CN110918528A - Thrust adsorption net cage cleaning robot - Google Patents
Thrust adsorption net cage cleaning robot Download PDFInfo
- Publication number
- CN110918528A CN110918528A CN201911346963.6A CN201911346963A CN110918528A CN 110918528 A CN110918528 A CN 110918528A CN 201911346963 A CN201911346963 A CN 201911346963A CN 110918528 A CN110918528 A CN 110918528A
- Authority
- CN
- China
- Prior art keywords
- net cage
- rotating shaft
- thrust
- cleaning robot
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004140 cleaning Methods 0.000 title claims abstract description 67
- 238000001179 sorption measurement Methods 0.000 title claims abstract description 39
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 238000005452 bending Methods 0.000 claims abstract description 4
- 239000002775 capsule Substances 0.000 claims abstract description 4
- 238000000034 method Methods 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 claims description 2
- 238000009360 aquaculture Methods 0.000 description 7
- 244000144974 aquaculture Species 0.000 description 7
- 239000013535 sea water Substances 0.000 description 3
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 241000894006 Bacteria Species 0.000 description 1
- 241000195493 Cryptophyta Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- QVGXLLKOCUKJST-UHFFFAOYSA-N atomic oxygen Chemical compound [O] QVGXLLKOCUKJST-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 108010066114 cabin-2 Proteins 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229910052760 oxygen Inorganic materials 0.000 description 1
- 239000001301 oxygen Substances 0.000 description 1
- 244000045947 parasite Species 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 235000015170 shellfish Nutrition 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Images
Classifications
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- B08B1/32—
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63H—MARINE PROPULSION OR STEERING
- B63H25/00—Steering; Slowing-down otherwise than by use of propulsive elements; Dynamic anchoring, i.e. positioning vessels by means of main or auxiliary propulsive elements
- B63H25/42—Steering or dynamic anchoring by propulsive elements; Steering or dynamic anchoring by propellers used therefor only; Steering or dynamic anchoring by rudders carrying propellers
Abstract
The invention relates to a thrust adsorption net cage cleaning robot, which comprises: a frame; a capsule module disposed below the frame; a spiral thrust adsorption cleaning module is arranged in the frame; a buoyancy module disposed at an upper end of the frame; a traveling mechanism; the spiral thrust adsorption cleaning module comprises a rotating shaft, the bottom of the rotating shaft is provided with a blind hole along the axial direction, the blind hole and the side wall of the rotating shaft are provided with a through hole, and the through hole is communicated with high-pressure water; the blind hole is communicated with a manifold, the manifold is fixed in a cleaning disc, and the cleaning disc is fixedly connected with the rotating shaft; the end part of the manifold is provided with a bending inclination angle which enables the water jet reaction force F to form a rotation component force Fx and an axial recoil force Fy; the upper end of the rotating shaft is connected with the propeller, and the forward thrust generated by the propeller rotating along with the rotating shaft is larger than the axial recoil force Fy, so that the cleaning disc is adsorbed on the surface of the net cage.
Description
Technical Field
The invention relates to a cleaning device for a culture net cage, in particular to a thrust adsorption net cage cleaning robot, and belongs to the technical field of culture net cage cleaning.
Background
The aquaculture net cage is soaked in seawater for a long time, so that the meshes of the net cage are easy to block due to the rapid propagation of attachments such as algae, shellfish and the like, and according to investigation, the open area of the meshes of the aquaculture net cage is reduced to below 40 percent of the original open area after the aquaculture net cage is soaked in seawater for two months. The slow seawater circulation caused by the mesh blockage reduces dissolved oxygen, a large amount of bacteria and parasites are bred, the living environment of the fishes is worsened, and the death rate of cultured products is increased; meanwhile, the weight and the resistance of the aquaculture net cage are increased by the attachments, and the service life of the netting is shortened. Therefore, keeping the netting clean is an important task in the cage culture operation process. The traditional method for keeping the net cage clean mainly comprises manual cleaning, exposure of the net, replacement of the net, a medicine cleaning method, anti-pollution coating and the like, wherein the former three methods require a large amount of time, manpower and material resources; the drug cleaning method can cause damage to aquatic products cultured in the net cage; the pollution-proof coating cannot prevent all organisms from climbing, has limited action time and pollutes the environment, and is forbidden to be used in countries such as Europe, Australia and the like.
