LU504696B1

LU504696B1 - A cleaning device for flexible net clothes

Info

Publication number: LU504696B1
Application number: LU504696A
Authority: LU
Inventors: Ruiyin Song
Original assignee: Univ Ningbo Technology
Priority date: 2023-07-07
Filing date: 2023-07-07
Publication date: 2024-01-11

Abstract

The invention relates to the technical field of underwater flexible net clothes cleaning. It aims to provide a flexible net clothes cleaning device capable of walking, autonomous steering and automatic cleaning on the flexible net clothes,thereby solving the problems of the prior art in cleaning underwater flexible net clothes, such as difficulty in firmly adhering to the net during walking, difficulty in steering, unstable operation, and low flexibility.The device has the characteristics of stable and reliable crawling, suitable for multi-size net clothes, low cost, good cleaning effect, large cleaning area and effective reduction of labor intensity. The device mainly comprises a frame body. The clothes traveling mechanism for controlling the creeping of the device is arranged on both sides of the device. The steering mechanism for controlling the walking direction of the device is arranged at the bottom center of the device. The cleaning mechanism for cleaning the net clothes is arranged at the bottom of the device. The posture stabilizing mechanism for keeping the device running stably is arranged on the top of the device.

Description

A cleaning device for flexible net clothes LU504696

The invention relates to the technical field of underwater flexible net clothes cleaning, in particular to a flexible net clothes cleaning device capable of walking, autonomous steering and automatic cleaning on the flexible net clothes.

Background Technique

Harmful attachment of marine creatures to aquaculture net cage is a common phenomenon and a tough problem. But at present, there is still a lack of safe and effective methods to prevent attachment to net clothes. The aquaculture net cage is placed in the seawater, and the net clothes material itself is non-toxic with large surface, which is beneficial to the growth of contaminated organisms. The structure of the net cover of the cage prevents the attached marine biological tissue from being cleaned. During the process of fish feeding, the nutrients not digested by the breeding species will accelerate the growth of pollution organisms. The existence of fish excreta and residues will also cause the rapid growth of the algae attached to the net cover of the cage. These factors mentioned above will lead to poor water flow inside the net cage, deterioration of water quality, pollution of the aquaculture environment, frequent occurrence of fish diseases, and decline of the quality of aquaculture fish. In addition, a large amount of organisms will increase the weight and flow area of the net, increase the stress load of the net clothes, and even damage the net clothes. In the sea area where some shellfish (such as mussel, scallop and oyster) attach seriously, the sharp corner of shellfish will cut off the net cover, which brings hidden dangers to the safety of net cage aquaculture. Therefore, the harmful creatures on the net cage shall be removed immediately. At present, the methods to remove the attachment of the net cage include manual cleaning, sun exposure, mechanical cleaning, caisson method, biological removal, drug removal and physical removal. The mechanical cleaning method is undoubtedly a safe and effective method with low price, high efficiency, convenient operation as long as it solves the problems of stable crawling and abrasive wear. At present, there are also some net clothes cleaning robots in the market, but the existing mechanical cleaning device has the disadvantages of low crawling reliability and flexibility, small working area, and low efficiency, etc.

Contents of the Invention

The aim of the invention is to overcome the shortcomings mentioned above and provide a cleaning device for flexible net clothes. The device has the functions of clothes walking, autonomous steering and automatic washing, and has the characteristics of stable and reliable crawling, suitable for multi-size clothes, low cost, good cleaning effect, lat§0e4696 cleaning area and effective reduction of labor intensity.

The technical solution provided by the present invention is:

A cleaning device for flexible net clothes, characterized in that the device mainly comprises a frame body; the clothes traveling mechanism for controlling the creeping of the device is arranged on both sides of the device; the steering mechanism for controlling the walking direction of the device is arranged at the bottom center of the device; the cleaning mechanism for cleaning the net clothes is fixed at the bottom of the device; the posture stabilizing mechanism for keeping the device running stably is arranged on the top of the device.

