CN205308912U - Etting cleaning robot under water - Google Patents
Etting cleaning robot under water Download PDFInfo
- Publication number
- CN205308912U CN205308912U CN201620089444.1U CN201620089444U CN205308912U CN 205308912 U CN205308912 U CN 205308912U CN 201620089444 U CN201620089444 U CN 201620089444U CN 205308912 U CN205308912 U CN 205308912U
- Authority
- CN
- China
- Prior art keywords
- propeller
- frame
- under water
- net
- cleaning machine
- 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.)
- Withdrawn - After Issue
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Classifications
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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 utility model discloses an etting cleaning robot under water, which comprises a frame. Rack -mounted advancing mechanism, this advancing mechanism is including being used for a vertical removal of drive chassis or a vertical pivoted advancing mechanism, being used for drive chassis horizontal migration or level to rotate the 2nd advancing mechanism, rack -mounted wiper mechanism, this wiper mechanism include the pivoted pivot by motor drive, and the one end of pivot is fixed with a brush head, and the brush head is located the front side of frame, rack -mounted controller, controller are used for controlling advancing mechanism and the wiper mechanism moves, the utility model discloses can carry out self - cleaning to the etting of underwater aquaculture net case for do not need periodic replacement aquaculture net case, can do not cause the pollution to the environment, do not wash that the cost is lower, the cleaning efficiency is higher.
Description
Technical field
This utility model relates to one net clothing cleaning machine device people under water.
Background technology
Progressively adjustment along with China's fishery constitution, Deep sea net cage cultivation is developed rapidly, after particularly introducing Deep sea net cage cultural technique from Norway first from Hainan Province of China in 1998, this technology is at the continuous Popularization And Development of China coast, and is listed in country's research in new high-tech development plan " 863 " project. But Deep sea net cage technology there is also many imperfection parts, has further reinforcement. Such as, it is subjected to halobiontic seeking connections with during Deep sea net cage cultivation grow, the stained attachment in sea area not only affects water body exchange inside and outside net cage, and add the current pressure to net cage, it is also possible to be adhered to by duricrust shellfishes such as Concha Ostreaes, these problems will cause etting weightening finish and untoward reaction, even etting structure be damaged, and which increase the risk that Fish escape. So must assure that the cleaning of the etting of aquaculture net cage, to guarantee the natural flow of sea water, fish is made to be in the growing environment of the best.
At present, conventional aquaculture net cage type has gravity type floating net cage and drift line type net cage etc. entirely, and this kind of net cage is all static type net cage, anti-red tide ability, offshore pollution is comparatively serious, it is impossible to scale and centralized management, cleans difficulty big. The anti-fouling method that this kind of aquaculture net cage is conventional mainly has: 1, adopting periodic replacement, clean net cage, the method very easily causes the intrusion of fish body external lesional, pest and disease damage; 2, nettle surface is coated with one layer of anti-halobios adhersion coating, and the anti-halobios adhersion technology of early stage adopts the method adding in netting gear by organic metal class, but paralic environment can be caused severe contamination by heavy metal ion. Using inorganic elements coating in recent years instead, but novel anti-halobios adhersion technology is at present at home also in the development test stage, abroad because test effect is not good and expensive, most of raisers cannot accept; 3, adopting diver regularly to pull the plug to remove contamination, this method must be equipped with the diver of specialty, and raiser's input cost is too big.
Utility model content
Technical problem to be solved in the utility model is, one net clothing cleaning machine device people under water is provided, the etting of aquaculture net cage under water can be cleaned by automatically so that need not regularly replace aquaculture net cage, will not to environment, clean less costly, cleaning efficiency is higher.
For solving above-mentioned technical problem, the device people of net clothing cleaning machine under water that this utility model provides, including:
Frame;
Rack-mounted propulsive mechanism, this propulsive mechanism includes the first propulsive mechanism for driving frame vertically to move or vertically rotating, for driving rack level to move or horizontally rotating the second propulsive mechanism;
Rack-mounted wiper mechanism, the rotating shaft that this wiper mechanism includes being driven by motor and rotates, one end of rotating shaft is fixed with a brush, and brush is positioned at the front side of frame;
Rack-mounted controller, controller is used for controlling propulsive mechanism and wiper mechanism action.
As preferably, described frame includes the first parallel erecting bed and the second erecting bed, and the first propulsive mechanism is arranged on the first erecting bed, and the second propulsive mechanism is arranged on the second erecting bed.
