the schematic diagrams. When describing the embodiments of this utility model, for ease of explanation, the cross-sectional views illustrating the device structure may be partially enlarged, not according to the usual scale. Furthermore, the schematic diagrams are merely examples and should not limit the scope of protection of this utility model. In addition, actual manufacturing should include the three-dimensional spatial dimensions of length, width, and depth.

[0035] Furthermore, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that excludes other embodiments.

[0036] Please see Figure 1-7 This utility model provides a technical solution: an underwater wall-climbing cleaning robot for cleaning the inner wall of a factory-scale aquaculture pond, including a shell 1, a cleaning system 2, an adsorption and filtration system 3, a propulsion system 5, and a control system 6;

[0037] The outer shell 1 is a biomimetic flexible shell made of TPU90A flexible and environmentally friendly material. The bottom surface of the outer shell 1 can adapt to the shape of the aquaculture pond wall when it is attached, so that the cleaning robot can adapt to more different working environments. The flexible material also helps to prevent fish from being scratched and infected when they collide with sharp parts. The surface of the outer shell 1 is treated with microstructure and has a 0.2mm high biomimetic scale array (not shown in the figure), which can effectively reduce the water flow resistance coefficient by up to 23% and avoid skin scratches when fish come into contact with it. The top front and rear sides of the outer shell 1 are connected to quick maintenance plates 101 by buckles. The right end of the outer shell 1 is connected to the tail fin 102. The left end of the inner cavity of the outer shell 1 is connected to the semi-circular top plate 103, and the right end of the semi-circular top plate 103 is connected to the front support plate 104. The top of the middle of the inner cavity of the outer shell 1 is connected to the middle support plate 105, and the top right side of the inner cavity of the outer shell 1 is connected to the rear support plate 106.

[0038] Cleaning system 2 is located on the left side of the inner cavity of the outer casing 1 and is mounted on the front support plate 104.

[0039] The adsorption filtration system 3 is located in the inner middle of the outer casing 1 and is mounted on the middle support plate 105.

[0040] The propulsion system 5 is located at the right end of the outer casing 1 and is connected to the adsorption filtration system 3 through the delivery pipe 4.

[0041] The control system 6 is located on the right side of the inner cavity of the housing 1 and is mounted on the rear support plate 106.

[0042] Preferably, the cleaning system 2 includes a brush disk motor 21 mounted on the front support plate 104, which is a 2435 type waterproof brushless motor. The left power end of the brush disk motor 21 is connected to a motor shaft 22, and the left end of the motor shaft 22 is connected to a bevel gear 23. A bevel gear 24 meshes with the bevel gear 23. The bevel gear 24 is sleeved on the transmission shaft 25. Both ends of the transmission shaft 25 are connected to bevel gears 26, and bevel gears 27 mesh with the bevel gears 26. A connecting vertical rod 28 is provided at the bottom of the bevel gear 27, and the bottom of the connecting vertical rod 28 passes through the front support plate 104 and is connected to a replaceable brush disk 29. The bottom is provided with a Velcro quick-change structure, which supports three types of replaceable brush heads, including a hard nylon brush (for stubborn attachments), a soft brush (for fine cleaning), and a rubber scraper (for algae removal). The motor shaft 22 and the transmission shaft 25 are both sleeved with support columns through bearing assemblies, and the support columns are mounted on the front support plate 104.

[0043] Preferably, the adsorption filtration system 3 includes an adsorption suction cup 31 installed at the bottom of the outer casing 1, a filter box 32 connected to the top of the adsorption suction cup 31, an inlet pipe 33 connected to the outlet of the filter box 32, the other end of the inlet pipe 33 connected to the inlet of the adsorption water pump 34, an outlet pipe 35 connected to the outlet of the adsorption water pump 34, and the adsorption water pump 34 connected to the middle support plate 105. A U-shaped branch pipe 36 is connected to the end of the outlet pipe 35, and a delivery pipe 4 is connected to the end of the U-shaped branch pipe 36. The adsorption water pump 34 causes water to pass through the adsorption suction cup 31 and the filter box 32 to generate adsorption force. The filter box 32 is filled with three layers of filter cotton of different densities to adsorb and filter the pollutants generated by cleaning. The water sucked in by the adsorption water pump 34 is finally discharged through the delivery pipe 4 and the nozzle structure 54 to form forward thrust.

[0044] Preferably, the propulsion system 5 includes baffle control rods 51, which are two sets of identical structures. The left and right sides of the two sets of baffle control rods 51 are rotatably connected to two sets of movable nozzle baffles 52 with identical structures. The top and bottom of the two sets of movable nozzle baffles 52 are rotatably connected to fixed nozzle baffles 53. A nozzle structure 54 is connected in the square frame cavity formed between the movable nozzle baffles 52 and the fixed nozzle baffles 53. The inlet of the nozzle structure 54 is connected to the outlet of the delivery pipe 4. The nozzle diameter of the nozzle structure 54 is 50mm. Water is drawn in by the adsorption water pump 34 and enters the nozzle structure 54 through the delivery pipe 4 to form thrust. The two movable nozzle baffles 52 can provide a deflection angle of 40° to the left and right respectively.

