An underwater cage cleaning robot

Abstract

This utility model discloses an underwater cage cleaning robot, belonging to the field of cleaning robots. A support frame is installed within the rear frame, and multiple notches are provided within the support frame. Modular drawer frames are inserted and connected into these notches. Multiple mounting holes are provided on the end faces of the modular drawer frames. Adjustment frames are connected to these mounting holes via fastening screws and nuts. Adjustment grooves are provided on the end faces of the adjustment frames, and sliding blocks are inserted into these grooves. The sliding blocks are connected to the adjustment frames via fasteners, and their end faces are fitted with clamps. The modular design allows for quick replacement of functional units, improving maintenance efficiency and the robot's functional flexibility. The drawer mechanism strengthens the equipment structure, ensuring installation stability and maintaining stable performance underwater. The thruster adjustment mechanism enhances the robot's operating efficiency and stability in different environments, while anti-slip rubber strips improve connection reliability and shock absorption performance.

Description

Technical Field

[0001] This utility model relates to the field of cleaning robots, and in particular to an underwater cage cleaning robot. Background Technology

[0002] Underwater cage cleaning robots, as specialized intelligent cleaning equipment in the field of deep-sea cage aquaculture, are typically equipped with advanced cleaning components, such as jet cleaning systems, as well as multiple underwater cameras and lighting devices to ensure the comprehensiveness and visibility of the cleaning process. These robots integrate artificial intelligence technology, enabling automatic navigation and automatic cleaning modes, significantly reducing the workload of operators.

[0003] The actual assembly and maintenance of underwater cage cleaning robots presents challenges due to the installation of multiple components, such as thrusters and jet systems, onto the robot frame. The securing of these components typically relies on complex multi-frame and support structures, making the assembly process time-consuming. Because critical components like thrusters and jet systems require precise positioning and fixation via multiple frames and supports, assembly personnel must spend considerable time on meticulous adjustments and installations to ensure each component functions correctly and does not interfere with others. This process demands not only high levels of professional skill from the assembly personnel but also patience and meticulousness to avoid any errors during installation.

[0004] Maintenance becomes more difficult. When underwater cage cleaning robots malfunction and require maintenance, their complex frame and support structure often make it difficult for maintenance personnel to quickly locate the problem. Furthermore, because these structures are typically compact and the components are tightly connected, maintenance personnel may need to spend more time and effort disassembling and reassembling the relevant parts when repairing or replacing them. Utility Model Content

[0005] The main objective of this invention is to provide an underwater cage cleaning robot that can effectively solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0007] An underwater cage cleaning robot includes a front frame, a rear frame, a winch bracket, hooks, and a horizontal tube. The front frame and the rear frame are designed in parallel, and the horizontal tube is located between the front frame and the rear frame. The winch bracket is connected to the front frame by hooks.

[0008] A support frame is installed inside the rear frame, and multiple notches are provided inside the support frame. A modular drawer frame is inserted and connected into the notches, and multiple mounting holes are provided on the end face of the modular drawer frame.

[0009] Multiple mounting holes are connected to an adjustment frame via fastening screws and nuts. The end face of the adjustment frame has an adjustment groove, and a sliding block is inserted into the groove. The sliding block is connected to the adjustment frame via a fastener. The end face of the sliding block is provided with a sleeve, and a pusher is connected to the sleeve.

[0010] In an optional embodiment of this utility model, the front frame, the horizontal tubes and the rear frame are designed as a single unit, and a rubber sleeve is provided at the connection between the front frame and the hook. Multiple horizontal tubes are symmetrically distributed on the front frame and the rear frame.

[0011] In an optional embodiment of this utility model, the support frame is welded to the rear frame, multiple notches are equidistantly distributed on the support frame, multiple round holes are opened on the edge of the support frame, the multiple round holes are equidistantly distributed, and an anti-slip rubber strip is provided at the connection between the support frame and the modular drawer frame.

[0012] In an optional embodiment of this utility model, the cross-section of the modular drawer frame is Ω-shaped, and the edges of the modular drawer frame are provided with round holes. The modular drawer frame and the support frame are connected by bolts, nuts and anti-slip washers.