At present, the underwater cage cleaning equipment has low automation degree and is less combined with a robot. Most divers carry cleaning equipment to perform underwater operation, and generally use electric (or hydraulic) rotating brushes or high-pressure water to wash the surface of the netting. Wherein, the rotating brush is easier to remove soft biological dirt, is not easy to remove hard dirt, is easy to wear the netting and influences the service life of the netting. High-pressure water washing can generate recoil force, a diver needs to apply additional force to regulate and control the cleaning equipment, and the underwater operation difficulty is increased. In conclusion, the operation equipment in the prior art is difficult to meet the requirements of efficiency and quality when cleaning the aquaculture net cage, the difficulty of overcoming the counterforce is high, the difficulty of comprehensive cleaning is high, and the working danger of an operator is also high.
Disclosure of Invention
The invention aims to provide an underwater cleaning robot for a culture net cage, which can walk on the surface of a net coat, is designed and carried with a structural module with an adsorption function and a cavitation water jet cleaning function which are integrated, realizes adsorption and cleaning on the surface of a complex net coat, improves the cleaning work efficiency, has a simple structure, is simple and convenient to operate, and has the advantages of safety, reliability, energy conservation and the like.
The invention adopts the following technical scheme:
a thrust adsorption net cage cleaning robot comprises: a frame 1; a capsule module 2 disposed below the frame; a spiral thrust adsorption cleaning module 4 arranged in the frame 1; a buoyancy module 5 disposed at an upper end of the frame; a traveling mechanism; the spiral thrust adsorption cleaning module 4 comprises a rotating shaft, the bottom of the rotating shaft is provided with a blind hole along the axial direction, the blind hole and the side wall of the rotating shaft are provided with a through hole, and the through hole is communicated with high-pressure water; the blind holes are communicated with a manifold 4-4, the manifold 4-4 is fixed in a cleaning disc 4-3, and the cleaning disc 4-3 is fixedly connected with a rotating shaft; the end part of the manifold 4-4 is provided with a bending inclination angle which enables the water jet reaction force F to form a rotating component force Fx and an axial recoil force Fy; the upper end of the rotating shaft is connected with the propeller 4-1, and the forward thrust generated by the propeller 4-1 rotating along with the rotating shaft is larger than the axial recoil force Fy, so that the cleaning disc 4-3 is adsorbed on the surface of the net cage.
Preferably, an outer shaft sleeve 11 is arranged outside the rotating shaft, a water inlet hole for high-pressure water is formed in the outer shaft sleeve 11, and a space for temporarily storing the high-pressure water is formed between the outer shaft sleeve 11 and the rotating shaft.
Preferably, the controller and the signal receiving device are arranged in the sealed cabin module 2 and are connected with the above-water electric power, communication and high-pressure water pump through an umbilical cable, and an operator remotely controls the execution mechanism of the thrust adsorption net cage cleaning robot on a ship.
Preferably, the running mechanism is a three-wheel running mechanism arranged inside and outside the sealed cabin module.
Preferably, the front end of the frame is provided with a front camera 6-1 and a front illuminating lamp 7-1, and the rear end is provided with a rear camera (6-2) and a rear illuminating lamp 7-2.
Preferably, a depth meter, a course attitude reference system AHRS, an electric and control module, a hollow propeller shaft connecting piece, a walking driving device, a connecting piece and a sealing element are arranged in the sealed cabin module 2.
Furthermore, the three-wheel travelling mechanism comprises a travelling driving device and a connecting piece which are arranged inside the sealed cabin, left and right driving wheels which are arranged on two sides of the sealed cabin, and front wheels which are arranged at the front end of the sealed cabin; the left driving wheel and the right driving wheel adopt a differential rotation driving mode, and the front wheels are universal wheels.
