CN115005151B - Progressive removing device and method for marine attachments of culture cabin of culture engineering ship - Google Patents
Progressive removing device and method for marine attachments of culture cabin of culture engineering ship Download PDFInfo
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- CN115005151B CN115005151B CN202210584925.XA CN202210584925A CN115005151B CN 115005151 B CN115005151 B CN 115005151B CN 202210584925 A CN202210584925 A CN 202210584925A CN 115005151 B CN115005151 B CN 115005151B
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- shellfish
- cleaning device
- bulkhead
- cylinder
- pipe
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01K—ANIMAL HUSBANDRY; CARE OF BIRDS, FISHES, INSECTS; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
- A01K63/00—Receptacles for live fish, e.g. aquaria; Terraria
- A01K63/10—Cleaning bottoms or walls of ponds or receptacles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Abstract
The invention relates to the technical field of cleaning of aquaculture water tanks, in particular to a marine attachment progressive cleaning device and a marine attachment cleaning method for an aquaculture cabin of an aquaculture worker and a marine aquaculture ship, comprising an automatic travelling mechanism, wherein a longitudinal pipe is arranged on the automatic travelling mechanism, a lifting mechanism is arranged in the longitudinal pipe, a square cavity connected with the lifting mechanism through a folding mechanism is arranged on the lifting mechanism, a movable cavity is arranged in the square cavity, a telescopic pipe penetrating through the square cavity and the movable cavity wall and connected with the movable cavity through a first spring is arranged in the movable cavity, an elastic cleaning device is arranged at one end of the telescopic pipe, a driving motor is arranged in the square cavity, a driving cylinder is arranged at one side of the driving motor, a compression cylinder and a compression plate arranged on the compression cylinder are arranged on the square cavity, a positioning device is arranged on the travelling mechanism, a recovery mechanism is further arranged on the square cavity, and the marine attachment cleaning device further comprises a first detection element, a second detection element, a controller, a visual monitoring module and a central control module.
Description
Technical Field
The invention relates to the technical field of cleaning of aquaculture water tanks, in particular to a progressive cleaning device and a progressive cleaning method for marine attachments of an aquaculture water tank of an aquaculture engineering ship.
Background
Various deep-open sea storm-resistant aquaculture engineering vessels or large net cage projects are sequentially introduced in the market at present. For example, in the project of a farming industry ship modified by a Panama dry cargo ship, the depth is approximately 20 meters, water holes are opened in the wall of a port cabin and a plurality of holds are modified into a farming fish cabin, and the farming industry ship is provided with a single-point mooring system which can rotate around a base point and float on the sea surface. At present, in the process of fishery cultivation, a cultivation ship plays a key role.
In the sea water, there are various marine animals, some of which are shellfish such as oyster, and when the fish farming ship is operated in the sea for a long time, the shellfish such as oyster will adhere to the vertical wall of the culture cabin, increasing the dead weight of the ship body and corroding the vertical wall of the culture cabin, and periodic cleaning of the vertical wall is required.
CN108482611a discloses a ship bottom cleaning device for ship navigation, which comprises a cleaning device and a base, a support column is fixedly connected with right above the base, a transverse plate is fixedly connected with the top end of the support column, a support rod is fixedly connected with the top end surface of the transverse plate, a ball joint is fixedly connected with the top end of the support rod, a connecting rod is fixedly connected with the top end of the ball joint, a sleeve rod is arranged on the outer side of the support rod, a sleeve is sleeved on the top end of the sleeve rod, a compression spring is arranged on the outer side of the sleeve rod, and a connecting piece is fixedly connected with the top end of the sleeve rod.
At present, in the cleaning work of the vertical wall of the culture cabin, a cleaning method of cleaning by using the underwater robot and the high-pressure water gun in a matching way is also available, but after water is sprayed, the underwater robot is easily influenced by the reaction force of the high-pressure water gun, and the displacement and the cleaning position are unstable, so that the cleaning effect cannot be ensured. There is also a method of knocking attachments on the vertical wall of the culture tank using a submerged robot, but the method has a certain limitation in use in that damage to the vertical wall of the culture tank is easily caused.
