CN113118093B - Ultrasonic net cage cleaning device based on underwater robot - Google Patents

Abstract

An ultrasonic cage cleaning device based on an underwater robot, comprising a chassis and a cleaning system; a boom is arranged above the chassis, a vertically arranged first steering gear is arranged on the boom, and an output shaft of the first steering gear is connected to the chassis , the boom is rotatably arranged on the base of the underwater robot, and the second steering gear that drives the deflection of the boom is arranged on the base; the cleaning system includes an ultrasonic cleaner and a plurality of roller brush assemblies, and the ultrasonic cleaner is installed under the chassis. The outer surface of the chassis is evenly distributed with a plurality of roller brush assemblies that can yaw and rotate in the circumferential direction. The invention can be used in the marine aquaculture market to realize the cleaning of seabed cages, and can adapt to various underwater situations.

Description

An Ultrasonic Cage Cleaning Device Based on Underwater Robot

technical field

The invention relates to a device for cleaning and maintaining marine cages, in particular to an ultrasonic cage cleaning device based on an underwater robot.

Background technique

In recent years, the underwater market is huge, and the aquaculture field is a promising market in the civilian field, because the underwater robot has the advantages of light weight, low cost, low energy consumption and can realize a variety of functions. Xia robots are popular with consumers in the deep-sea operation market. Therefore, many different types of service robots for the aquaculture industry have emerged. Among them, deep-sea cage culture has always been a hot spot, and the cage nets cannot be effectively cleaned for a long time, which will lead to a large amount of algae and algae attached to the mesh. Shellfish attachments hinder the exchange of water bodies in cages, resulting in a decline in the quality of farmed fish, and such problems need to be solved urgently.

SUMMARY OF THE INVENTION

In order to overcome the prior art, the present invention provides an ultrasonic cage cleaning device based on an underwater robot.

An ultrasonic cage cleaning device based on an underwater robot, comprising a chassis and a cleaning system; a boom is arranged above the chassis, a vertically arranged first steering gear is arranged on the boom, and an output shaft of the first steering gear is connected to the chassis , the boom is rotatably arranged on the base of the underwater robot, and a second steering gear that drives the boom to deflect is arranged on the base;

The cleaning system includes an ultrasonic cleaner and a plurality of roller brush assemblies, the ultrasonic cleaner is installed on the lower surface of the chassis, and the outer side surface of the chassis is uniformly distributed with a plurality of roller brush assemblies that can yaw and rotate.

Compared with the prior art, the present invention has the following beneficial effects:

The invention adopts ultrasonic cleaning on the cage, and can realize vector propulsion in the horizontal direction based on the propulsion of the underwater robot, the attitude adjustment of the chassis and the rolling brush assembly can be realized through the first steering gear and the second steering gear, and the Deflection and self-transmission can be realized on the upper surface, so that the cleaning device has at least four degrees of freedom. Ultrasonic waves can loosen the attachments of cages and underwater pipes. When cleaning with a rolling brush, it can adapt to various underwater situations. In the marine aquaculture market, the product of the present invention can realize the cleaning of seabed cages, and has the advantage of saving labor costs. Compared with high-pressure water flushing, it can not only perform more thorough cleaning, but also has the advantages of real-time observation of aquatic products.

Below in conjunction with accompanying drawing and embodiment, technical scheme of the present invention is further described:

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present invention seen from the top;

Fig. 2 is the three-dimensional structure schematic diagram of the present invention seen from the bottom;

Fig. 3 is the partial sectional structure schematic diagram of the present invention;

Fig. 4 is the schematic diagram that the chassis is connected with the base of the underwater robot thruster;

Figure 5 is a schematic diagram of the chassis connected to the underwater robot with 4 sets of horizontal thrusters and 2 sets of vertical thrusters.