The frame body provides a frame support for the whole device, and other parts except the clothes traveling mechanism are installed in the frame body;The clothes traveling mechanism comprises a driving wheel, a driven wheel, a motor 1, a motor support 1, a transmission shaft 1, a coupling, a crawler, a hook claw, a guide plate, an electromagnet, a return spring 1, a return spring 2 and a connecting shaft, wherein the driving wheel, the motor 1, the transmission shaft 1 and the coupling constitute the power source of the clothes traveling mechanism, and the transmission shaft 1 and the coupling are arranged between the motor and the driving wheel for power transmission; the crawler is arranged on one driving wheel and three driven wheels, and is arranged on both sides of the frame, two groups for each side; the crawler is provided with a hook claw for hooking a mesh clothes and the hook claw of the hook clothes is arranged on a return spring 1 and a connecting shaft, and each connecting shaft is provided with two groups of hook claws and a return spring 1; the connecting shaft is installed between two groups of crawlers; the electromagnet is arranged at the bottom of the frame body and connected with the guide plate for controlling the retraction of the guide plate; the guide plate is arranged on the upper part of the lower crawler, and a guide groove is on the guide plate for controlling the posture of the hook claw during walking; the return spring 2 is arranged between the electromagnet and the guide plate.

The steering mechanism mainly comprises a steering push rod, a steering block, a mesh contact block, a capturing claw mechanism, a return spring 3, a return spring 4 and a solenoid valve, wherein the steering push rod is arranged between the frame body and the steering block for changing the overall movement direction of the device; the steering block is arranged at the center of the bottom of the device, and its lifting is jointly acted by the hydraulic system and the return spring 3; the return spring is installed between the frame and the steering block; the clothes contact block is installed at the bottom of the steering block, and the contact block is provided with a guide groove, and a return spring 1 4)584696 provided between the clothes contact block and the steering block for up and down movement of the clothes contact block; the capture claw is arranged at the bottom of the steering block and is used for capturing the net clothes. When the net clothes contact block contacts the net clothes, it will move upward, and the capture claw mechanism will be stretched along the guide slot on the net clothes contact block, so that the soft net clothes become tight and effectively grabbed.

The cleaning mechanism comprises a brush disc, a brush, a motor 2, a motor support 2, a coupling 2, a sealing bearing and a transmission shaft 2; the cleaning mechanism has © groups of brush discs, which are uniformly installed at the bottom of the device; the brush disk is provided with a hair brush for cleaning the attachments of the clothes; The brush disc is connected to the transmission shaft by means of a nut and a fixing screw; the transmission shaft 2 is connected with the motor 2 through the coupling 2, and a sealing bearing is arranged at the position passing through the frame body; the motor 2 is mounted onthe motor support 2.

The posture stabilizing mechanism comprises a buoyancy box, a motor 3, a coupling 3, a piston, a lead screw, a lead screw bearing, and a bearing seat; the buoyancy box is arranged at the upper part of the device, which is used for controlling the buoyancy of the whole device and adjusting the stress state of the device in water, The lead screw is arranged on the bearing seat by a bearing; the motor 3 is connected with the lead screw through a coupling; the piston is arranged on the lead screw, and the movement of the piston is driven by the rotation of the lead screw to control the proportion of water and air in the buoyancy box.

The beneficial effects of the invention are as follows:

In this invention, the whole device can be hooked on the net clothes by a net clothes walking mechanism, and when the guide plate is lowered, the hook claw is tightened through a guide groove on the guide plate in a direction opposite to the movement direction, so as to hang the net clothes to achieve the goal of crawling. Since the guide groove is provided with a certain slope, the hook claws on both sides are kept away from each other, making net clothes between the walking mechanisms tight, and the next step of cleaning is better carried out. Compared with the traditional pure crawler walking scheme, the present invention can make the device firmly hung on the net clothes, and the walking mode is stable and reliable without relative sliding, thereby improving the reliability and the adaptability to different net clothes, which is suitable for popularization and application. 2) In this invention, a steering mechanism is arranged at the bottom of the device to control the specific steering of the entire device, and a hydraulic system to control tH64696 retraction of the steering block. The contact block of the clothes is brought into contact with the clothes through the lowering of the steering block, and then the catching claw mechanism is tightened and grabbed by the guide groove on the contact block of the clothes. At this time, the electromagnetic iron is energized to retract the guide plate so that the hook claw is restored to the initial state, and the clothes are separated from the contact, then the steering push rod is operated to complete the overall steering of the device. The steering mode above is faster and more reliable than the traditional reversing mode, reducing the requirements for control accuracy, saving costs and improving reliability. 3) In this invention, six groups of cleaning mechanisms arranged at the bottom of the device are used for scrubbing the net clothes, and the working area and working efficiency are effectively improved by the large-area contact. 4) In this invention, the working posture of the device is controlled by an posture stabilizing mechanism arranged on the upper part of the device. The posture stabilizing mechanism is mainly driven by a motor and a lead screw through the cooperation of a buoyancy box and a piston to adjust the proportion of water and air in the buoyancy box, so as to achieve the objective of adjusting the overall buoyancy of the device. Compared with the traditional buoyancy adjustment mode, the structure of this mode is simple and low-cost and the adjustment accuracy for buoyancy is high, which is suitable for popularization and application.

Brief Description of the Drawings

Fig.1 is the structure diagram of the walking mechanism of the invention (1).

Fig.2 is the structure diagram of the walking mechanism of the invention (2).

Fig.2 is a schematic diagram of the structure of the cleaning mechanism of the invention.

Fig.3 is a schematic diagram of the structure of the steering mechanism of the invention.

Fig.3 is a schematic diagram of the posture stabilizing structure of the invention.

Fig.4 is a vertical view of the apparatus of the invention.

Fig.5 is a lower view of the device of the present invention

Figure Marks: 1. The frame body; 2. Net clothes traveling mechanism; 2-1,driving wheel; 2-2, driven wheel; 2-3, return spring 2; 2-4 electromagnet; 2-5, hooking claw; 2-6 crawler; 2-7, guide plate; 2-8, return spring 1; 2-9, transmission shaft 1; 2-10, coupling 1; 2-11 torsion spring; 2-12, guide block;

2-13, connecting shaft; 2-14, motor 1; 2-15, motor support 1; 2-16, guide wheel: LU504696 3. Steering mechanism; 3-1, steering push rod; 3-2,steering block; 3-3,capture claw mechanism; 3-4, return spring; 3-5, Net clothes contact block; 3-6,return spring 3; 3-7,solenoid valve; 5 4. Cleaning mechanism; 4-1,motor; 4-2, motor support2, 4-3, sealing bearing; 4-4, nut; 4-5, set screw; 4-6,transmission shaft, 4-7, coupling; 4-8, brush disc;4-9, hair brush; 5. Posture stabilizing mechanism; 5-1, motor 3; 5-2, coupling 3; 5-3 piston; 5-4, buoyancy box; 5-5, lead screw; 5-6, bearing seat; 5-7, bearing; 6. Anti-over mechanism; 7. Electronic control module;

Detailed Description

The embodiment shown in the attached figures will be further explained.

As shown in Figs. 1-4, a cleaning device for flexible net clothes comprises a frame body 1, a clothes traveling mechanism 2, a steering mechanism 3, a washing mechanism 4, a posture stabilizing mechanism 5, a propeller 6, and an electronic control module 7.

As shown in Figs. 1-3, the frame body 1 provides a frame structure support for the whole device, and other parts other than the clothes traveling mechanism are installed in the frame body, mainly used for carrying working loads. As the preferred frame, it shall have good sealing property and good pressure resistance.