Disclosure of Invention
Aiming at the problems and the defects in the prior art, the marine attachment progressive cleaning device and the marine attachment progressive cleaning method for the culture cabin of the culture worker and the marine attachment progressive cleaning method can automatically and accurately clean attachments on the vertical wall of the culture cabin in real time without damaging the vertical wall of the culture cabin.
In order to solve the technical problems, the technical scheme adopted by the invention is that the marine attachment progressive cleaning device of the culture cabin of the culture vessel comprises an automatic travelling mechanism, a longitudinal pipe is arranged on the automatic travelling mechanism, a lifting mechanism is arranged in the longitudinal pipe, a square cavity connected with the lifting mechanism through a folding mechanism is arranged on the lifting mechanism, a movable cavity is arranged in the square cavity, a telescopic pipe which penetrates through the square cavity and the cavity wall of the movable cavity and is connected with the movable cavity through a first spring is arranged in the movable cavity, an elastic cleaning device for cleaning shellfish is arranged at one end of the telescopic pipe, a driving motor for rotating the movable cavity is arranged in the square cavity, a driving cylinder for driving the square cavity to reciprocate is arranged at one side of the driving motor, a compressing cylinder for compressing the telescopic pipe and a compressing plate arranged on the compressing cylinder are arranged on the square cavity, a positioning device for positioning the automatic travelling mechanism when the automatic travelling mechanism walks to a preset position is arranged on the travelling mechanism, a recovery mechanism for recovering shellfish bulkhead after the elastic cleaning device cleans the shellfish, the device also comprises a first detection element for detecting the distance between the elastic cleaning device and the shellfish bulkhead, a first detection element for detecting the shellfish bulkhead for detecting the distance, a visual signal is used for a central control module for monitoring a signal to be in contact with a central control module, a visual signal receiving the first detection module for a central control module for a monitor module, a visual signal is attached to the central control module for a monitor module, a central control module for receiving the signal is used for sending the central control module, and a signal is used for receiving the central control signal, and a signal is used for a central control module, and a visual signal is used for receiving and a signal for receiving the central control module is used for a signal for receiving the signal for a monitor, the controller sends a start signal to the automatic travelling mechanism to travel to the position below the bulkhead attaching position, and sends a start signal to the positioning device to position the automatic travelling mechanism, and sends a start signal to the compressing cylinder to compress the telescopic tube, when the automatic travelling mechanism travels to the position below the bulkhead attaching position, the controller sends a stop signal to the automatic travelling mechanism, and sends a start signal to the lifting mechanism to drive the elastic cleaning device to travel to the position where the shellfish attaches to the bulkhead, when the lifting mechanism drives the elastic cleaning device to travel to the position where the shellfish attaches to the bulkhead, the controller sends a start signal to the driving cylinder to drive the movable cavity to enable the elastic cleaning device to be in contact with the shellfish, when the elastic cleaning device is in contact with the shellfish, the second detection element sends a signal to the controller, the controller receives a stop signal to the driving cylinder, and sends a reset signal to the compressing cylinder, at the moment, the first spring drives the telescopic tube to move forward, when the first detection element detects that the elastic cleaning device reaches a preset distance from the bulkhead, the controller sends a start signal to compress the telescopic tube, when the compressing cylinder compresses the telescopic tube, the lifting mechanism drives the motor to the movable cavity to drive the movable cavity to contact the shellfish, when the elastic cleaning device is in contact with the bulkhead, the shellfish is recovered from the bulkhead rotating device, the controller sends a reset signal to the elastic cleaning device, and the shellfish is recovered from the bulkhead rotating device, and the controller is recovered after the controller is rotated to the device.
The marine attachment progressive cleaning device for the culture cabin of the culture engineering ship comprises a plurality of arc rods which are correspondingly arranged and used for coating shellfish, and a plurality of elastic supporting pieces which are arranged in the telescopic pipes and used for connecting the arc rods with the telescopic pipes.
The marine attachment progressive cleaning device for the culture cabin of the culture engineering and the marine vessel comprises a fixing pipe on the inner wall of the telescopic pipe and a telescopic rod arranged in the fixing pipe, wherein a second spring for connecting the fixing pipe and the telescopic rod is arranged between the fixing pipe and the telescopic rod.