[0013] In an optional embodiment of this utility model, the fastening screw is fixed to the adjustment frame by nuts and anti-slip washers. Two fastening screws are symmetrically distributed on the end face of the adjustment frame. The fastening screw is inserted into the mounting waist hole and slides up and down along the mounting waist hole. Multiple fastening nuts and anti-slip washers are sleeved on the fastening screw. Tightening the fastening nuts will fix the fastening screw to the modular drawer frame.

[0014] In an optional embodiment of this utility model, a sliding cavity is formed inside the adjusting frame, the sliding cavity is connected to the adjusting groove, the sliding block moves along the sliding cavity, multiple circular holes are opened on the adjusting frame, and a through hole is opened on the sliding block;

[0015] In an optional embodiment of this utility model, the fixing component includes a long screw, a nut, and an anti-slip washer. The long screw is inserted into the round hole and through hole of the adjusting frame and fixed by the nut and the anti-slip washer. The sleeve and the sliding block are fixed by bolts. The sleeve moves along the adjusting groove. The sleeve and the pusher are fixed by bolts. An anti-slip rubber strip is provided at the connection between the sleeve and the pusher.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] The modular support platform design allows for quick and easy installation, disassembly, and replacement of drawer-type functional units. This design not only improves equipment maintenance efficiency but also enables the robot to rapidly change functional modules according to different operational needs, thereby achieving functional diversity and flexibility.

[0018] The drawer mechanism design enhances the structural strength of the equipment and ensures the stability of the functional units during installation. Through the use of an approximately "Ω"-shaped drawer frame cross-section and a connection method involving bolts, nuts, and anti-slip washers, the drawer mechanism maintains stable performance and is less prone to loosening during underwater operations.

[0019] The adjustable height and angle mechanism of the thrusters allows the robot to flexibly adapt to different working environments and cage shapes. This adjustability not only improves the robot's operational efficiency but also ensures its stability and reliability in complex environments. Meanwhile, the inclusion of anti-slip rubber strips further enhances the reliability of the connection between the thrusters and the equipment, as well as its shock absorption performance. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0021] Figure 2 This is a front view of the overall structure of this utility model;

[0022] Figure 3 This is a side view of the overall structure of this utility model;

[0023] Figure 4 This is a diagram illustrating the modular drawer frame, support frame, adjustment frame, and pusher of this utility model.

[0024] Figure 5 The diagram shows the adjusting frame, sliding block, sleeve, and propeller of this utility model.

[0025] In the diagram: 1. Front frame; 2. Hanging rack; 3. Hook; 4. Horizontal tube; 5. Rear frame; 6. Support frame; 7. Notch; 8. Modular drawer frame; 9. Mounting waist hole; 10. Adjustable frame; 11. Fastening screw; 12. Fastening nut; 13. Adjustment groove; 14. Sliding block; 15. Fixing piece; 16. Hoop; 17. Pusher. Detailed Implementation

[0026] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0027] like Figure 1 - Figure 5 As shown, an underwater cage cleaning robot is designed for efficient and flexible cleaning of aquaculture cages. Its main structure includes a front frame 1, a rear frame 5, a winch bracket 2, a hook 3, and a horizontal pipe 4.

[0028] Main Frame and Connections: The front frame 1 and rear frame 5 are designed in parallel and rigidly connected by multiple horizontal tubes 4, forming a stable main frame structure. These horizontal tubes 4 are typically symmetrically distributed to ensure overall rigidity and balanced stress. For easy connection with the mother ship or lifting equipment, the winch bracket 2 is fixedly installed on the front frame 1 via hooks 3. To improve the wear resistance and impact cushioning of the connection points, rubber sleeves are specially installed at the connection points between the front frame 1 and the hooks 3.

[0029] Modular support platform: A support frame 6 is welded and fixed inside the rear frame 5. This support frame 6 serves as the core modular installation platform, and multiple notches 7 are equidistantly spaced on its internal edge. These notches 7 provide interfaces for the installation of drawer-type functional units.

[0030] Drawer-type functional unit: The modular drawer frame 8 is designed to insert into the notch 7 of the support frame 6, enabling quick installation, disassembly, and replacement. To enhance structural strength and facilitate installation, the drawer frame's cross-section adopts an approximately "Ω" shaped design. The drawer frame and the support frame 6 are reliably connected via bolts and nuts through circular holes along their edges, along with anti-slip washers, ensuring they will not loosen during underwater operations. To improve assembly stability and sealing, anti-slip rubber strips are also embedded in the contact surfaces between the two components.

