CN215436664U - Robot chassis device for cleaning net cage - Google Patents
Robot chassis device for cleaning net cage Download PDFInfo
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- CN215436664U CN215436664U CN202121014723.9U CN202121014723U CN215436664U CN 215436664 U CN215436664 U CN 215436664U CN 202121014723 U CN202121014723 U CN 202121014723U CN 215436664 U CN215436664 U CN 215436664U
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Abstract
The utility model discloses a robot chassis device for cleaning a net cage, which comprises two synchronous belt mechanisms with the same structure, wherein each synchronous belt mechanism comprises an inner side plate and an outer side plate, a rotatable driving wheel assembly body, a tensioning wheel assembly body, a supporting wheel assembly body and a driven wheel assembly body are arranged between the inner side plate and the outer side plate, the tensioning wheel assembly body and the supporting wheel assembly body are positioned between the driving wheel assembly body and the driven wheel assembly body, and a T-shaped tooth synchronous belt is wound between the driving wheel assembly body and the driven wheel assembly body. According to the robot chassis device for cleaning the net cage, the waterproof speed reducing motor is arranged in the round roller, and the round roller is driven and the corresponding driving wheel assembly body can be driven to rotate, so that the minimization of a force transmission path is realized, the optimal transmission effect is met, the chassis space is saved, and the chassis weight is reduced.
Description
Technical Field
The utility model relates to the field of net cage cleaning devices, in particular to a robot chassis device for net cage cleaning in the field.
Background
At present, the net is cleaned by a way of cleaning a disc by holding the net by a diver, the cleaning time is long, the physical requirement on the diver is high, sometimes danger can occur, and the unmanned and intelligent development requirements of large-scale net cage culture can not be met. With the development of the marine industry, the size and the number of aquaculture net cages are continuously increased, the artificial cleaning is more and more difficult, the automatic or semi-automatic cleaning by using robots needs to be gradually transited to, and under the background, the research and development of key parts of the net cage cleaning robots become research hotspots which are gradually concerned by people.
The chassis of the existing underwater cleaning robot is mostly suitable for cleaning ship bodies, but due to the defect of obstacle crossing design of track patterns, materials and the chassis, the chassis is difficult to crawl on the soft netting of the net cage, is easy to slip or is clamped by a steel rope of the netting and cannot advance. In addition, the existing robot chassis can only be provided with a cleaning brush or a cavitation water jet cleaning disc independently, and the cleaning tool is single and cannot clean various different netting attachments.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem of providing a robot chassis device for cleaning a net cage.
In order to solve the technical problems, the utility model adopts the following technical scheme:
a robot chassis device for cleaning net cages is improved in that: the synchronous belt mechanism comprises two synchronous belt mechanisms with the same structure, wherein the synchronous belt mechanism comprises an inner side plate and an outer side plate, a rotatable driving wheel assembly body, a tensioning wheel assembly body, a supporting wheel assembly body and a driven wheel assembly body are arranged between the inner side plate and the outer side plate, the tensioning wheel assembly body and the supporting wheel assembly body are positioned between the driving wheel assembly body and the driven wheel assembly body, a T-shaped tooth synchronous belt is wound between the driving wheel assembly body and the driven wheel assembly body, bulges are uniformly distributed on the outer surface of the T-shaped tooth synchronous belt, continuous strip-shaped bulges are arranged on the inner surface of the T-shaped tooth synchronous belt, and grooves meshed with the bulges are formed in the surfaces of the driving wheel assembly body, the tensioning wheel assembly body, the supporting wheel assembly body and the driven wheel assembly body; the inner side plates of the two synchronous belt mechanisms are connected through a front mother plate and a rear mother plate, a motor mounting seat is arranged on the mother plate adjacent to a driving wheel assembly body, two waterproof speed reducing motors are mounted on the motor mounting seat and respectively drive one driving wheel assembly body to rotate, in addition, a round roller driven to rotate by the waterproof speed reducing motors is sleeved outside each waterproof speed reducing motor, two round rollers are mounted on the mother plate adjacent to a driven wheel assembly body, and each round roller is driven to rotate by one driven wheel assembly body; a fixing frame is further arranged between the inner side plates of the two synchronous belt mechanisms, and a brush and scraper cleaning mechanism or a cavitation water jet cleaning disc is arranged at the bottom of the fixing frame.