The net clothes traveling mechanism comprises a driving wheel 2-1, a driven wheel 2-2, amotor 1 2-14, a motor support 1 2-15, a transmission shaft 1 2-9, a coupling 1 2-10, a crawler 2-6, a hook claw 2-5, a guide plate 2-7, an electromagnet 2-4, a return spring 1 2-8, a return spring 2 2-3, a connecting shaft 2-13, and a torsion spring 2-11. The driving wheel, the motor 1, the transmission shaft 1 and the coupling constitute the power source of the clothes traveling mechanism, the transmission shaft 1 and the coupling are arranged between the motor and the driving wheel for power transmission, and the motor 1 is a double-shaft output, so that the crawlers on both sides maintain good working synchronization. The crawler is arranged on one driving wheel and three driven wheels, which are arranged on both sides of the frame, two groups on each side, and the driving wheel is connected with the transmission shaft by keys. When operating, the crawler is provided with a hook claw for hooking a mesh coat. Each set of hook claw is composed of two pieces of claw and a guide block, which are connected by a torsional spring. When the guide block is subjected to a force towards one side, the same side of the claw will move towards the same direction so as to hook the mesh coat and make the whole device move.

The hook claw of the hook hanging net clothes is arranged on a return spring 1 ahd584696 connecting shaft, and each connecting shaft is provided with two groups of hook claws and a return spring 1. When the hook claw does not contact the guide groove of the guide plate, the hook claw is always in a designed initial position, and when the hook claw starts to contact the guide groove, the hook claw will move according to a preset movement direction. The connecting shaft is installed between two groups of crawlers, the connecting shaft is provided with a return spring 1, a pawl, a torsional spring and a guide block, and the torsional spring connects the pawl and the guide block together by connecting the axle shaft center; The electromagnet is arranged at the bottom of the frame body and connected with the guide plate for controlling the retraction and retraction of the guide plate. The guide plate is arranged on the upper part of the lower crawler, and a guide groove is opened on the guide plate for controlling the posture of the hook claw during walking. The return spring 2 is arranged between the electromagnet and the guide plate. The guide plate is lowered when the power is off and retracted when the power is on. As a preferred choice, there shall be good sliding between the guide block and the guide slot to ensure that it can pass through smoothly.

The steering mechanism mainly comprises a steering push rod 3-1, a steering block 3-2, a mesh contact block 3-5, a capturing claw mechanism 3-3, a return spring 3 3-6, a return spring 4 3-4 and a solenoid valve 3-7; The steering push rod is arranged between the frame body and the bogie block for changing the overall movement direction of the device;

The steering block is arranged at the center of the bottom of the device, and its lifting is jointly acted by the hydraulic system and the return spring; The return spring is installed between the frame and the bogie. The clothes contact block is installed at the bottom of the steering block, the contact block is provided with a guide groove, and a return spring 4 is provided between the clothes contact block and the steering block for up and down movement of the clothes contact block. The capture claw is arranged at the bottom of the steering block and is used for capturing the net clothes. When working, the solenoid valve 3-7 opens and presses the steering block down, so that the net clothes contact block contacts the net clothes, and the contact block will move upward when contacting the net clothes, so that the capture claw mechanism will be stretched along the guide slot on the net clothes contact block, making the soft net clothes become tight and effective. When the grab is completed, the electromagnetic iron of the walking mechanism will be energized to retract the guide plate, so as to separate the hook claw from the net clothes and restore it to the initial state, and then turn to the push rod for reversing.

The cleaning mechanism comprises a brush disc 4-8, a brush 4-9, a motor 2 4-1, a motor support 2 4-2, a coupling 2 4-7, a sealing bearing 4-3, and a transmission shaft 2144604696

The cleaning mechanism has 6 groups of brush discs, which are uniformly installed at the bottom of the device. The brush disk is provided with a hair brush for cleaning the attachments of the clothes. The brush disc is connected to the transmission shaft in two phases by means of a fixing mode of a nut 4-4 and a fixing screw 4-5; The transmission shaft 2 is connected with the motor 2 through the coupling 2, and a sealing bearing is arranged at the position passing through the frame body. The motor 2 is mounted on the motor support 2. During operation, the motor drives the brush disc for cleaning. Preferred brush should be wear resistant, long life and easily replaceable materials.