[0031] The height adjustment mechanism of the pusher 17: Multiple elongated mounting holes 9 are provided on the end face of the modular drawer frame 8. This is crucial for the height adjustment of the pusher 17 mounting system. The adjusting frame 10 is connected to the mounting holes 9 via two symmetrically distributed fastening screws 11. The fastening screws 11 first pass through pre-set holes in the adjusting frame 10 and are initially fixed to the adjusting frame 10 using nuts and anti-slip washers. Subsequently, the screws are inserted into the mounting holes 9 of the drawer frame. By sliding the adjusting frame 10 up and down along the holes, its height relative to the drawer frame can be changed. After determining the height, multiple fastening nuts 12 and anti-slip washers are fitted onto the fastening screws 11 and tightened to securely lock the entire adjusting frame 10 onto the modular drawer frame 8.

[0032] The angle and position adjustment mechanism for the thruster 17: The internal design of the adjustment frame 10 includes a hollow sliding cavity, with an adjustment groove 13 communicating with the sliding cavity on its end face. The sliding block 14 is housed within this sliding cavity and can move freely along its length (i.e., the direction of the adjustment groove 13). A sleeve 16 for mounting the thruster 17 extends and is fixed to the end of the sliding block 14. The sleeve 16 is rigidly connected to the sliding block 14 by bolts and moves together with it. To fix the sliding block 14 (along with the sleeve 16) to any desired position on the adjustment frame 10, corresponding circular holes and through holes are provided on the adjustment frame 10 and the sliding block 14, respectively. Fasteners 15 (typically composed of long screws, nuts, and anti-slip washers) pass through these holes and are tightened to achieve a secure lock. The thruster 17 is finally fixed within the sleeve 16 by bolts. To improve connection reliability and vibration damping, anti-slip rubber strips are also provided on the mounting contact surfaces of the sleeve 16 and the thruster 17.

[0033] Ensure the underwater cage cleaning robot and all its components (such as the thruster 17, modular drawer frame 8, etc.) are in good condition. Check all electrical connections and control systems to ensure they are fault-free. Rigidly connect the front frame 1 and rear frame 5 using multiple horizontal tubes 4 to form a stable main frame structure. Secure the winch bracket 2 to the front frame 1 using hooks 3, ensuring rubber sleeves are installed to improve wear resistance and shock absorption. Weld the support frame 6 to the inside of the rear frame 5. Insert the modular drawer frame 8 into the notch 7 of the support frame 6 and connect it securely using bolts, nuts, and anti-slip washers.

[0034] The adjusting frame 10 is connected to the mounting holes 9 of the modular drawer frame 8 via fastening screws 11. The height position of the adjusting frame 10 relative to the drawer frame is changed by sliding it, and locked using fastening nuts 12 and anti-slip washers. The sliding block 14 is placed into the sliding cavity of the adjusting frame 10 and secured in the desired position using fasteners 15. The pusher 17 is bolted to the sleeve 16, ensuring that anti-slip rubber strips are installed to improve connection reliability and shock absorption.

[0035] The assembled underwater cage cleaning robot is lowered into the water using a mother vessel or hoisting equipment. The control system activates thruster 17, moving the robot to the cage location. The height and angle of thruster 17 are adjusted as needed to ensure the robot can clean the aquaculture cages efficiently and flexibly. After completing the cleaning operation, the control system returns the robot to the mother vessel. Necessary maintenance and inspections are performed to ensure the equipment is in good working order for the next use.

[0036] Place the front frame 1 and rear frame 5 parallel to each other. Rigidly connect the front frame 1 and rear frame 5 using multiple horizontal tubes 4, ensuring symmetrical distribution to maintain overall rigidity and stress balance. Secure the winch bracket 2 to the front frame 1 using hooks 3. Ensure rubber sleeves are installed at the connection points between the front frame 1 and the hooks 3 to improve wear resistance and shock absorption. Weld a support frame 6 to the inside of the rear frame 5. Ensure multiple notches 7 are evenly spaced on the inner edge of the support frame 6 for installing drawer-type functional units.