The marine attachment progressive cleaning device for the culture cabin of the culture engineering ship comprises a longitudinal cavity arranged on one side wall of a longitudinal pipe and a first sliding rail arranged on one side wall of the longitudinal pipe, wherein a first sliding block connected with the square cavity is arranged on the first sliding rail, a lifting cylinder connected with the lower bottom of the first sliding block is arranged at the bottom of the longitudinal pipe, and the controller sends signals to the lifting cylinder.
The marine attachment progressive cleaning device for the culture cabin of the culture engineering ship is characterized in that a second sliding rail is arranged on the bottom wall of the movable cavity, and a second sliding block connected with the telescopic pipe is arranged on the second sliding rail.
The marine attachment progressive cleaning device for the culture cabin of the culture engineering and ship comprises a first fixing plate and a second fixing plate which are correspondingly arranged on a first sliding block, a rotating shaft used for connecting the first fixing plate and the second fixing plate is arranged between the first fixing plate and the second fixing plate, a motor connected with the rotating shaft is arranged on the first fixing plate, a square cavity is arranged on the rotating shaft, and the controller sends signals to the motor.
The marine attachment progressive cleaning device for the culture cabin of the culture engineering ship comprises L-shaped pipe bodies which are correspondingly arranged on two sides of the automatic travelling mechanism, a positioning cylinder is arranged in each L-shaped pipe body, a positioning pipe which is slidably connected with the inner wall of each L-shaped pipe body is arranged on each positioning cylinder, a positioning plate is arranged at the bottom of each positioning pipe, and the controller sends signals to each positioning cylinder.
The marine attachment progressive cleaning device for the culture cabin of the culture engineering ship comprises a recovery cylinder, a recovery box arranged on the recovery cylinder, an opening and closing plate used for being opened when shellfish is recovered, and an opening and closing cylinder used for driving the opening and closing plate to operate is arranged on the recovery box, and the controller sends signals to the opening and closing cylinder.
The method for cleaning the marine attachment progressive cleaning device of the culture cabin of the culture engineering ship comprises the following steps:
(1) Visually monitoring the attachment position of the shellfish on the bulkhead;
(2) Driving the square cavity to be horizontal according to the shellfish attaching position monitored in the step (1) in the bulkhead attaching position, and automatically walking to the position below the bulkhead attaching position and positioning the shellfish at the position;
(3) The elastic cleaning device moves to the position where the shellfish is attached to the bulkhead, and the driving cylinder drives the elastic cleaning device to move forward and gradually contact with the shellfish;
(4) When the elastic cleaning device is contacted with the shellfish, the driving cylinder stops driving the elastic cleaning device to move forwards;
(5) The first spring drives the elastic cleaning device to continue to move forwards;
(6) The distance between the elastic cleaning device and the bulkhead reaches a preset distance, and the first spring stops driving the elastic cleaning device to continue to move forwards;
(7) Driving the elastic cleaning device to rotate to clean the shellfish from the bulkhead;
(8) After the shellfish is removed from the bulkhead by the elastic cleaning device, the shellfish is recovered;
(9) Resetting the square cavity and releasing the positioning.
According to the marine attachment progressive cleaning device and the marine attachment cleaning method for the culture cabin of the culture worker and the marine attachment progressive cleaning device, the real-time automatic and accurate cleaning of the attachments on the vertical wall of the culture cabin is realized through the real-time cooperation of the visual monitoring module, the central control module and the controller, so that the manual labor amount is reduced, and the cleaning efficiency is improved.
The sectional type of the elastic cleaning device is adopted to move forward, so that not only can the cleaning of shellfish attachments with different sizes be met, but also the shellfish attachments are ensured to be cleaned, and meanwhile, the shellfish attachments are not contacted with the bulkhead, and the bulkhead is prevented from being damaged.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is an enlarged view of a portion A of FIG. 1;
FIG. 3 is a schematic view of the connection of the arcuate lever to the resilient support;
FIG. 4 is a front view of a corresponding arrangement of arcuate bars;
FIG. 5 is a schematic view of the structure of the longitudinal cavity;
FIG. 6 is a top view of the folding mechanism;
FIG. 7 is a schematic view of the structure of the recovery mechanism connected with the square cavity 3;
fig. 8 is a schematic view of the internal structure of the automatic walking mechanism.
Detailed Description
The present invention will be described in detail with reference to specific examples.