The posture stabilizing mechanism comprises a buoyancy box 5-4, a motor 3 5-1, a coupling 3 5-2, a piston 5-3, a lead screw 5-5, a bearing 5-7, and a bearing seat 5-6; The buoyancy box is arranged at the upper part of the device, and is used for controlling the buoyancy of the whole device and adjusting the stress state of the device in water. The lead screw is arranged on the bearing seat by means of a bearing. The motor 3 is connected with the lead screw through a coupling. The piston is arranged on the lead screw. During operation, the piston is driven to move by the rotation of the lead screw, so as to control the proportion of water and air in the buoyancy box.

The working principle of the present invention :

When the net clothes needs cleaning, place cleaning device for flexible net clothes on the net clothes. At this time, the electromagnet of the walking mechanism is powered off and the guide plate is put down. At this time, the motor of the walking mechanism is powered on to drive the crawlers on both sides to rotate together, thus driving the hook and hook mechanism on the crawler. Since the hook claw on the mechanism is in the initial opening state before reaching the guide plate, when it runs to the guide plate, the guiding mechanism cooperated with the guiding groove on the hook claw will enter the guiding groove to make the hook claw retract and hook the net clothes and move towards the outer side of the device as a whole, so that the passing net clothes are intense and convenient for the next cleaning work. As the hook claw is a symmetric structure, it can move in two directions with the same movement principle. During cleaning, six groups of cleaning mechanisms are used for physical cleaning of the brush disc rotation. When the device needs to be turned, the steering mechanism at the bottom will be lowered through the hydraulic system to make the contact block of the net clothes contact with the net clothes.

When the contact block of the net clothes continues to move downward, the capture claw at the bottom will capture the net clothes and move upward, and the capture claw mechanism will be stretched along the guide slot on the contact block of the net clothes, making the soft net clothes become tight and effectively grabbed. At this time, the electromagnetic irarued4696 the walking mechanism is energized to retract the guide plate. Thus, the hook claw is detached from the net clothes to restore it to the initial state, and then the push rod is turned to work to reverse the device. During the operation of the unit, the buoyancy may be unstable due to the change of working environment, so the upper part of the unit is provided with a posture stabilization mechanism, which is driven by a motor and a lead screw through the cooperation of a buoyancy box and a piston to adjust the proportion of water and air in the buoyancy box, so as to achieve the purpose of adjusting the overall buoyancy of the unit and the operation stability of the unit. At the same time, two groups of propellers are arranged on the upper part of the frame to prevent overturning during reversing, causing the cleaning device for flexible net clothes to fall off from the net clothes.

Finally, it should be noted that the embodiment above is only used to illustrate the technical solution of the present invention and not to limit. Although the present invention has been described in detail with reference to the aforementioned embodiment, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiment, or equally replace some of the technical features therein. However, these modifications or substitutions do not make the essence of the corresponding technical solution separate from the spirit and scope of the technical solutions of the embodiment of the present invention.

Claims

CLAIMS LU504696

1. À cleaning device for flexible net clothes, characterized in that the device mainly comprises a frame body(1); the clothes traveling mechanism (2) for controlling the creeping of the device arranged on both sides of the device; the steering mechanism (3) for controlling the walking direction of the device arranged at the bottom center of the device; the cleaning mechanism (4) for cleaning the net clothes arranged at the bottom of the device; the posture stabilizing mechanism (5) for keeping the device running stably arranged on the top of the device and the electronic control module (6) installed inside the frame.

2. A cleaning device for flexible net clothes according to claim 1, characterized in that the frame body (1) provides a frame support for the whole device, and other parts other than the clothes walking mechanism are installed in the frame body.