[0037] Insert the modular drawer frame 8 into the notch 7 of the support frame 6. Connect them using bolts and nuts through the circular holes along their edges, along with anti-slip washers, ensuring a reliable connection. An elongated mounting hole 9 is made on the end face of the modular drawer frame 8. Connect the adjusting frame 10 to the mounting hole 9 using a fastening screw 11. Change the height of the adjusting frame 10 by sliding it, and lock it in place using a fastening nut 12 and anti-slip washers.

[0038] A hollow sliding cavity is designed inside the adjusting frame 10, and an adjusting groove 13 is provided. The sliding block 14 is placed into the sliding cavity and fixed in the desired position by the fastener 15. The pusher 17 is fixed in the sleeve 16 by bolts, and it is ensured that the anti-slip rubber strip is installed.

[0039] It should be noted that, in this document, relational terms such as first and second (number one, number two), etc., are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0040] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. An underwater cage cleaning robot, comprising a front frame (1), a rear frame (5), a winch bracket (2), a hook (3), and a horizontal tube (4), wherein the front frame (1) and the rear frame (5) are designed in parallel, the horizontal tube (4) is located between the front frame (1) and the rear frame (5), and the winch bracket (2) is connected to the front frame (1) via the hook (3), characterized in that: The rear frame (5) has a support frame (6) installed inside the frame, and the support frame (6) has multiple notches (7) inside the frame, and a modular drawer frame (8) is inserted and connected inside the notches (7), and the end face of the modular drawer frame (8) has multiple mounting holes (9). Multiple mounting holes (9) are connected to an adjustment frame (10) via fastening screws (11) and fastening nuts (12). An adjustment groove (13) is provided on the end face of the adjustment frame (10). A sliding block (14) is inserted into the groove of the adjustment groove (13). The sliding block (14) is connected to the adjustment frame (10) via a fixing member (15). The end face of the sliding block (14) is provided with a sleeve (16), and a pusher (17) is connected through the sleeve (16).

2. An underwater net cage cleaning robot according to claim 1, characterized in that: The front frame (1), horizontal tube (4) and rear frame (5) are designed as a whole, and a rubber sleeve is provided at the connection between the front frame (1) and the hook (3). Multiple horizontal tubes (4) are symmetrically distributed on the front frame (1) and the rear frame (5).

3. An underwater net cage cleaning robot according to claim 2, characterized in that: The support frame (6) is welded to the rear frame (5), and multiple notches (7) are equidistantly distributed on the support frame (6). Multiple round holes are opened on the edge of the support frame (6), and the multiple round holes are equidistantly distributed. Anti-slip rubber strips are provided at the connection between the support frame (6) and the modular drawer frame (8).

4. An underwater net cage cleaning robot according to claim 3, characterized in that: The modular drawer frame (8) has an "Ω" cross-section and round holes on its edges. The modular drawer frame (8) and the support frame (6) are connected by bolts, nuts and anti-slip washers.

5. An underwater net cage cleaning robot according to claim 4, characterized in that: The fastening screw (11) is fixed to the adjusting frame (10) by nuts and anti-slip washers. Two fastening screws (11) are symmetrically distributed on the end face of the adjusting frame (10). The fastening screw (11) is inserted into the mounting waist hole (9) and slides up and down along the mounting waist hole (9). Multiple fastening nuts (12) and anti-slip washers are sleeved on the fastening screw (11). Tighten the fastening nuts (12) to fix the fastening screw (11) to the modular drawer frame (8).

6. An underwater net cage cleaning robot according to claim 5, characterized in that: The adjustment frame (10) forms a sliding cavity inside, which is connected to the adjustment groove (13). The sliding block (14) moves along the sliding cavity. The adjustment frame (10) has multiple round holes, and the sliding block (14) has a through hole.

7. An underwater net cage cleaning robot according to claim 6, characterized in that: The fixing component (15) includes a long screw, a nut and an anti-slip washer. The long screw is inserted into the round hole and through hole of the adjusting frame (10) and fixed by the nut and the anti-slip washer. The sleeve (16) is fixed to the sliding block (14) by bolts. The sleeve (16) moves along the adjusting groove (13). The sleeve (16) is fixed to the pusher (17) by bolts. An anti-slip rubber strip is provided at the connection between the sleeve (16) and the pusher (17).

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