As shown in the figure, the marine attachment progressive cleaning device for the culture cabin of the culture engineering and ship comprises an automatic travelling mechanism 1, wherein a longitudinal pipe 2 is arranged on the automatic travelling mechanism 1, a lifting mechanism is arranged in the longitudinal pipe 2, a square cavity 3 is arranged on the lifting mechanism, a movable cavity 4 is arranged in the square cavity 3, a telescopic pipe 6 which penetrates through the cavity walls of the square cavity 3 and the movable cavity 4 and is connected with the movable cavity 4 through a first spring 5 is arranged in the movable cavity 4, an elastic cleaning device 7 for cleaning shellfish is arranged at one end of the telescopic pipe 6, a driving motor 8 for rotating the movable cavity 4 is arranged in the square cavity 3, a driving cylinder 9 for driving the square cavity 3 to reciprocate is arranged at one side of the driving motor 8, a compression cylinder 10 for compressing the telescopic pipe 6 and a compression plate 11 arranged on the compression cylinder 10 are arranged on the square cavity 3, and when the automatic travelling mechanism walks to a preset position, the positioning device for positioning the automatic travelling mechanism is further provided with a recovery mechanism for recovering the shellfish after the shellfish is removed by the elastic cleaning device, the positioning device also comprises a first detection element for detecting the distance between the elastic cleaning device 7 and the bulkhead, a second detection element for detecting the contact between the elastic cleaning device and the shellfish, and a controller, wherein the controller is a PLC, the first detection element and the second detection element are both distance sensors, the positioning device also comprises a visual monitoring module for monitoring the attachment position of the shellfish on the bulkhead, and a central control module for receiving the data of the visual monitoring module and being in signal connection with the controller, the visual monitoring module is an underwater camera, the visual monitoring module sends information to the central control module after monitoring the attachment position of the shellfish on the bulkhead, the central control module sends signals to the controller, after the controller receives the signal, send the starting signal to the folding mechanism, send the starting signal to the automatic running mechanism and walk to the shellfish below the bulkhead attached position, and send the starting signal to the positioning device and fix the automatic running mechanism, and send the starting signal to the compressing cylinder, compress tightly the flexible pipe, after the automatic running mechanism walks to the shellfish below the bulkhead attached position, the controller sends the stop signal to the automatic running mechanism, send the starting signal to the elevating mechanism to drive the elastic cleaning device to move to the shellfish at the bulkhead attached position, after the elevating mechanism drives the elastic cleaning device to move to the shellfish attached position, the controller sends the starting signal to the driving cylinder to drive the movable cavity to drive the elastic cleaning device to contact with the shellfish, when the elastic cleaning device contacts with the shellfish, the controller receives the signal, send the stop signal to the driving cylinder, and send the reset signal to the compressing cylinder, at this moment, the first spring drives the flexible pipe to move forward, when the first detecting element detects that the distance between the elastic cleaning device and the bulkhead reaches the preset distance, the controller sends the starting signal to the controller, the controller sends the starting signal to compress tightly the flexible pipe, after the compressing motor drives the elastic cleaning device to drive the flexible pipe, and the motor rotates to drive the movable cavity from the bulkhead to clean the shellfish. The automatic and accurate real-time cleaning of attachments on the vertical wall of the culture cabin is realized, the manual labor is reduced, and the cleaning efficiency is improved. When the elastic cleaning device cleans the shellfish from the bulkhead, the controller sends a starting signal to the recovery mechanism to recover the shellfish, and when the recovery mechanism recovers the shellfish, the controller sends a reset signal to the recovery mechanism, the folding mechanism and the positioning device.
The elastic cleaning device 7 comprises a plurality of arc rods 12 which are correspondingly arranged and used for coating shellfish, and a plurality of elastic supporting pieces which are arranged in the telescopic tubes 12 and used for connecting each arc rod 12 with the telescopic tube 6.
The elastic support comprises a fixed pipe 13 on the inner wall of the telescopic pipe 6 and a telescopic rod 14 arranged in the fixed pipe 13, and a second spring 15 for connecting the fixed pipe 13 and the telescopic rod 14 is arranged between the fixed pipe and the telescopic rod 14.
Not only can the cleaning of shellfish attachments with different sizes be satisfied, but also the shellfish attachments are ensured to be cleaned, and meanwhile, the shellfish attachments are not contacted with the bulkhead, so that the bulkhead is prevented from being damaged.
