CN216636798U

CN216636798U - Underwater netting net cage cleaning robot

Info

Publication number: CN216636798U
Application number: CN202220038134.2U
Authority: CN
Inventors: 苏珂; 王瑛雯
Original assignee: Qilu University of Technology
Current assignee: Qilu University of Technology
Priority date: 2022-01-09
Filing date: 2022-01-09
Publication date: 2022-05-31
Anticipated expiration: 2032-01-09

Abstract

The utility model relates to the technical field of netting net cage cleaning devices, and provides an underwater netting net cage cleaning robot which comprises a fixing frame, a buoyancy regulator and a control box, wherein the control box is installed on the inner side of the fixing frame, and the buoyancy regulator is evenly installed at the top of the fixing frame. According to the utility model, the magnetic suction device is arranged, the cavitation jet cleaning disc is placed on the inner side of the netting, the external support is placed on the outer side of the netting, the first magnetic strips on the two sides of the external support are moved to the positions of the second magnetic strips on the two sides of the cavitation jet cleaning disc, the cavitation jet cleaning disc and the magnetic suction device are tightly attached to the two sides of the netting during the working period under the adsorption action of the first magnetic strips and the second magnetic strips, the netting on the cleaning part of the cavitation jet cleaning disc is relatively flat, the netting is not stretched excessively, the damage to the netting is reduced, the function that the device is easy to tightly attach the netting is realized, and the cleaning effect of the underwater netting cage cleaning robot is improved.

Description

Underwater netting net cage cleaning robot

Technical Field

The utility model relates to the technical field of a cleaning device for a netting cage, in particular to an underwater netting cage cleaning robot.

Background

With the continuous development of science and technology, the deep sea fishery netting cage culture industry in China is rapidly developed, the deep sea netting cage is bred by the attachment of marine organisms when being used for a long time, fouling and attachment in a sea area not only influences the exchange of water bodies inside and outside the netting cage, but also increases the pressure of water flow on the netting cage, and in order to avoid the phenomenon, the netting cage needs to be cleaned, so that the underwater netting cage cleaning robot can be used.

The existing underwater netting net cage cleaning robot is not enough in cleaning force when in use due to the fact that the existing underwater netting net cage cleaning robot is not easy to cling to netting, and the cleaning effect is poor when in use.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

The utility model aims to provide an underwater netting net cage cleaning robot, which is used for solving the defect that the existing underwater netting net cage cleaning robot is not easy to cling to netting.

(II) contents of the utility model

In order to solve the technical problems, the utility model provides the following technical scheme: a cleaning robot for an underwater netting net cage comprises a fixing frame, a buoyancy regulator and a control box, wherein the control box is installed on the inner side of the fixing frame, the buoyancy regulator is uniformly installed at the top of the fixing frame, a cavitation jet flow cleaning disc is installed on one side of the control box, and a magnetic suction device is arranged on one side, away from the control box, of the cavitation jet flow cleaning disc;

an observation mechanism is arranged at the middle position above the fixing frame, which is close to one side of the cavitation jet flow cleaning disc, and steering mechanisms are arranged on the outer sides of the fixing frames at the two ends of the control box;

a storage battery is fixed to one side of the interior of the control box, a supporting seat is fixed to the other side of the interior of the control box, and a driving motor is fixed to the top end of the supporting seat.

When the underwater netting cage cleaning robot is used, a power supply is provided by a storage battery, a circuit board is arranged in the underwater netting cage cleaning robot, a signal receiver, a signal transmitter and a single chip microcomputer are sequentially installed at the top end of the circuit board, the device can be remotely controlled and transmit information, cleaning work and environment can be shot through an observation mechanism, the moving direction of the device is adjusted through the steering of a steering mechanism, the device is difficult to separate from netting when cleaned through a magnetic attraction device, the netting of a cleaning part is kept smooth, the netting cannot be stretched excessively, and the damage to the netting is reduced.