As preferably, the first described propulsive mechanism includes the first propeller of rectangular distribution, the second propeller, triple screw and the 4th propeller, first propeller and the second propeller are that diagonal angle is arranged, first propeller and the second angle of rake direction of propulsion are all towards the lower section of frame, triple screw and the 4th propeller are that diagonal angle is arranged, triple screw and the 4th angle of rake direction of propulsion are all towards the top of frame, and the first propeller and the 4th propeller are near the front side of frame.
As preferably, the second described propulsive mechanism includes the 5th propeller of rectangular distribution, the 6th propeller, the 7th propeller and the 8th propeller, 6th propeller and the 7th propeller are near the front side of frame, 6th propeller and the 7th angle of rake direction of propulsion are all towards the front of frame, 5th propeller and the 8th propeller are near the rear side of frame, and the 5th propeller and the 8th angle of rake direction of propulsion are all towards the rear of frame.
After adopting above structure, this utility model compared with prior art, has the advantage that
The device people of net clothing cleaning machine under water of the present utility model can be passed through the first propulsive mechanism and drives frame vertically to move or vertically rotate, being driven by the second propulsive mechanism rack level move or horizontally rotate, so, this under water net clothing cleaning machine device people just can move freely under water, thus can so that the various piece of the etting of aquaculture net cage be carried out by the brush of this net clothing cleaning machine device people under water so that need not regularly replace aquaculture net cage, will not to environment, clean less costly, cleaning efficiency is higher.
Accompanying drawing explanation
Fig. 1 is the structural representation of net clothing cleaning machine device people under water;
Fig. 2 is the top view of net clothing cleaning machine device people under water;
Fig. 3 is the structural representation of the etting of aquaculture net cage;
Fig. 4 is the rearview of the etting of aquaculture net cage.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, this utility model is described in more detail.
Front, rear, left and right as shown in Figure 2 are corresponding to the direction, front, rear, left and right of net clothing cleaning machine device people under water.
Shown in Fig. 1, Fig. 2, this utility model net clothing cleaning machine device people under water includes frame 1, the propulsive mechanism being arranged in frame 1, the wiper mechanism being arranged in frame 1, the controller that is arranged in frame 1.
This propulsive mechanism includes the first propulsive mechanism for driving frame 1 vertically to move or vertically rotating, for driving frame 1 to move horizontally or horizontally rotating the second propulsive mechanism.
The rotating shaft 2 that this wiper mechanism includes being driven by motor 4 and rotates, one end of rotating shaft 2 is fixed with a brush 3, brush 3 is positioned at the front side of frame 1, brush 3 is fixedly installed a brush seat 301, brush seat 301 is provided with a notch, one end of rotating shaft 2 is assemblied in this notch and makes rotating shaft 2 fixing with brush seat 301 by a bolt, thus makes that rotating shaft 2 is dismountable with brush 3 to be connected, and is convenient for changing brush 3.
Controller is used for controlling propulsive mechanism and wiper mechanism action.
Described frame 1 includes the first parallel erecting bed 5 and the second erecting bed 6, first erecting bed 5 is connected by many connecting rods 7 with the second erecting bed 6, first propulsive mechanism is arranged on the first erecting bed 5, second propulsive mechanism is arranged on the second erecting bed 6, so, first propulsive mechanism and the second propulsive mechanism are separately positioned on the first erecting bed 5 and the second erecting bed 6, the installing space making the first propulsive mechanism and the second propulsive mechanism is bigger, it is simple to the installation of the first propulsive mechanism and the second propulsive mechanism.
The first described propulsive mechanism includes the first propeller 501 of rectangular distribution, second propeller 502, triple screw 503 and the 4th propeller 504, first propeller 501 and the second propeller 502 are arranged in diagonal angle, the direction of propulsion of the first propeller 501 and the second propeller 502 is all towards the lower section of frame 1, triple screw 503 and the 4th propeller 504 are arranged in diagonal angle, the direction of propulsion of triple screw 503 and the 4th propeller 504 is all towards the top of frame 1, first propeller 501 and the 4th propeller 504 are near the front side of frame 1, so, when when the first propeller 501 and the second propeller 502 work, all the other propellers do not work, frame 1 moves down, when when triple screw 503 and the 4th propeller 504 work, all the other propellers do not work, frame 1 moves up, when when the second propeller 502 and the 4th propeller 504 work, all the other propellers do not work, frame 1 overturns, make brush 3 upward.