Further, the drive wheel assembly body all includes the big band pulley of surface area recess with from the driving wheel assembly body, at the inside fixed mounting switching axle of big band pulley, switching axle and waterproof gear motor fixed connection, and the switching axle is connected simultaneously from driving wheel assembly body and round running roller.
Further, the tensioning wheel assembly comprises a tensioning belt wheel with a groove on the surface, a tensioning wheel shaft is fixedly installed in the tensioning belt wheel, and the tensioning wheel shaft extends into a waist-shaped hole of the tensioning block.
Furthermore, the quantity of supporting wheel assembly body is two and more than two, and each supporting wheel assembly body's structure is the same, all includes supporting band pulley and the supporting wheel axle of fixed mounting in supporting band pulley inside.
Further, the motor mounting seat is fixedly mounted on the motherboard through a connecting frame.
Furthermore, the surfaces of the four round rollers are provided with reticular rubber patterns.
Further, brush and scraper wiper mechanism include waterproof gear motor, bevel gear box, brush dish main part, brush axle, elastic mechanism, brush, scraper main part and cutting edge, through bolt fixed connection between scraper main part and the cutting edge, and the brush adopts the bolt fastening to be in brush dish main part.
The utility model has the beneficial effects that:
according to the robot chassis device for cleaning the net cage, the waterproof speed reducing motor is arranged in the round roller, and the round roller is driven and the corresponding driving wheel assembly body can be driven to rotate, so that the minimization of a force transmission path is realized, the optimal transmission effect is met, the chassis space is saved, and the chassis weight is reduced. The design of the front and the rear round rollers ensures that the robot can normally advance even if the T-shaped tooth synchronous belts on the two sides are suspended when the robot meets a steel rope parallel to the advancing direction on the netting, and cannot advance because the machine body is supported by the net rope; the inner surface of the T-shaped tooth synchronous belt is provided with continuous strip-shaped bulges, and the bulges are meshed with grooves on the surfaces of the driving wheel assembly body, the tension wheel assembly body, the supporting wheel assembly body and the driven wheel assembly body, so that the T-shaped tooth synchronous belt is not easy to fall off when advancing and turning, and the advancing and turning are ensured to be stable and smooth; adopt unique modularization quick replacement formula cavitation water jet washing dish, can wash the change at quick assembly disassembly between brush and scraper wiper mechanism and cavitation water jet washing dish to the realization is to the washing of the different defilements of netting, thereby reaches more excellent cleaning performance.
Drawings
FIG. 1 is a schematic structural diagram of an apparatus disclosed in embodiment 1 of the present invention;
FIG. 2 is a schematic view of the internal structure of the apparatus disclosed in embodiment 1 of the present invention;
FIG. 3 is a schematic diagram of the internal structure of a synchronous belt mechanism in the device disclosed in embodiment 1 of the present invention;
FIG. 4 is a schematic view showing the connection relationship between the connecting shaft and the circular roller in the apparatus disclosed in embodiment 1 of the present invention;
FIG. 5 is a schematic view of the mounting position of a driven wheel assembly in the apparatus disclosed in example 1 of the present invention;
FIG. 6 is a schematic view showing the construction of a driving wheel assembly and a driven wheel assembly in the apparatus disclosed in embodiment 1 of the present invention;
FIG. 7 is a schematic view of the structure of a tensioner assembly in the apparatus disclosed in example 1 of the present invention;
FIG. 8 is a schematic view of the structure of a support wheel assembly in the apparatus disclosed in example 1 of the present invention;
FIG. 9 is a schematic view of a brush and scraper cleaning mechanism in the device disclosed in embodiment 1 of the present invention;
FIG. 10 is an exploded view of the brush and scraper cleaning mechanism of the apparatus disclosed in example 1 of the present invention;
FIG. 11 is a schematic structural view of a cavitation water jet cleaning disk in the apparatus disclosed in embodiment 1 of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the utility model and are not intended to limit the utility model.
In this application, netting refers to a net sheet that directly constitutes a net member, and is commonly used for fishing and farming in fisheries. The differential steering means can steer left and right at different speeds. The net lines refer to thick ropes which connect different pieces of netting and are straight. A cavitation water jet is a continuous jet that naturally produces cavitation bubbles in the jet.