The lifting mechanism comprises a longitudinal cavity 16 arranged on one side wall of the longitudinal pipe 2 and a first sliding rail 17 arranged on one side wall of the longitudinal pipe 2, a first sliding block 18 connected with the square cavity 3 is arranged on the first sliding rail 17, a lifting cylinder 19 connected with the lower bottom of the first sliding block 18 is arranged at the bottom of the longitudinal pipe 2, and the controller sends signals to the lifting cylinder 19.
A second slide rail 20 is arranged on the bottom wall of the movable cavity 4, and a second slide block 21 connected with the telescopic pipe 6 is arranged on the second slide rail 20.
The folding mechanism comprises a first fixed plate 22 and a second fixed plate 23 which are correspondingly arranged on the first sliding block 18, a rotating shaft 24 for connecting the first fixed plate 22 and the second fixed plate 23 is arranged between the first fixed plate 22 and the second fixed plate 23, a motor 32 connected with the rotating shaft 24 is arranged on the first fixed plate 22, the square cavity 3 is arranged on the rotating shaft 24, and the controller sends signals to the motor 32. The square cavity 3 is provided with a third detecting element and a fourth detecting element for detecting the distance between the square cavity 3 and the longitudinal tube 2, when the third detecting element reaches a preset detecting distance, the distance is that the square cavity 3 is in a horizontal state, a signal is sent to the controller, the controller sends a stop signal to the motor 32, after shellfish is recovered by the recovery mechanism, the controller sends a reset signal to the motor 32 to enable the square cavity 3 to rotate, when the fourth detecting element detects a preset rotating value position of the square cavity 3, the square cavity 3 is parallel to the longitudinal tube 2, a signal is sent to the controller, and the controller sends the stop signal to the motor 32. The third detection element and the fourth detection element are distance sensors, and the folding mechanism is arranged so as not to obstruct the swimming of fish.
The positioning device comprises L-shaped pipe bodies 25 which are correspondingly arranged on two sides of the automatic travelling mechanism, positioning air cylinders are arranged in the L-shaped pipe bodies 25, positioning pipes 26 which are slidably connected with the inner walls of the L-shaped pipe bodies 25 are arranged on the positioning air cylinders, and positioning plates 27 are arranged at the bottoms of the positioning pipes 26, and the controller sends signals to the positioning air cylinders. The positioning mechanism is arranged, so that the stability of the automatic running mechanism 1 is improved, and the influence of shellfish recoil force on the automatic running mechanism 1 during cleaning by the elastic cleaning device 7 is prevented.
The recovery mechanism comprises a recovery cylinder 28, a recovery box 29 arranged on the recovery cylinder 28, an opening and closing plate 30 used for being opened when shellfish is recovered, and an opening and closing cylinder 31 used for driving the opening and closing plate 30 to operate is arranged on the recovery box 29, and the controller sends a signal to the opening and closing cylinder 31.
The automatic travelling mechanism can be an existing underwater robot, or as shown in fig. 8, a box 33 is provided, two parallel first shafts 34 are provided in the box 33, two parallel second shafts 35 are provided below the first shafts 34, a first gear 36 and a second gear 37 are provided on the first and second shafts respectively, a first mobile motor 38 connected with a controller signal is provided on one side of the first gear 36, a second mobile motor 39 connected with the controller signal is provided on one side of the second gear 32, rollers 42 are provided on both sides of the first and second shafts respectively, and a third gear 40 and a fourth gear 41 for meshing with the first and second gears are provided on the first and second mobile motors respectively. Depending on the position of the shellfish, the controller sends an on-off signal to either the first movement motor 38 or the second movement motor 39.
The method for cleaning the marine attachment progressive cleaning device of the culture cabin of the culture engineering ship comprises the following steps:
(1) Visually monitoring the attachment position of the shellfish on the bulkhead;
(2) Automatically walking the shellfish at the bulkhead attachment position according to the shellfish monitored in the step (1) to the position below the bulkhead attachment position;
(3) The elastic cleaning device moves to the position where the shellfish is attached to the bulkhead, and the driving cylinder drives the elastic cleaning device to move forward and gradually contact with the shellfish;
(4) When the elastic cleaning device is contacted with the shellfish, the driving cylinder stops driving the elastic cleaning device to move forwards;
(5) The first spring drives the elastic cleaning device to continue to move forwards;
(6) The distance between the elastic cleaning device and the bulkhead reaches a preset distance, and the first spring stops driving the elastic cleaning device to continue to move forwards;
(7) And driving the elastic cleaning device to rotate to clean the shellfish from the bulkhead.