The second described propulsive mechanism includes the 5th propeller 601 of rectangular distribution, 6th propeller 602, 7th propeller 603 and the 8th propeller 604, 6th propeller 602 and the 7th propeller 603 are near the front side of frame 1, the direction of propulsion of the 6th propeller 602 and the 7th propeller 603 is all towards the front of frame 1, 5th propeller 601 and the 8th propeller 604 are near the rear side of frame 1, the direction of propulsion of the 5th propeller 601 and the 8th propeller 604 is all towards the rear of frame 1, so, when when the 6th propeller 602 and the 7th propeller 603 work, all the other propellers do not work, frame 1 moves forward, when when the 5th propeller 601 and the 8th propeller 604 work, all the other propellers do not work, frame 1 is moved rearwards by, when when the 6th propeller 602 and the 8th propeller 604 work, all the other propellers do not work, frame 1 is moved to the left, when when the 5th propeller 601 and the 7th propeller 603 work, all the other propellers do not work, frame 1 moves right, when when the 6th propeller 602 and the 5th propeller 601 work, all the other propellers do not work, frame 1 turns left, when when the 7th propeller 603 and the 8th propeller 604 work, all the other propellers do not work, frame 1 turns right.
Net clothing cleaning machine device people is for being carried out the etting of aquaculture net cage under water for this, and as shown in Figure 3, the etting of aquaculture net cage includes front side net, rear side net, left web, right web and spacer screen, and the using method of this net clothing cleaning machine device people under water comprises the following steps:
(1), by net clothing cleaning machine device people under water moving to the upper left position A of front side net, the outer surface that brush is netted with front side offsets, and rack level is arranged;
(2), the outer surface horizontal reciprocating that net clothing cleaning machine device people nets along front side under water is turned back and is moved until net clothing cleaning machine device people moves to the lower right position B of front side net under water, in the process that net clothing cleaning machine device people moves along the outer surface reciprocating and turning-back that front side is netted under water, the brush of net clothing cleaning machine device people is close to front side net so that front side net to be carried out always under water, net clothing cleaning machine device people moves to the process of the lower right position B of front side net from the upper left position A that front side is netted under water, the outer surface that the brush of net clothing cleaning machine device people is netted by way of whole front side under water, the cleaning of outer surface netted whole front side is clean, the horizontal reciprocating of net clothing cleaning machine device people is turned back and is moved through the first propulsive mechanism and the second propulsive mechanism realizes under water,
(3), under water net clothing cleaning machine device people horizontally rotate and move position, the lower left corner C to left web, the outer surface of brush and left web offsets, and second propulsive mechanism that horizontally rotates and be moved through of net clothing cleaning machine device people realizes under water;
(4), under water net clothing cleaning machine device people along the outer surface horizontal reciprocating of left web turn back mobile until under water net clothing cleaning machine device people move to position, the upper right corner D of left web, net clothing cleaning machine device people moves to the process of position, upper right corner D of left web from position, the lower left corner C of left web under water, the brush of net clothing cleaning machine device people is by way of the outer surface of whole left web under water, by clean for the cleaning of outer surface of whole left web, the horizontal reciprocating of net clothing cleaning machine device people is turned back and is moved through the first propulsive mechanism and the second propulsive mechanism realizes under water;
(5), under water net clothing cleaning machine device people horizontally rotate and move the upper left position E to rear side net, the outer surface of brush and rear side net offsets, and second propulsive mechanism that horizontally rotates and be moved through of net clothing cleaning machine device people realizes under water;
(6), under water net clothing cleaning machine device people along the outer surface horizontal reciprocating of rear side net turn back mobile until under water net clothing cleaning machine device people move to the lower right position F of rear side net, net clothing cleaning machine device people moves to the process of the lower right position F of rear side net from the upper left position E of rear side net under water, the outer surface that the brush of net clothing cleaning machine device people is netted by way of whole rear side under water, the cleaning of outer surface netted by whole rear side is clean, and the horizontal reciprocating of net clothing cleaning machine device people is turned back and is moved through the first propulsive mechanism and the second propulsive mechanism realizes under water;
(7), under water net clothing cleaning machine device people horizontally rotate and move position, the lower left corner G to right web, the outer surface of brush and right web offsets, and second propulsive mechanism that horizontally rotates and be moved through of net clothing cleaning machine device people realizes under water;
(8), net clothing cleaning machine device people moves to net clothing cleaning machine device people under water along the vertical reciprocating and turning-back of outer surface of right web and moves to the lower right position H of right web under water, net clothing cleaning machine device people moves to the process of lower right position H of right web from position, the lower left corner G of right web under water, the brush of net clothing cleaning machine device people is by way of the outer surface of whole right web under water, by clean for the cleaning of outer surface of whole right web, the vertical reciprocating and turning-back of net clothing cleaning machine device people is moved through the first propulsive mechanism and the second propulsive mechanism realizes under water;
(9), under water net clothing cleaning machine device people vertically rotate and the mobile upper left position J to spacer screen, the outer surface of brush and spacer screen offsets, under water net clothing cleaning machine device people vertically rotate and be moved through the first propulsive mechanism and the second propulsive mechanism realizes;
(10), under water net clothing cleaning machine device people along the outer surface horizontal reciprocating of spacer screen turn back mobile until under water net clothing cleaning machine device people move to the lower right position K of spacer screen, net clothing cleaning machine device people moves to the process of lower right position K of spacer screen from the upper left position J of spacer screen under water, the brush of net clothing cleaning machine device people is by way of the outer surface of whole spacer screen under water, by clean for the cleaning of outer surface of whole spacer screen, the horizontal reciprocating of net clothing cleaning machine device people is turned back and is moved through the first propulsive mechanism and the second propulsive mechanism realizes under water, thus complete the cleaning of the etting to aquaculture net cage.