Preferably, the inside driving motor's of control box both sides all are fixed with the backup pad, and run through between the adjacent backup pad and have the drive shaft, the circuit board is installed to one side that driving motor was kept away from to supporting seat top backup pad, the buoyancy adjustment ware is provided with four groups, the buoyancy adjustment ware is the rectangular array and distributes on the top of mount, the both ends of drive shaft all extend to the outside of mount, all be fixed with conical gear on driving motor's the output and the outer wall of drive shaft, driving motor and drive shaft pass through conical gear intermeshing, signal receiver, signal transmitter, singlechip are installed in proper order to the top of circuit board. The device can be remotely controlled when working underwater.

Preferably, observation mechanism is including taking a picture seat, camera, light, connecting rod, hinge bar, fixing base and first micro motor, the hinge bar sets up in the top of mount, the both ends of hinge bar all articulate there is the fixing base, the inside of hinge bar one end fixing base is fixed with first micro motor, and the output of first micro motor and the one end fixed connection of hinge bar, be fixed with the connecting rod on the outer wall of hinge bar one side, the top of connecting rod is fixed with the seat of taking a picture, the light is all installed near the both ends of emptying efflux washing dish one side to the seat of taking a picture, and evenly installs the camera on the outer wall of the seat of taking a picture between the light. First micro motor drives the hinge bar and rotates between the fixing base, makes the hinge bar pass through the connecting rod and drives the seat of making a video recording and rotate, and then makes the rotatory monitoring environment of camera, and the light provides the light, makes the clearance process also can brighten under water.

Preferably, the one end that the articulated mast was kept away from to the fixing base is all inlayed in the inside of buoyancy adjustment ware, it is symmetric distribution about the connecting rod in one side of mount to take a photograph seat and camera.

Preferably, steering mechanism includes steering frame, turbine, steering spindle and second micro motor, the steering frame is located the both sides of mount, the inboard of steering frame advances to articulate has the steering spindle, all install the turbine on the outer wall of steering spindle one side, steering spindle one end steering frame's inside all is fixed with the second micro motor, and the output of second micro motor all with the one end fixed connection of steering spindle. The driving motor drives the steering frame to rotate through the driving shaft, the second micro motor drives the turbine to rotate through the steering shaft, the turbine rotates 360 degrees underwater, power is provided for the device in the working process, and the device can move up and down, left and right horizontally and move in a steering mode.

Preferably, the steering frame is symmetrically distributed on two sides of the fixing frame relative to the control box, and the middle position of the steering frame, which is close to one side of the fixing frame, is fixedly connected with one end of the driving shaft.

Preferably, the device is inhaled to magnetism includes external support, first magnetic stripe and second magnetic stripe, the external support sets up in one side of cavitation jet washing dish, the both ends that the external support is close to cavitation jet washing dish one side all are fixed with first magnetic stripe, the second magnetic stripe all is fixed in the position department that cavitation jet washing dish one side is close to first magnetic stripe. Under the adsorption of first magnetic stripe and second magnetic stripe, make cavitation jet wash dish and magnetism device hug closely the both sides at the etting during operation to the etting of cavitation jet wash dish washing part is more level and smooth, can not excessively stretch the etting, reduces the injury to the etting.

Preferably, the external bracket is designed as a frame, and the first magnetic strip and the second magnetic strip are in a mutual adsorption state when being in mutual contact.

(III) advantageous effects

The utility model provides an underwater netting cage cleaning robot, which has the advantages that:

the magnetic suction device is arranged, the cavitation jet cleaning disc is placed on the inner side of the netting, the external support is placed on the outer side of the netting, the first magnetic stripes on the two sides of the external support are moved to the positions of the second magnetic stripes on the two sides of the cavitation jet cleaning disc, the cavitation jet cleaning disc and the magnetic suction device are tightly attached to the two sides of the netting during working under the adsorption action of the first magnetic stripes and the second magnetic stripes, the netting on the cleaning part of the cavitation jet cleaning disc is relatively flat, the netting is not stretched excessively, the damage to the netting is reduced, the function that the device is easy to tightly attach the netting is realized, and the cleaning effect of the underwater netting cage cleaning robot is improved;