Of course, the above description is not intended to limit the invention to the particular embodiments disclosed, but the invention is not limited to the particular embodiments disclosed, as variations, modifications, additions or substitutions within the spirit and scope of the invention will become apparent to those of ordinary skill in the art.
Claims (6)
1. Marine attachment progressive clearing device of cabin is bred to breed worker's ship, including automatic running gear, its characterized in that: the automatic walking mechanism is provided with a longitudinal pipe, a lifting mechanism is arranged in the longitudinal pipe, a square cavity connected with the lifting mechanism through a folding mechanism is arranged on the lifting mechanism, a movable cavity is arranged in the square cavity, a telescopic pipe which penetrates through the square cavity and the movable cavity wall and is connected with the movable cavity through a first spring is arranged in the movable cavity, an elastic cleaning device for cleaning shellfish is arranged at one end of the telescopic pipe, a driving motor for rotating the movable cavity is arranged in the square cavity, a driving cylinder for driving the movable cavity to reciprocate is arranged at one side of the driving motor, a compression cylinder for compressing the telescopic pipe and a compression plate arranged on the compression cylinder are arranged on the movable cavity, a positioning device for positioning the automatic walking mechanism when the automatic walking mechanism walks to a preset position is arranged on the walking mechanism, an elastic cleaning device for cleaning shellfish is also arranged on the square cavity, the shellfish recycling mechanism also comprises a first detection element for detecting the distance between the elastic cleaning device and the bulkhead, a second detection element for detecting the contact between the elastic cleaning device and the shellfish, a controller, a vision monitoring module for monitoring the attachment position of the shellfish at the bulkhead, and a central control module for receiving the data of the vision monitoring module and being in signal connection with the controller, wherein the vision monitoring module monitors the shellfish at the attachment position of the bulkhead and sends information to the central control module, the central control module sends a signal to the controller, the controller sends a starting signal to the folding mechanism after receiving the signal, sends a starting signal to the automatic travelling mechanism to travel to the shellfish below the attachment position of the bulkhead and sends the starting signal to the positioning device to position the automatic travelling mechanism and sends the starting signal to the compressing cylinder, the method comprises the steps that a telescopic pipe is compressed, when an automatic travelling mechanism walks to the position below a bulkhead attachment position of a shellfish, a controller sends a stop signal to the automatic travelling mechanism, and sends a start signal to a lifting mechanism to drive an elastic cleaning device to run to the bulkhead attachment position of the shellfish, when the lifting mechanism drives the elastic cleaning device to run to the bulkhead attachment position of the shellfish, the controller sends a start signal to a driving cylinder to drive a movable cavity to enable the elastic cleaning device to contact the shellfish, when the elastic cleaning device contacts the shellfish, a second detection element sends a signal to the controller, after the controller receives the signal, the controller sends a stop signal to the driving cylinder and sends a reset signal to a compressing cylinder, at the moment, a first spring drives the telescopic pipe to move forwards, when the first detection element detects that the distance between the elastic cleaning device and the bulkhead reaches a preset distance, the controller sends the start signal to compress the telescopic pipe, when the compressing cylinder compresses the shellfish, the controller sends the start signal to a driving motor to drive the movable cavity to rotate, the elastic cleaning device clears the shellfish from the bulkhead, and after the elastic cleaning device clears the shellfish from the bulkhead, the controller sends the start signal to the driving cylinder, and sends a reset signal to the compressing mechanism, and the controller sends the reset signal to the shellfish recovery mechanism to recover mechanism; the elastic cleaning device comprises a plurality of arc rods which are correspondingly arranged and used for coating shellfish, and a plurality of elastic supporting pieces which are arranged in the telescopic pipe and used for connecting each arc rod with the telescopic pipe; the elastic support piece comprises a fixed pipe on the inner wall of the telescopic pipe and a telescopic rod arranged in the fixed pipe, and a second spring for connecting the fixed pipe and the telescopic rod is arranged between the fixed pipe and the telescopic rod; the folding mechanism comprises a first fixed plate and a second fixed plate which are correspondingly arranged on the first sliding block, a rotating shaft used for connecting the first fixed plate and the second fixed plate is arranged between the first fixed plate and the second fixed plate, a motor connected with the rotating shaft is arranged on the first fixed plate, the square cavity is arranged on the rotating shaft, and the controller sends signals to the motor.