3. A cleaning device for flexible net clothes according to claim 1, characterized in that the clothes walking mechanism comprises a driving wheel (2-1), a driven wheel (2-2), a motor 1 (2-14), a motor support 1 (2-15), a transmission shaft 1 (2-9), a coupling 1 (2-10), a crawler (2-6), a hook claw (2-5), a guide plate (2-7), an electromagnet (2-4), a return spring 1 (2-8), a return spring 2 (2-3), a connecting shaft (2-13), torsional spring (2-11). The driving wheel, the motor 1, the transmission shaft 1 and the coupling constitute the power source of the clothes traveling mechanism, and the transmission shaft 1 and the coupling are arranged between the motor and the driving wheel for power transmission. The crawler is arranged on one driving wheel and three driven wheels, and is arranged on both sides of the frame body, two groups for each side. The crawler is provided with a hook claw for hooking a mesh coat; The hook claw of the hook clothes is arranged on a return spring 1 and a connecting shaft, and each connecting shaft is provided with two groups of hook claws and a return spring 1. The connecting shaft is installed between two groups of crawlers, and the connecting shaft is provided with a return spring 1, a pawl, a torsional spring and a guide block, and the torsional spring connects the pawl and the guide block together by connecting the axle shaft center. The electromagnet is arranged at the bottom of the frame body and connected with the guide plate for controlling the retraction of the guide plate. The guide plate is arranged on the upper part of the lower crawler, and a guide groove is opened on the guide plate for controlling the posture of the hook claw during walking. The return spring 2 is arranged between the electromagnet and the guide plate.

4. A flexible clothes washing device according to claim 1, characterized in that the steering mechanism mainly comprises a steering push rod (3-1), a steering block (3-2), a mesh contact block (3-5), a capturing claw mechanism (3-3), a return spring 3 (3-6), a return spring 4 (3-4) and a solenoid valve (3-7); the steering push rod is arranged betwe&:04696 the frame body and the steering block for changing the overall movement direction of the device; the steering block is arranged at the center of the bottom of the device, and its lifting is jointly acted by the hydraulic system and the return spring 3; the return spring is installed between the frame and the steering block; the clothes contact block is installed at the bottom of the steering block, and the contact block is provided with a guide groove, and a return spring 4 is provided between the clothes contact block and the steering block for up and down movement of the clothes contact block; the capture claw is arranged at the bottom of the steering block and is used for capturing the net clothes. When the net clothes contact block contacts the net clothes, it will move upward, and the capture claw mechanism will be stretched along the guide slot on the net clothes contact block, so that the soft net clothes become tight and effectively grabbed.

5. A flexible clothes washing device according to claim 1, characterized in that the washing mechanism comprises a brush disc (4-8), a hair brush (4-9), a motor 2 (4-1), a motor support 2 (4-2), a coupling 2 (4-7), a sealing bearing (4-3) and a transmission shaft 2 (4-6). The cleaning mechanism has 6 groups of brush discs, which are uniformly installed at the bottom of the device; the brush disk is provided with a hair brush for cleaning the attachments of the clothes; The brush disc is connected to the transmission shaft by means of a nut(4-4) and a fixing screw (4-5); the transmission shaft 2 is connected with the motor 2 through the coupling 2, and a sealing bearing is arranged at the position passing through the frame body; the motor 2 is mounted on the motor support 2.

6. A flexible clothes washing device according to claim 1, characterized in that the posture stabilizing mechanism comprises a buoyancy box (5-4), a motor 3 (5-1), a coupling 3 (5-2), a piston (5-3), a lead screw (5-5), a bearing (5-7), and a bearing seat (5-6).the buoyancy box is arranged at the upper part of the device, which is used for controlling the buoyancy of the whole device and adjusting the stress state of the device in water; The lead screw is arranged on the bearing seat by a bearing; the motor 3 is connected with the lead screw through a coupling; the piston is arranged on the lead screw, and the movement of the piston is driven by the rotation of the lead screw to control the proportion of water and air in the buoyancy box.