Detailed ways

Referring to Figures 1-4, an ultrasonic cage cleaning device based on an underwater robot, comprising a chassis 1 and a cleaning system;

A boom 2 is arranged above the chassis 1, and a vertically arranged first steering gear is arranged on the boom 2. The output shaft of the first steering gear is connected to the chassis 1, and the boom 2 is rotatably arranged on the base 4 of the underwater robot. The second steering gear that drives the boom 2 to deflect is arranged on the base 4; the cleaning system includes an ultrasonic cleaner 5 and a plurality of roller brush assemblies 3, and the ultrasonic cleaner 5 is installed on the lower surface of the chassis 1, and the outer surface of the chassis 1 A plurality of roller brush assemblies 3 that can yaw and rotate are evenly distributed along the circumferential direction. Ultrasound loosens attachments to cages and underwater pipes. Then use the roller brush to clean, which improves the efficiency and the degree of cleaning, and greatly reduces the damage to underwater creatures compared to other methods. Usually, the boom 2 is concentrically connected to the bottom of the base 4 of the underwater robot and fixed by nuts. Easy and reliable connection.

The first steering gear and the second steering gear can realize the circumferential rotation and yaw attitude adjustment of the chassis and the roller brush assembly, and the use of the roller brush assembly on the chassis can realize deflection and autotransmission, so that the cleaning device has at least four degrees of freedom, which can adapt to Various underwater situations. The first steering gear can be realized by a waterproof small motor, and the intermittent rotation of the chassis 1 is controlled by the stm32 single-chip microcomputer. The yaw of the roller brush assembly 3 realizes a fixed angle rotation, which expands the cleaning range, and can achieve 1800 rotations ⁽ up and down 900 deflections under the horizontal reference ⁾ for bottom and front cleaning.

The horizontal propeller 7-1 and the vertical propeller 7-2 in FIG. 5 may adopt propeller propellers.

As shown in FIG. 3 , further, each rolling brush assembly 3 includes a rolling brush wheel 3-1, a wheel frame 3-2 and a third steering gear 3-3, and the rolling brush wheel 3-1 is rotatably arranged on the wheel frame On 3-2, the wheel frame 3-2 is arranged on the chassis 1 and driven by the driving mechanism 6, and the brush wheel 3-1 is driven to rotate by the third steering gear 3-3 arranged on the wheel frame 3-2.

The deflection of the brush wheel 3-1 can better fit the shape of the cage and the shape of the underwater pipe to clean.

Generally, each roller brush assembly 3 is driven by a drive mechanism 6 mounted on the chassis 1 to achieve yaw relative to the chassis 1 .

As shown in FIG. 3 , each of the driving mechanisms 6 includes a fourth steering gear 6-1 and a connecting rod 6-2; the wheel frame 3-2 is fixedly mounted on the connecting rod 6-2, and the connecting rod 6-2 is rotatable It is arranged on the chassis 1, and one end of the connecting rod 6-2 is connected with the output end of the fourth steering gear 6-1.

The third steering gear 3-3 and the fourth steering gear 6-1 are fixed in the waterproof groove on the chassis 1 . This setting achieves the purpose of waterproofing. The wheel frame 3-2 is a U-shaped body, the brush wheel 3-1 is rotatably arranged in the U-shaped body, and the connecting rod 6-2 is fixedly connected to the outer bottom of the U-shaped body. Driven by the fourth steering gear 6-1, the connecting rod 6-2 is driven to drive the swinging position of the U-shaped body, so that the brush wheel can better fit the cage and the shape of the underwater pipeline to be cleaned.

The ultrasonic cleaner 5 includes an ultrasonic vibrator 5-1 and an underwater camera; the ultrasonic vibrator 5-1 is installed in the middle of the lower surface of the chassis 1, and the underwater camera is installed on the lower surface of the chassis 1.

Sampling the ultrasonic wave of the ultrasonic vibrator loosens the attachments of the cage and underwater pipeline, and then uses the roller brush that cannot be used for periodic cleaning, which not only improves the efficiency, but also improves the degree of cleaning, which greatly reduces the cost of using it. At the same time, the fourth steering gear 6-1 is used to drive the connecting rod 6-2 to drive the swing position of the U-shaped body, so that the brush wheel can better fit the cage and underwater pipeline. Profile cleaning.