Etting robot carries out horizontal reciprocating on front side net, left web, rear side net, right web and spacer screen and turns back mobile or when vertically reciprocating and turning-back moves under water, under water etting robot move horizontally distance and vertical displacement is the size according to front side net, left web, rear side net, right web and spacer screen and predetermined.
Net clothing cleaning machine device people moves to the process of position, lower left corner C of left web from the lower right position B that front side is netted under water, net clothing cleaning machine device people is through horizontally rotating and moving horizontally under water, that is after the brush of net clothing cleaning machine device people under water moves to the lower right position B of front side net, net clothing cleaning machine device people continues the certain distance that moves right under water, then etting revolute under water, make rotating shaft 2 and left web perpendicular, then net clothing cleaning machine device people nets direction to the left and moves a certain distance under water, position, the lower left corner C making brush and left web is affixed, the displacement of net clothing cleaning machine device people is the size according to frame and brush and set in advance under water herein.
As shown in Figure 4, dotted portion is net clothing cleaning machine device people under water and turns back from the upper left position E horizontal reciprocating of rear side net the mobile route of the mobile lower right position F to rear side net, and the mobile route on front side net, left web, right web and spacer screen is by like manner pushing away.
The net clothing cleaning machine device people front side net to etting under water, rear side net, left web, when right web is carried out, if the 5th propeller or the 6th propeller or the 7th propeller or the 8th propeller damage, net clothing cleaning machine device people under water is then made to float up to the water surface immediately, after controller sends control signal to propeller, if propeller performs corresponding actions, then propeller sends first and feeds back signal to controller, namely controller is made to learn that propeller is normal, after controller sends control signal to propeller, if propeller is normally not carried out corresponding actions, then propeller sends second and feeds back signal to controller, namely controller is made to learn that propeller damages, thus may determine that whether propeller damages, so that when propeller damages, net clothing cleaning machine device people emerges in time under water, so that net clothing cleaning machine device people under water is keeped in repair.
Applying preferably example as far as this utility model above and be made that explanation, but be not to be construed as limitations on claims, structure of the present utility model can have other to change, and is not limited to said structure. In a word, all various changes made in the protection domain of independent claims of the present utility model are all in protection domain of the present utility model.
Claims (4)
1. a net clothing cleaning machine device people under water, it is characterised in that including:
Frame (1);
Being arranged on the propulsive mechanism in frame (1), this propulsive mechanism includes for driving frame (1) vertically the first propulsive mechanism that is mobile or that vertically rotate, being used for driving frame (1) move horizontally or horizontally rotate the second propulsive mechanism;
It is arranged on the wiper mechanism in frame (1), the rotating shaft (2) that this wiper mechanism includes being driven by motor (4) and rotates, one end of rotating shaft (2) is fixed with a brush (3), and brush (3) is positioned at the front side of frame (1);
Being arranged on the controller in frame (1), controller is used for controlling propulsive mechanism and wiper mechanism action.
2. the device people of net clothing cleaning machine under water according to claim 1, it is characterized in that: described frame (1) includes parallel the first erecting bed (5) and the second erecting bed (6), first propulsive mechanism is arranged on the first erecting bed (5), and the second propulsive mechanism is arranged on the second erecting bed (6).