2. The marine attachment progressive cleaning device for a culture cabin of a culture engineering ship according to claim 1, wherein the lifting mechanism comprises a longitudinal cavity arranged on one side wall of the longitudinal pipe and a first sliding rail arranged on one side wall of the longitudinal pipe, a first sliding block connected with the square cavity is arranged on the first sliding rail, a lifting cylinder connected with the bottom of the first sliding block is arranged at the bottom of the longitudinal pipe, and the controller sends signals to the lifting cylinder.
3. The marine attachment progressive cleaning device for the culture cabin of the culture engineering and the ship according to claim 2, wherein a second sliding rail is arranged on the bottom wall of the movable cavity, and a second sliding block connected with the telescopic pipe is arranged on the second sliding rail.
4. The marine attachment progressive cleaning device for the culture cabin of the culture engineering and the ship according to claim 3, wherein the positioning device comprises L-shaped pipe bodies correspondingly arranged on two sides of the automatic travelling mechanism, a positioning cylinder is arranged in the L-shaped pipe bodies, a positioning pipe which is in sliding connection with the inner wall of the L-shaped pipe body is arranged on the positioning cylinder, a positioning plate is arranged at the bottom of the positioning pipe, and the controller sends signals to the positioning cylinder.
5. The marine attachment progressive cleaning device for a culture cabin of a culture engineering ship according to claim 4, wherein the recovery mechanism comprises a recovery cylinder, a recovery box arranged on the recovery cylinder, and an opening and closing plate for opening when shellfish is recovered and closing after shellfish recovery is finished, wherein the recovery box is provided with an opening and closing cylinder for driving the opening and closing plate to operate, and the controller sends a signal to the opening and closing cylinder.
6. A method for cleaning marine attachment progressive cleaning apparatus for a culture tank of a culture vessel according to any one of claims 1-5, characterized in that: the method comprises the following steps:
(1) Visually monitoring the attachment position of the shellfish on the bulkhead;
(2) Driving the square cavity to be horizontal according to the shellfish attaching position monitored in the step (1) in the bulkhead attaching position, and automatically walking to the position below the bulkhead attaching position and positioning the shellfish at the position;
(3) The elastic cleaning device moves to the position where the shellfish is attached to the bulkhead, and the driving cylinder drives the elastic cleaning device to move forward and gradually contact with the shellfish;
(4) When the elastic cleaning device is contacted with the shellfish, the driving cylinder stops driving the elastic cleaning device to move forwards;
(5) The first spring drives the elastic cleaning device to continue to move forwards;
(6) The distance between the elastic cleaning device and the bulkhead reaches a preset distance, and the first spring stops driving the elastic cleaning device to continue to move forwards;
(7) Driving the elastic cleaning device to rotate to clean the shellfish from the bulkhead;
(8) After the shellfish is removed from the bulkhead by the elastic cleaning device, the shellfish is recovered;
(9) Resetting the square cavity and releasing the positioning.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210584925.XA CN115005151B (en) | 2022-05-26 | 2022-05-26 | Progressive removing device and method for marine attachments of culture cabin of culture engineering ship |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210584925.XA CN115005151B (en) | 2022-05-26 | 2022-05-26 | Progressive removing device and method for marine attachments of culture cabin of culture engineering ship |
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| CN115005151A CN115005151A (en) | 2022-09-06 |
| CN115005151B true CN115005151B (en) | 2023-08-04 |
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| CN112806319A (en) * | 2021-03-23 | 2021-05-18 | 深圳市成荣源科技有限公司 | Clean economizer of pond bottom siphon breeds pond |
| CN113914630A (en) * | 2021-09-26 | 2022-01-11 | 青岛一建集团有限公司 | Self-walking type steel bar binding device for construction site and binding method thereof |
| CN113787067A (en) * | 2021-10-22 | 2021-12-14 | 武汉康生源生态农业有限公司 | Underwater dirt removing and sucking robot and system for aquaculture |
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