by arranging the observation mechanism, the first micro motor can drive the hinge rod to rotate between the fixed seats, so that the hinge rod drives the camera seat to rotate through the connecting rod, the camera rotates to monitor the environment, the illuminating lamp provides light, the cleaning process can be bright underwater, the function of the device for conveniently monitoring the cleaning process is realized, and the convenience of the underwater netting net cage cleaning robot in use is improved;

through being provided with steering mechanism, driving motor passes through the drive shaft and drives the bogie frame and rotate, and the second micro motor can drive the turbine through the steering spindle and rotate, makes the turbine realize 360 degrees rotations under water, provides power for the device in the course of the work, makes it can be about, horizontal motion and steering motion, has realized the function that the device is convenient for adjust the moving direction to this netting box with a net cleaning robot's flexibility under water when using has been improved.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic diagram of a three-dimensional explosive structure according to the present invention;

FIG. 2 is a schematic front view of the present invention;

FIG. 3 is a schematic side view of the present invention;

FIG. 4 is a schematic top cross-sectional view of the present invention;

fig. 5 is a schematic front sectional view of the observation mechanism of the present invention.

The reference numerals in the figures illustrate: 1. a fixed mount; 2. a buoyancy adjuster; 3. an observation mechanism; 301. a camera seat; 302. a camera; 303. an illuminating lamp; 304. a connecting rod; 305. a hinged lever; 306. a fixed seat; 307. a first micro motor; 4. a control box; 5. a steering mechanism; 501. a steering frame; 502. a turbine; 503. a steering shaft; 504. a second micro motor; 6. cavitation jet flow cleaning disc; 7. a magnetic attraction device; 701. an outer support; 702. a first magnetic stripe; 703. a second magnetic stripe; 8. a storage battery; 9. a support plate; 10. a drive shaft; 11. a supporting seat; 12. a drive motor; 13. a circuit board.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without any inventive step, are within the scope of the present invention.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example one

Referring to fig. 1-5, the robot for cleaning an underwater netting net cage provided by the utility model comprises a fixed frame 1, a buoyancy regulator 2 and a control box 4, wherein the control box 4 is installed at the inner side of the fixed frame 1, the buoyancy regulator 2 is uniformly installed at the top of the fixed frame 1, a cavitation jet cleaning disc 6 is installed at one side of the control box 4, a magnetic suction device 7 is arranged at one side of the cavitation jet cleaning disc 6 far away from the control box 4, the magnetic suction device 7 comprises an external support 701, first magnetic stripe 702 and second magnetic stripe 703, external support 701 sets up in one side of cavitation jet washing dish 6, and the both ends that external support 701 is close to cavitation jet washing dish 6 one side all are fixed with first magnetic stripe 702, and second magnetic stripe 703 all is fixed in the position department that cavitation jet washing dish 6 one side is close to first magnetic stripe 702, and external support 701 is the frame design, is mutual adsorption state when first magnetic stripe 702 and second magnetic stripe 703 contact each other.

In this embodiment, pulling magnetism device 7 of inhaling, make first magnetic stripe 702 and second magnetic stripe 703 alternate segregation, place cavitation jet washing dish 6 in the inboard of etting, then place external support 701 in the outside of etting, make the first magnetic stripe 702 of external support 701 both sides move to the second magnetic stripe 703 position department of cavitation jet washing dish 6 both sides, under the adsorption of first magnetic stripe 702 and second magnetic stripe 703, make cavitation jet washing dish 6 and magnetism device 7 hug closely in the both sides of etting during operation, and the etting of cavitation jet washing dish 6 cleaning part is more level and smooth, can not excessively stretch the etting, reduce the injury to the etting.