3. the device people of net clothing cleaning machine under water according to claim 2, it is characterized in that: the first described propulsive mechanism includes first propeller (501) of rectangular distribution, second propeller (502), triple screw (503) and the 4th propeller (504), first propeller (501) and the second propeller (502) are arranged in diagonal angle, the direction of propulsion of the first propeller (501) and the second propeller (502) is all towards the lower section of frame (1), triple screw (503) and the 4th propeller (504) are arranged in diagonal angle, the direction of propulsion of triple screw (503) and the 4th propeller (504) is all towards the top of frame (1), first propeller (501) and the 4th propeller (504) are near the front side of frame (1).
4. the device people of net clothing cleaning machine under water according to claim 3, it is characterized in that: the second described propulsive mechanism includes the 5th propeller (601) of rectangular distribution, 6th propeller (602), 7th propeller (603) and the 8th propeller (604), 6th propeller (602) and the 7th propeller (603) are near the front side of frame (1), the direction of propulsion of the 6th propeller (602) and the 7th propeller (603) is all towards the front of frame (1), the rear side of the 5th propeller (601) and the close frame (1) of the 8th propeller (604), the direction of propulsion of the 5th propeller (601) and the 8th propeller (604) is all towards the rear of frame (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620089444.1U CN205308912U (en) | 2016-01-29 | 2016-01-29 | Etting cleaning robot under water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620089444.1U CN205308912U (en) | 2016-01-29 | 2016-01-29 | Etting cleaning robot under water |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205308912U true CN205308912U (en) | 2016-06-15 |
Family
ID=56187206
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620089444.1U Withdrawn - After Issue CN205308912U (en) | 2016-01-29 | 2016-01-29 | Etting cleaning robot under water |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205308912U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105521975A (en) * | 2016-01-29 | 2016-04-27 | 浙江大学宁波理工学院 | Underwater netting cleaning robot |
| CN106386654A (en) * | 2016-11-25 | 2017-02-15 | 中国水产科学研究院淡水渔业研究中心 | Cleaning device for ground cage nets |
| CN107876528A (en) * | 2017-11-18 | 2018-04-06 | 葛鹏 | A kind of aquiculture net cage cleaning plant |
| WO2018186751A1 (en) * | 2017-04-06 | 2018-10-11 | Abyss Aqua As | Cleaning device for subsea cleaning and a method for operating a cleaning device |
| CN109089989A (en) * | 2018-09-03 | 2018-12-28 | 苏州市职业大学 | aquaculture robot |
| NO20181427A1 (en) * | 2017-11-07 | 2019-05-08 | Plastfabrikken As | Cleaner for a submerged surface |
| CN113426719A (en) * | 2021-07-01 | 2021-09-24 | 江苏科技大学 | Integrated device for purifying and collecting impurities of netting of aquaculture net cage |
-
2016
- 2016-01-29 CN CN201620089444.1U patent/CN205308912U/en not_active Withdrawn - After Issue
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105521975A (en) * | 2016-01-29 | 2016-04-27 | 浙江大学宁波理工学院 | Underwater netting cleaning robot |
| CN105521975B (en) * | 2016-01-29 | 2018-03-02 | 浙江大学宁波理工学院 | Underwater net clothing cleaning machine device people |
| CN106386654A (en) * | 2016-11-25 | 2017-02-15 | 中国水产科学研究院淡水渔业研究中心 | Cleaning device for ground cage nets |
| CN106386654B (en) * | 2016-11-25 | 2024-02-23 | 中国水产科学研究院淡水渔业研究中心 | Cleaning device for ground cage net |
| WO2018186751A1 (en) * | 2017-04-06 | 2018-10-11 | Abyss Aqua As | Cleaning device for subsea cleaning and a method for operating a cleaning device |
| NO20181427A1 (en) * | 2017-11-07 | 2019-05-08 | Plastfabrikken As | Cleaner for a submerged surface |
| NO344883B1 (en) * | 2017-11-07 | 2020-06-15 | Plastfabrikken As | Cleaning device for a submerged surface |
| CN107876528A (en) * | 2017-11-18 | 2018-04-06 | 葛鹏 | A kind of aquiculture net cage cleaning plant |
| CN109089989A (en) * | 2018-09-03 | 2018-12-28 | 苏州市职业大学 | aquaculture robot |
| CN113426719A (en) * | 2021-07-01 | 2021-09-24 | 江苏科技大学 | Integrated device for purifying and collecting impurities of netting of aquaculture net cage |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160615 Termination date: 20170129 |
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| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160615 Effective date of abandoning: 20180302 |