Generally, three rolling brush assemblies 3 are arranged along the circumference of the chassis 1, and are distributed on the chassis ¹ in a 1200 position. The connecting rod 6-1 is connected to the fourth steering gear 6-1 through a coupling. The roller brush on the roller brush wheel 3-2 is a steel brush or a hard brush or a light brush, or any combination of the three. It can be that the brush on the first roller brush wheel 3-2 is a steel brush, the brush on the second roller brush wheel 3-2 is a hard brush, and the brush on the third roller brush wheel 3-2 is Lightweight brush. Periodic cleaning with three sets of roller brushes with different textures. Multiple brushes can be arranged on the brush wheel.

During operation, in order to facilitate the launching of the cleaning device, the chassis 1 is provided with a water inlet channel. The water inlet channel plays the role of reducing water resistance, and the cleaning device is sent underwater with the help of the water inlet channel.

The present invention has been disclosed above with preferred embodiments, but it is not intended to limit the present invention. Any person skilled in the art, without departing from the scope of the technical solution of the present invention, can make use of the structure and technical content disclosed above to make some Changes or modifications of the above are equivalent implementation cases of equivalent changes, all still belong to the scope of the technical solution of the present invention.

Claims (6)

1. an ultrasonic cage cleaning device based on an underwater robot, is characterized in that: comprise chassis (1) and cleaning system; A boom (2) is arranged above the chassis (1), a first steering gear arranged vertically is arranged on the boom (2), an output shaft of the first steering gear is connected with the chassis (1), and the boom (2) can be It is rotatably arranged on the base (4) of the underwater robot, and a second steering gear that drives the boom (2) to deflect is arranged on the base (4); The cleaning system includes an ultrasonic cleaner (5) and a plurality of roller brush assemblies (3). The ultrasonic cleaner (5) is installed on the lower surface of the chassis (1), and the outer surface of the chassis (1) is evenly distributed with swivel and rollers in the circumferential direction. Self-rotating multiple roller brush assemblies (3); each roller brush assembly (3) includes a roller brush wheel (3-1), a wheel frame (3-2) and a third steering gear (3-3), the roller brush wheel (3-1) is rotatably arranged on the wheel frame (3-2), the wheel frame (3-2) is arranged on the chassis (1) and is driven by the driving mechanism (6), and the brush wheel (3-1) The rotation is driven by a third steering gear (3-3) arranged on the wheel frame (3-2); each of the driving mechanisms (6) includes a fourth steering gear (6-1) and a connecting rod (6-2) ); the wheel frame (3-2) is fixedly mounted on the connecting rod (6-2), the connecting rod (6-2) is rotatably arranged on the chassis (1), and one end of the connecting rod (6-2) is connected to the first The output ends of the four steering gears (6-1) are connected; the wheel frame (3-2) is a U-shaped body, the brush wheel (3-1) is rotatably arranged in the U-shaped body, and the connecting rod (6-2) ) is fixedly connected with the outer bottom of the U-shaped body, and the roller brush assembly (3) can achieve a 90° deflection up and down relative to the chassis (1). 2. a kind of ultrasonic cage cleaning device based on underwater robot according to claim 1, is characterized in that: described ultrasonic cleaner (5) comprises ultrasonic oscillator (5-1) and underwater camera; Ultrasonic oscillator (5) -1) Installed in the middle of the lower surface of the chassis (1), and the underwater camera is installed on the lower surface of the chassis (1). 3. The ultrasonic cage cleaning device based on an underwater robot according to claim 1 or 2, wherein the roller brush on the roller brush wheel (3-2) is a steel brush or a hard brush Or a lightweight bristle brush, or any combination of the three. 4. a kind of ultrasonic cage cleaning device based on underwater robot according to claim 3, is characterized in that: described the 3rd steering gear (3-3) and the 4th steering gear (6-1) are fixed on the chassis (1) inside the waterproof groove. 5. The ultrasonic cage cleaning device based on an underwater robot according to claim 1, wherein the boom (2) is concentrically connected to the bottom of the base (4) of the underwater robot, and is fixed by a nut. 6. The ultrasonic cage cleaning device based on an underwater robot according to claim 1 or 5, wherein a water inlet channel is provided on the chassis (1).

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