The surface of the outer side plate is provided with the guide wheel 37, and the guide wheel is firstly contacted with an obstacle when the device horizontally advances, so that the outer side plate can be prevented from being impacted, and the outer side plate can be prevented from being scratched.
As shown in fig. 6, the driving wheel assembly and the driven wheel assembly each include a large belt wheel 21 with a groove on the surface, a transfer shaft 22 is fixedly mounted inside the large belt wheel, the transfer shaft is fixedly connected with a waterproof speed reduction motor, and the transfer shaft is connected with the driven wheel assembly and the round roller wheel.
As shown in fig. 7, the tensioner assembly includes a grooved surface tension pulley 25, a tensioner shaft 26 is fixedly mounted inside the tension pulley, and the tensioner shaft extends into a waist-shaped hole of a tension block 27.
As shown in fig. 8, the number of the support wheel assemblies is two or more, and each support wheel assembly has the same structure and includes a support pulley 23 and a support wheel shaft 24 fixedly installed inside the support pulley.
As shown in fig. 2, the motor mount is fixedly mounted on the motherboard by a connection bracket 5.
The surfaces of the four round rollers are provided with reticular rubber patterns, different patterns are selected according to different netting materials and netting mesh sizes, and the patterns can generate larger friction force with hard objects such as oyster, scallop and the like to realize crossing;
as shown in fig. 9 and 10, the brush and scraper cleaning mechanism comprises a waterproof speed reduction motor 2, a bevel gear box 16, a brush disc main body, a brush shaft 17, an elastic mechanism 18, a brush 31, a scraper main body 32 and a cutting edge 33, wherein the scraper main body and the cutting edge are fixedly connected through a bolt, and can be quickly replaced, so that different cutting edges can be replaced for different types of netting, and the cutting edge can be quickly replaced as a quick-wear part. The brush is fixed on the brush disc main body by adopting a bolt.
Combine scraper main part and brush, strengthened the cleaning performance to pasture and water through the scraper main part, reduced the washing blind area between two mechanisms through the brush to better cleaning performance than single mechanism has been realized.
The brush adopts the bolt fastening on mechanism's main part, can be to different grade type etting, changes the brush of adorning different grade type brush hair such as nylon, abrasive wire fast.
Fig. 11 is a schematic structural view of the cavitation water jet cleaning disk 29.
The working process of the device disclosed by the embodiment is as follows: the moment of torsion that two waterproof gear motor operation provided transmits the drive wheel assembly body of both sides through corresponding shaft coupling 1 in two round running roller pivoted of drive front side, and rethread T type tooth hold-in range transmits from the driving wheel assembly body to two round running roller of drive rear side rotate, and the take-up pulley assembly body can change the elasticity degree of T type tooth hold-in range, uses two waterproof gear motor drive brushes and scraper to rotate. The device can rotate through drive T type tooth hold-in range, realizes advancing at a high speed on the netting, brush and scraper wiper mechanism can wash the netting when advancing, and 4 circle rollers can make the device ride along the net line direction, guarantee also can advance under the equal unsettled state of both sides T type tooth hold-in range, and the T type tooth hold-in range of the left and right sides is controlled by two waterproof gear motor respectively, can realize 360 differential steering and advance.
Claims (7)
1. The utility model provides a be used for abluent robot chassis device of box with a net which characterized in that: the synchronous belt mechanism comprises two synchronous belt mechanisms with the same structure, wherein the synchronous belt mechanism comprises an inner side plate and an outer side plate, a rotatable driving wheel assembly body, a tensioning wheel assembly body, a supporting wheel assembly body and a driven wheel assembly body are arranged between the inner side plate and the outer side plate, the tensioning wheel assembly body and the supporting wheel assembly body are positioned between the driving wheel assembly body and the driven wheel assembly body, a T-shaped tooth synchronous belt is wound between the driving wheel assembly body and the driven wheel assembly body, bulges are uniformly distributed on the outer surface of the T-shaped tooth synchronous belt, continuous strip-shaped bulges are arranged on the inner surface of the T-shaped tooth synchronous belt, and grooves meshed with the bulges are formed in the surfaces of the driving wheel assembly body, the tensioning wheel assembly body, the supporting wheel assembly body and the driven wheel assembly body; the inner side plates of the two synchronous belt mechanisms are connected through a front mother plate and a rear mother plate, a motor mounting seat is arranged on the mother plate adjacent to a driving wheel assembly body, two waterproof speed reducing motors are mounted on the motor mounting seat and respectively drive one driving wheel assembly body to rotate, in addition, a round roller driven to rotate by the waterproof speed reducing motors is sleeved outside each waterproof speed reducing motor, two round rollers are mounted on the mother plate adjacent to a driven wheel assembly body, and each round roller is driven to rotate by one driven wheel assembly body; a fixing frame is further arranged between the inner side plates of the two synchronous belt mechanisms, and a brush and scraper cleaning mechanism or a cavitation water jet cleaning disc is arranged at the bottom of the fixing frame.