Furthermore, the tail end of the manifold is provided with cavitation jet nozzles 4-5, and the cavitation jet nozzles 4-5 form a set angle with the vertical direction to form rotational flow type arrangement.
Further, an upper end cover 13 is arranged at the upper part of the outer shaft sleeve 11, and a lower end cover 8 is arranged at the lower part of the outer shaft sleeve.
The invention has the beneficial effects that:
1) the thrust adsorption mode really reduces the influence of the complex surface characteristics of the net on the adsorption performance to the minimum, simultaneously adopts the integrated design of spiral thrust adsorption and high-pressure jet flow cleaning, solves the problem of additionally installing a thrust device by utilizing the method of jet flow recoil force driving a propeller, does not need a special driving device, generates thrust by the simplest structure, realizes the surface function of the net in the rotary cleaning function and simultaneously realizes the adsorption, and simplifies the structure and the weight of the underwater cleaning robot body.
2) The traveling mechanism adopts a differential rotation driving mode, realizes steering with different radiuses by changing the speed of the left and right driving wheels, does not need a steering mechanism, has simple structure, simple control, high efficiency and low cost, and can be practically applied and popularized in the field of cage culture, and the front wheels are universal wheels and only play a supporting role;
3) can replace manual underwater operation, improve cleaning efficiency and security, and have important meaning to promoting aquaculture net cage self-cleaning technique.
Drawings
Fig. 1 is a schematic view of the overall structure of the thrust adsorption net cage cleaning robot.
Fig. 2 is a front view of the overall structure of the thrust adsorption net cage cleaning robot.
Fig. 3 is a top view of the overall structure of the thrust adsorption net cage cleaning robot.
Fig. 4 is a structural diagram of a spiral thrust adsorption cleaning module of the invention.
Fig. 5 is a structural view of a hollow propeller shaft of the present invention.
FIG. 6 is a simplified diagram of the force analysis of the screw thrust adsorption cleaning module of the present invention.
In the figure: the device comprises a frame 1, a sealed cabin module 2, a traveling mechanism with three wheels 3, a left driving wheel with 3-1, a right driving wheel with 3-2, a front wheel with 3-3, a spiral thrust adsorption cleaning module 4, a hollow propeller shaft with 4-1, a connecting through pipe with 4-2, a cleaning disc with 4-3, a manifold with 4-4, a cavitation jet nozzle with 4-5, a buoyancy module 5, a camera with 6-1 front end, a camera with 6-2 rear end, a lighting lamp with 7-1 front end, a lighting lamp with 7-2 rear end, a lower end cover 8, a delicate seal 9, a rotary seal 10, an outer shaft sleeve 11, a bearing 12, an upper end cover 13 and an inner shaft sleeve 14 for bearing positioning.
Detailed Description
The invention is further described with reference to the following figures and specific examples.
As shown in fig. 1 to 3, a thrust adsorption aquaculture net cage underwater cleaning robot comprises a frame 1, a sealed cabin module 2 arranged below the frame, a three-wheel traveling mechanism 3 arranged inside and outside the sealed cabin module 2, a spiral thrust adsorption cleaning module 4 arranged inside the frame 1, a buoyancy module 5 arranged at the upper end of the frame 1, cameras 6 arranged at the front end and the rear end of the frame 1 and an underwater illuminating lamp 7;
a depth meter, an electronic compass, an electric and control module, a hollow propeller shaft connecting piece, a walking driving device, a connecting piece and a sealing element are arranged in the sealed cabin 2;
referring to fig. 1-3, the three-wheel traveling mechanism 3 includes a traveling driving device and a connecting member arranged inside the sealed cabin, left and right driving wheels 3-1, 3-2 arranged on both sides of the sealed cabin, and a front wheel 3-3 arranged at the front end of the sealed cabin, wherein the left and right driving wheels 3-1, 3-2 adopt a differential rotation driving mode, and the front wheel 3-3 is a universal wheel;
referring to fig. 4 and 5, the screw thrust adsorption cleaning module 4 comprises a hollow propeller shaft 4-1, a connecting pipe 4-2 and a cleaning disc 4-3 arranged at the lower end of the hollow propeller shaft, a manifold 4-4 arranged at the tail end of the connecting pipe 4-2, and cavitation jet nozzles 4-5 arranged at the outlet end of a high-pressure water pipe, wherein the number of the manifold 4-4 is more than two, and the water spraying direction of the cavitation jet nozzles 4-5 forms a certain angle with the vertical direction.