[0045] Preferably, the control system 6 includes a battery pack 61. The left and right ends of the battery pack 61 are connected to a gyroscope and control board assembly 63 and a motor control board 62, respectively. All components within the control system 6 are waterproofed. The control core uses an STM32F103C8T6 microcontroller, with a four-layer PCB design and an integrated CAN bus communication module. The attitude sensing system consists of an MPU-6050 six-axis sensor (±16g accelerometer, ±2000° / s gyroscope) and an MS5837-30BA pressure sensor, with a sampling frequency of 500Hz. The dynamic flow adjustment algorithm is based on fuzzy PID control. Based on real-time data from a turbidity sensor (TSW-30M, measurement range 0-1000NTU), it automatically adjusts the matching relationship between the power (0-300W) of the adsorption water pump 34 and the rotation speed of the replaceable brush disc 29, optimizing energy efficiency by 35%. The waterproofing treatment uses a three-proof paint coating (50μm thickness) + epoxy resin potting (3mm thickness) for double protection.

[0046] It should be noted that the electrical components of this utility model have already combed the wire harness during operation, so there will be no problem of wire harness tangling.

[0047] It should be understood that numerous specific implementation decisions can be made during the development of any practical implementation, such as in any engineering or design project. Such development efforts may be complex and time-consuming, but for those skilled in the art who benefit from this disclosure, the development effort will be a routine task in design, manufacturing, and production without requiring extensive experimentation.

[0048] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. An underwater wall-climbing cleaning robot for the inner wall of a factory farming pond, characterized by: It includes a shell (1), a cleaning system (2), an adsorption and filtration system (3), a propulsion system (5), and a control system (6); The outer shell (1) is a biomimetic flexible shell, and the front and rear sides of the top of the outer shell (1) are connected to quick maintenance plates (101) by buckles. The right end of the outer shell (1) is connected to a tail fin (102). The left end of the inner cavity of the outer shell (1) is connected to a semi-circular top plate (103), and the right end of the semi-circular top plate (103) is connected to a front support plate (104). The top of the middle of the inner cavity of the outer shell (1) is connected to a middle support plate (105), and the top of the right side of the inner cavity of the outer shell (1) is connected to a rear support plate (106). A cleaning system (2) is provided on the left side of the inner cavity of the outer shell (1) and is mounted on the front support plate (104); The adsorption filtration system (3) is located in the inner middle of the outer shell (1) and is mounted on the middle support plate (105). The propulsion system (5) is located at the right end of the outer shell (1) and is connected to the adsorption filtration system (3) through the delivery pipe (4); The control system (6) is located on the right side of the inner cavity of the housing (1) and is mounted on the rear support plate (106).

2. The underwater wall-climbing cleaning robot for the inner wall of a factory-farming pond according to claim 1, characterized in that: The cleaning system (2) includes a brush disk power motor (21) mounted on the front support plate (104). The left power end of the brush disk power motor (21) is connected to a motor shaft (22). The left end of the motor shaft (22) is connected to a bevel gear one (23). A bevel gear two (24) meshes with the bevel gear one (23). The bevel gear two (24) is sleeved on the transmission shaft (25). Both ends of the transmission shaft (25) are connected to bevel gear three (26). A bevel gear four (27) meshes with the bevel gear three (26). A connecting vertical rod (28) is provided at the bottom of the bevel gear four (27). The bottom of the connecting vertical rod (28) passes through the front support plate (104) and is connected to a replaceable brush disk (29).

3. The underwater wall-climbing cleaning robot for the inner wall of a factory-farming pond according to claim 2, characterized in that: Both the motor shaft (22) and the transmission shaft (25) are fitted with support columns via bearing assemblies, and the support columns are mounted on the front support plate (104).

4. The underwater wall-climbing cleaning robot for the inner wall of a factory-farming pond according to claim 1, characterized in that: The adsorption filtration system (3) includes an adsorption suction cup (31) installed at the bottom of the outer shell (1). The top of the adsorption suction cup (31) is connected to a filter box (32). The outlet of the filter box (32) is connected to an inlet pipe (33). The other end of the inlet pipe (33) is connected to the inlet of the adsorption water pump (34). The outlet of the adsorption water pump (34) is connected to an outlet pipe (35). The adsorption water pump (34) is connected to a middle support plate (105). The end of the outlet pipe (35) is connected to a U-shaped branch pipe (36). The end of the U-shaped branch pipe (36) is connected to a delivery pipe (4).

5. The underwater wall-climbing cleaning robot for the inner wall of a factory-farming pond according to claim 1, characterized in that: The propulsion system (5) includes a baffle control rod (51), which consists of two sets of the same structure. The left and right sides of the two sets of baffle control rods (51) are rotatably connected to two sets of movable nozzle baffles (52) with the same structure. The top and bottom of the two sets of movable nozzle baffles (52) are rotatably connected to fixed nozzle baffles (53). A nozzle structure (54) is connected in the square frame cavity formed between the movable nozzle baffles (52) and the fixed nozzle baffles (53). The inlet of the nozzle structure (54) is connected to the outlet of the delivery pipe (4).

6. The underwater wall-climbing cleaning robot for the inner wall of a factory-farming pond according to claim 1, characterized in that: The control system (6) includes a battery pack (61), and the left and right ends of the battery pack (61) are respectively connected to a gyroscope and control board assembly (63) and a motor control board (62).

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