Example two

This embodiment still includes: an observation mechanism 3 is arranged at the middle position above the fixed frame 1 near one side of the cavitation jet flow cleaning disc 6, the observation mechanism 3 comprises a camera seat 301, a camera 302, a lighting lamp 303, a connecting rod 304, a hinged rod 305, a fixed seat 306 and a first micro motor 307, the hinged rod 305 is arranged above the fixed frame 1, the fixed seat 306 is hinged at both ends of the hinged rod 305, the first micro motor 307 is fixed inside the fixed seat 306 at one end of the hinged rod 305, the output end of the first micro motor 307 is fixedly connected with one end of the hinged rod 305, the connecting rod 304 is fixed on the outer wall at one side of the hinged rod 305, the camera seat 301 is fixed at the top end of the connecting rod 304, the lighting lamps 303 are installed at both ends of the camera seat 301 near one side of the cavitation jet flow cleaning disc 6, the camera 302 is evenly installed on the outer wall of the camera seat 301 between the lighting lamps 303, one end of the fixed seat 306 far away from the hinged rod 305 is all embedded inside the buoyancy adjuster 2, the camera mount 301 and the camera 302 are symmetrically distributed on one side of the fixing frame 1 with respect to the connecting rod 304.

In this embodiment, the device is provided with the power by battery 8, start first micro motor 307, first micro motor 307 can drive hinge bar 305 and rotate between fixing base 306, make hinge bar 305 drive camera seat 301 through connecting rod 304 and rotate, and then make the rotatory monitoring environment of camera 302, light 303 provides light, make the clearance process also can brighten under water, camera 302 will shoot information and pass through signal transmitter and send to ground terminal, make the cleaning personnel can master the washing situation in real time.

EXAMPLE III

This embodiment still includes: the outer sides of the fixing frames 1 at the two ends of the control box 4 are respectively provided with a steering mechanism 5, the steering mechanisms 5 comprise a steering frame 501, a turbine 502, a steering shaft 503 and a second micro motor 504, the steering frame 501 is positioned at the two sides of the fixing frame 1, the inner side of the steering frame 501 is hinged with the steering shaft 503, the outer wall of one side of the steering shaft 503 is respectively provided with the turbine 502, the inner part of the steering frame 501 at one end of the steering shaft 503 is respectively fixed with the second micro motor 504, the output end of the second micro motor 504 is respectively fixedly connected with one end of the steering shaft 503, the steering frame 501 is symmetrically distributed on the two sides of the fixing frame 1 relative to the control box 4, the middle position of one side of the steering frame 501 close to the fixing frame 1 is fixedly connected with one end of a driving shaft 10, one side of the inner part of the control box 4 is fixed with a storage battery 8, the other side of the inner part of the control box 4 is fixed with a supporting seat 11, the top end of the supporting seat 11 is fixed with a driving motor 12, inside driving motor 12's of control box 4 both sides all are fixed with backup pad 9, and it has drive shaft 10 to run through between the adjacent backup pad 9, supporting seat 11 top backup pad 9 is kept away from one side of driving motor 12 and is installed circuit board 13, buoyancy adjustment ware 2 is provided with four groups, buoyancy adjustment ware 2 is rectangular array and distributes on the top of mount 1, the both ends of drive shaft 10 all extend to the outside of mount 1, all be fixed with conical gear on the output of driving motor 12 and the outer wall of drive shaft 10, driving motor 12 and drive shaft 10 pass through conical gear intermeshing, signal receiver is installed in proper order on the top of circuit board 13, signal transmitter, the singlechip.

In this embodiment, when signal receiver receives turn signal, it can pass through singlechip start-up driving motor 12, turbine 502 and second micro motor 504, driving motor 12 can drive through drive shaft 10 and turn to frame 501 rotation, second micro motor 504 can drive turbine 502 rotation through steering spindle 503, turbine 502 realizes 360 degrees rotations under its drives, provide power for the device in the course of the work, make it can be about, horizontal motion and turn to the motion, and then make it clear up the etting.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.

The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.

Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. The utility model provides an underwater netting net cage cleaning robot, includes mount (1), buoyancy adjuster (2) and control box (4), its characterized in that: a control box (4) is installed on the inner side of the fixing frame (1), a buoyancy regulator (2) is uniformly installed on the top of the fixing frame (1), a cavitation jet cleaning disc (6) is installed on one side of the control box (4), and a magnetic suction device (7) is arranged on one side, far away from the control box (4), of the cavitation jet cleaning disc (6);

an observation mechanism (3) is arranged at the middle position of one side, close to the cavitation jet flow cleaning disc (6), above the fixing frame (1), and steering mechanisms (5) are arranged on the outer sides of the fixing frames (1) at the two ends of the control box (4);

a storage battery (8) is fixed to one side of the interior of the control box (4), a supporting seat (11) is fixed to the other side of the interior of the control box (4), and a driving motor (12) is fixed to the top end of the supporting seat (11).

2. The underwater netting cage cleaning robot according to claim 1, characterized in that: the both sides of inside driving motor (12) of control box (4) all are fixed with backup pad (9), and run through between adjacent backup pad (9) and have drive shaft (10), one side that driving motor (12) were kept away from in supporting seat (11) top backup pad (9) is installed circuit board (13), buoyancy regulator (2) are provided with four groups, buoyancy regulator (2) are the rectangular array and distribute on the top of mount (1), the both ends of drive shaft (10) all extend to the outside of mount (1), all be fixed with conical gear on the output of driving motor (12) and the outer wall of drive shaft (10), driving motor (12) and drive shaft (10) pass through conical gear intermeshing, signal receiver, signal transmitter, singlechip are installed in proper order to the top of circuit board (13).

3. The underwater netting cage cleaning robot according to claim 1, characterized in that: the observation mechanism (3) comprises a camera seat (301), a camera (302), a lighting lamp (303), a connecting rod (304), a hinged rod (305), a fixed seat (306) and a first micro motor (307), the hinged rod (305) is arranged above the fixed frame (1), both ends of the hinged rod (305) are hinged with fixed seats (306), a first micro motor (307) is fixed inside a fixed seat (306) at one end of the hinged rod (305), and the output end of the first micro motor (307) is fixedly connected with one end of the hinge rod (305), a connecting rod (304) is fixed on the outer wall of one side of the hinged rod (305), a camera seat (301) is fixed at the top end of the connecting rod (304), both ends of one side of the camera seat (301) close to the cavitation jet flow cleaning disc (6) are provided with illuminating lamps (303), and the outer wall of the camera seat (301) between the illuminating lamps (303) is uniformly provided with the cameras (302).

4. The underwater netting cage cleaning robot according to claim 3, characterized in that: the one end that articulated rod (305) was kept away from in fixing base (306) all inlays in the inside of buoyancy adjustment ware (2), take a photograph of seat (301) and camera (302) are the symmetric distribution about connecting rod (304) in one side of mount (1).

5. The underwater netting cage cleaning robot according to claim 1, characterized in that: steering mechanism (5) are including turning to frame (501), turbine (502), steering spindle (503) and second micro motor (504), turning to frame (501) and being located the both sides of mount (1), the inboard of turning to frame (501) advances to articulate has steering spindle (503), all install turbine (502) on the outer wall of steering spindle (503) one side, the inside of steering spindle (503) one end turning to frame (501) all is fixed with second micro motor (504), and the output of second micro motor (504) all with the one end fixed connection of steering spindle (503).

6. The underwater netting cage cleaning robot as claimed in claim 5, characterized in that: the steering frame (501) is symmetrically distributed on two sides of the fixing frame (1) relative to the control box (4), and the middle position of the steering frame (501) close to one side of the fixing frame (1) is fixedly connected with one end of the driving shaft (10).

7. The underwater netting cage cleaning robot according to claim 1, characterized in that: device (7) is inhaled to magnetism includes external support (701), first magnetic stripe (702) and second magnetic stripe (703), external support (701) set up in one side of cavitation jet cleaning dish (6), both ends that external support (701) are close to cavitation jet cleaning dish (6) one side all are fixed with first magnetic stripe (702), position department that cavitation jet cleaning dish (6) one side is close to first magnetic stripe (702) is all fixed in second magnetic stripe (703).

8. The underwater netting cage cleaning robot according to claim 7, characterized in that: the external bracket (701) is designed into a frame, and the first magnetic strip (702) and the second magnetic strip (703) are in a mutual adsorption state when being in mutual contact.