With continued reference to fig. 4 and 5, the hollow propeller shaft 4-1 is connected with the driving motor and the capsule module 2 by connecting an upper end cover 13 with a lower end cover 8, a rotary sealing ring 10, a bearing 12, a static sealing ring 9, a bearing positioning inner shaft sleeve 14 and a shaft outer sleeve 11 are arranged between the upper end cover 13 and the lower end cover 8, wherein the bearing positioning inner shaft sleeve 14 and the shaft outer sleeve 11 are provided with high-pressure water inlet holes.
Referring to fig. 4 and 6, the thrust adsorption and cleaning function is implemented as follows: high-pressure water at the outlet of the high-pressure water pump on the water surface sequentially enters the hollow propeller shaft 4-1, the connecting through pipe 4-2 and the manifold 4-4 through the hose, the high-pressure water is ejected at a high speed after passing through the cavitation jet nozzle 4-5 to generate jet recoil force F, the horizontal component force Fx of the jet recoil force acts on the cleaning disc 4-3 to push the cleaning disc 4-3 to rotate and simultaneously drive the hollow propeller shaft 4-1 to rotate, the propeller rotates to generate thrust Ft which points to the net clothing cleaning surface vertically, the axial recoil force Fy can be offset, and the adsorption to the cleaning surface is realized.
While the preferred embodiments of the present invention have been described, those skilled in the art will appreciate that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides a thrust adsorbs box with a net cleaning robot which characterized in that:
the method comprises the following steps: a frame (1); a capsule module (2) arranged below the frame; a spiral thrust adsorption cleaning module (4) arranged in the frame (1); a buoyancy module (5) disposed at an upper end of the frame; a traveling mechanism;
the spiral thrust adsorption cleaning module (4) comprises a rotating shaft, the bottom of the rotating shaft is provided with a blind hole along the axial direction, the blind hole and the side wall of the rotating shaft are provided with a through hole, and the through hole is communicated with high-pressure water; the blind holes are communicated with a manifold (4-4), the manifold (4-4) is fixed in a cleaning disc (4-3), and the cleaning disc (4-3) is fixedly connected with the rotating shaft; a bending inclination angle is arranged at the end part of the manifold (4-4), and the bending inclination angle enables the water jet reaction force F to form a rotating component force Fx and an axial recoil force Fy;
the upper end of the rotating shaft is connected with a propeller (4-1), and forward thrust generated by the rotation of the propeller (4-1) along with the rotating shaft is greater than axial recoil force Fy, so that the cleaning disc (4-3) is adsorbed on the surface of the net cage.
2. The thrust adsorption net cage cleaning robot of claim 1, wherein: an outer shaft sleeve (11) is arranged outside the rotating shaft, a water inlet hole for high-pressure water is formed in the outer shaft sleeve (11), and a space for temporarily storing the high-pressure water is formed between the outer shaft sleeve (11) and the rotating shaft.
3. The thrust adsorption net cage cleaning robot of claim 1, wherein: the sealed cabin module (2) is internally provided with a controller and a signal receiving device which are connected with an above-water electric power, communication and a high-pressure water pump through an umbilical cable, and an operator remotely controls an executing mechanism of the thrust adsorption net cage cleaning robot on a ship.
4. The thrust adsorption net cage cleaning robot of claim 1, wherein: the running mechanism is a three-wheel running mechanism arranged inside and outside the sealed cabin module.
5. The thrust adsorption net cage cleaning robot of claim 1, wherein: the front end of the frame is provided with a front camera (6-1) and a front illuminating lamp (7-1), and the rear end is provided with a rear camera (6-2) and a rear illuminating lamp (7-2).