2. A robotic chassis apparatus for cage washing as claimed in claim 1, wherein: the drive wheel assembly body all includes the big band pulley of surface area recess with from the driving wheel assembly body, at the inside fixed mounting switching axle of big band pulley, switching axle and waterproof gear motor fixed connection, and the switching axle is connected simultaneously from driving wheel assembly body and round running roller.
3. A robotic chassis apparatus for cage washing as claimed in claim 1, wherein: the tensioning wheel assembly comprises a tensioning belt wheel with a groove on the surface, a tensioning wheel shaft is fixedly installed in the tensioning belt wheel, and the tensioning wheel shaft extends into a waist-shaped hole of the tensioning block.
4. A robotic chassis apparatus for cage washing as claimed in claim 1, wherein: the quantity of supporting wheel assembly body is two and more than two, and each supporting wheel assembly body's structure is the same, all includes supporting band pulley and the supporting wheel axle of fixed mounting in supporting band pulley inside.
5. A robotic chassis apparatus for cage washing as claimed in claim 1, wherein: the motor mounting seat is fixedly mounted on the motherboard through a connecting frame.
6. A robotic chassis apparatus for cage washing as claimed in claim 1, wherein: the surfaces of the four round rollers are all provided with reticular rubber patterns.
7. A robotic chassis apparatus for cage washing as claimed in claim 1, wherein: the brush and scraper cleaning mechanism comprises a waterproof speed reducing motor, a bevel gear box, a brush disc main body, a brush shaft, an elastic mechanism, a brush, a scraper main body and a cutting edge, the scraper main body and the cutting edge are fixedly connected through bolts, and the brush is fixed on the brush disc main body through bolts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121014723.9U CN215436664U (en) | 2021-05-13 | 2021-05-13 | Robot chassis device for cleaning net cage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121014723.9U CN215436664U (en) | 2021-05-13 | 2021-05-13 | Robot chassis device for cleaning net cage |
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| Publication Number | Publication Date |
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| CN215436664U true CN215436664U (en) | 2022-01-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202121014723.9U Active CN215436664U (en) | 2021-05-13 | 2021-05-13 | Robot chassis device for cleaning net cage |
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| CN (1) | CN215436664U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114940247A (en) * | 2022-05-19 | 2022-08-26 | 天津科技大学 | Cage cleaning device for catamaran |
| CN116371774A (en) * | 2023-06-05 | 2023-07-04 | 山东明潮环保科技有限公司 | Marine cage, net coat and marine organism adhesion cleaning device and method |
| CN117427924A (en) * | 2023-12-20 | 2024-01-23 | 山东海洋盛景渔业科技有限公司 | Marine cage cleaning device and cleaning method thereof |
-
2021
- 2021-05-13 CN CN202121014723.9U patent/CN215436664U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114940247A (en) * | 2022-05-19 | 2022-08-26 | 天津科技大学 | Cage cleaning device for catamaran |
| CN114940247B (en) * | 2022-05-19 | 2023-09-12 | 天津科技大学 | Catamaran net cage cleaning device |
| CN116371774A (en) * | 2023-06-05 | 2023-07-04 | 山东明潮环保科技有限公司 | Marine cage, net coat and marine organism adhesion cleaning device and method |
| CN116371774B (en) * | 2023-06-05 | 2023-08-11 | 山东明潮环保科技有限公司 | Marine cage, net coat and marine organism adhesion cleaning device and method |
| CN117427924A (en) * | 2023-12-20 | 2024-01-23 | 山东海洋盛景渔业科技有限公司 | Marine cage cleaning device and cleaning method thereof |
| CN117427924B (en) * | 2023-12-20 | 2024-03-19 | 山东海洋盛景渔业科技有限公司 | Marine cage cleaning device and cleaning method thereof |
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