6. The thrust adsorption net cage cleaning robot of claim 1, wherein: the sealed cabin module (2) is internally provided with a depth meter, a course attitude reference system AHRS, an electric and control module, a hollow propeller shaft connecting piece, a walking driving device, a connecting piece and a sealing element.
7. The thrust adsorption net cage cleaning robot of claim 4, wherein: the three-wheel traveling mechanism comprises a traveling driving device and a connecting piece which are arranged inside the sealed cabin, left and right driving wheels which are arranged on two sides of the sealed cabin, and front wheels which are arranged at the front end of the sealed cabin; the left driving wheel and the right driving wheel adopt a differential rotation driving mode, and the front wheels are universal wheels.
8. The thrust adsorption net cage cleaning robot of claim 4, wherein: the tail end of the manifold is provided with cavitation jet nozzles (4-5), and the cavitation jet nozzles (4-5) form a set angle with the vertical direction to form rotational flow type arrangement.
9. The thrust adsorption net cage cleaning robot of claim 2, wherein: the upper part of the outer shaft sleeve (11) is provided with an upper end cover (13), and the lower part is provided with a lower end cover (8).
10. The thrust adsorption net cage cleaning robot of claim 7, wherein: the traveling mechanism adopts a differential rotation driving mode, and steering with different radiuses is realized by changing the speed of the left driving wheel and the right driving wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911346963.6A CN110918528A (en) | 2019-12-24 | 2019-12-24 | Thrust adsorption net cage cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911346963.6A CN110918528A (en) | 2019-12-24 | 2019-12-24 | Thrust adsorption net cage cleaning robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110918528A true CN110918528A (en) | 2020-03-27 |
Family
ID=69861856
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911346963.6A Pending CN110918528A (en) | 2019-12-24 | 2019-12-24 | Thrust adsorption net cage cleaning robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110918528A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112404009A (en) * | 2020-11-26 | 2021-02-26 | 潮地(杭州)餐饮娱乐管理有限公司 | Polyvinyl chloride regeneration pre-treatment equipment |
| CN113102328A (en) * | 2021-03-26 | 2021-07-13 | 哈尔滨工程大学 | Net cleaning system and method for aquaculture net cage |
| CN113247221A (en) * | 2021-07-07 | 2021-08-13 | 深之蓝海洋科技股份有限公司 | Underwater robot and lens decontamination method thereof |
| CN113369212A (en) * | 2021-08-11 | 2021-09-10 | 江苏华系医疗器械股份有限公司 | Endoscope cleaning mechanism |
| CN114802529A (en) * | 2022-04-15 | 2022-07-29 | 安徽华鲲智能技术有限公司 | Ship cleaning robot |
| CN115228845A (en) * | 2022-07-04 | 2022-10-25 | 中广核研究院有限公司 | Underwater cleaning device for interception net |
-
2019
- 2019-12-24 CN CN201911346963.6A patent/CN110918528A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112404009A (en) * | 2020-11-26 | 2021-02-26 | 潮地(杭州)餐饮娱乐管理有限公司 | Polyvinyl chloride regeneration pre-treatment equipment |
| CN113102328A (en) * | 2021-03-26 | 2021-07-13 | 哈尔滨工程大学 | Net cleaning system and method for aquaculture net cage |
| CN113102328B (en) * | 2021-03-26 | 2021-10-22 | 哈尔滨工程大学 | Net cleaning system and method for aquaculture net cage |
| CN113247221A (en) * | 2021-07-07 | 2021-08-13 | 深之蓝海洋科技股份有限公司 | Underwater robot and lens decontamination method thereof |
| CN113369212A (en) * | 2021-08-11 | 2021-09-10 | 江苏华系医疗器械股份有限公司 | Endoscope cleaning mechanism |
| CN114802529A (en) * | 2022-04-15 | 2022-07-29 | 安徽华鲲智能技术有限公司 | Ship cleaning robot |
| CN115228845A (en) * | 2022-07-04 | 2022-10-25 | 中广核研究院有限公司 | Underwater cleaning device for interception net |
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