CN-122007071-A - Low-energy-consumption mechanical vibration type netting cleaning robot and working method thereof

CN122007071ACN 122007071 ACN122007071 ACN 122007071ACN-122007071-A

Abstract

The invention provides a low-energy consumption mechanical vibration type netting cleaning robot and a working method thereof, the robot comprises a robot main body frame, crawling tracks are arranged on two sides of the lower portion of the robot main body frame, and a cleaning mechanism is arranged at the bottom of the robot main body frame. The crawling crawler comprises a crawler chain and spike teeth arranged through flexible connection, a spike tooth adjusting mechanism is arranged on the main body frame, and the extension length of the spike teeth can be adjusted to adapt to different attachment thicknesses. The cleaning mechanism comprises a propeller and vibrating teeth, the cleaning motor drives the propeller to rotate to generate negative pressure to adsorb the netting, and meanwhile drives the vibrating teeth to rotate to generate mechanical vibration to strip attachments. The invention adopts the mechanical vibration cleaning principle to replace high-pressure water jet, has low energy consumption and high energy efficiency, has strong adaptability of the adjustable spike tooth crawler belt, avoids slipping, and can avoid damaging the netting by flexibly connecting spike teeth. The device is suitable for cleaning underwater netting in the scenes of gravity type net cages, truss type net cages, aquaculture workers and boats and the like.

Inventors

XU YEWANG
LU YIPING
JI BO
YU JINGDONG
LIU CONGCONG
YAO KAICHAO
WANG XINBAO
LIU XINGCHEN
ZHU YUNPENG

Assignees

青岛森科特智能仪器有限公司

Dates

Publication Date: 20260512
Application Date: 20260320

Claims (5)

1. The utility model provides a low energy consumption mechanical vibration formula net clearance robot, includes robot main body frame (2), and the lower part both sides of robot main body frame (2) are equipped with crawler belt (1) respectively, and robot cleaning mechanism (3) are equipped with to the bottom of robot main body frame (2), a serial communication port, crawler belt (1) include under water gear motor (101), 2 chain drive gear (102) that set up around, around set up on chain drive gear (102) and with its meshed crawler belt row chain (103) and set up a plurality of spike tooth (104) on crawler belt row chain (103) through flexonics, the output shaft of under water gear motor (101) is through transmission connection in the chain drive gear (102) in front portion; The robot main body frame (2) is provided with a spike tooth adjusting mechanism for adjusting the extension length of spike teeth (104), the spike tooth adjusting mechanism comprises a spike tooth push rod motor (105), a spike tooth push rod adjusting plate (106), a spike tooth recovery push rod motor (107), a spike tooth recovery adjusting plate (108), a track support plate push rod motor (109) and a spike tooth limiting plate (110), the push rod motor (105) is fixedly arranged on the robot main body frame (2), the tail end of a telescopic rod of the push rod motor is fixedly connected with the push rod adjusting plate (106), the push rod motor (105) and the push rod adjusting plate (106) are positioned in an annular space surrounded by a track chain (103) and are arranged at the front part of a descending section of the track chain (103), the track support plate push rod motor (109) is fixedly arranged on the robot main body frame (2), the tail end of the telescopic rod is fixedly connected with the spike tooth limiting plate (110), the spike tooth limiting plate (110) is also positioned in the annular space surrounded by the track chain (103) and is arranged on the middle part of the descending section motor of the track chain (103), the telescopic rod supporting plate push rod motor (109) is fixedly arranged on the track chain (103) and is fixedly connected with the tail end of the track chain (103) and arranged on the track chain (103), and is arranged above the ascending section of the crawler belt row chain (103); The robot comprises a robot main body frame (2), a horizontal propulsion device, a vertical propulsion device, a front underwater high-definition camera (207), a front underwater light supplementing lamp (208), a rear underwater high-definition camera (212), a rear underwater light supplementing lamp (213), a main control sealed cabin (210) and a power sealed cabin (211), wherein the main control sealed cabin (210) is internally provided with a main control circuit board, an attitude sensor and a depth sensor, the power sealed cabin (211) is internally provided with a voltage conversion circuit and a motor driving circuit, and the electric connection of the robot cleaning mechanism (3), the horizontal propulsion device, the vertical propulsion device, a speed reducing motor (101), a spike pushing-out push rod motor (105), a spike recycling push rod motor (107), a supporting plate push rod motor (109) and the main control sealed cabin (210) is provided with the rear underwater high-definition camera and the rear underwater light supplementing lamp (213); The robot cleaning mechanism (3) comprises 4 cleaning discs, each cleaning disc comprises a cleaning mechanism outer cover (301), a propeller (302), a cleaning motor (303) and vibrating teeth (304), each propeller (302) is arranged in each cleaning mechanism outer cover (301), a plurality of vibrating teeth (304) are arranged at the bottom of each cleaning mechanism outer cover (301), and an output shaft of each cleaning motor (303) is in transmission connection with each propeller (302).
2. A low energy mechanically vibrating netting cleaning robot as claimed in claim 1 characterized in that the horizontal propulsion means comprises a first horizontal propeller (201) and a second horizontal propeller (202) arranged in parallel in the transverse direction.
3. The low-energy-consumption mechanical vibration type netting cleaning robot according to claim 1, characterized in that the vertical propulsion device comprises four vertical propellers, namely a first vertical propeller (203), a second vertical propeller (204), a third vertical propeller (205) and a fourth vertical propeller (206), which are respectively arranged on the top of the robot main body frame (2), and the projections of the four vertical propellers on the horizontal plane are distributed in a square shape.
4. A low energy mechanically vibrating netting cleaning robot as claimed in claim 1, characterized in that the vibrating teeth (304) are designed as wedge-shaped structures.
5. The working method of the low-energy-consumption mechanical vibration type netting cleaning robot as set forth in claim 1, which is characterized by comprising the following steps: step (1), attaching the netting: The method comprises the steps of controlling a vertical pushing device to move, adjusting the posture of a net cleaning robot to be parallel to a net, controlling the vertical pushing device to attach the net to a pin (104) to be inserted into a mesh, controlling an underwater gear motor (101) to drive the net cleaning robot to crawl and walk to check the net attaching effect, enabling the net attached to be seriously attached, enabling the net attached to be unable to effectively attached, driving a pin pushing adjusting plate (106) to move downwards through adjusting a pin pushing push rod motor (105) to push the pin, enabling the pin to be pushed out, enabling a track supporting plate push rod motor (109) to move to drive a pin limiting plate (110) to move downwards, limiting the pushed pin (4), enabling the distance of the pin (4) protruding out of a track row chain (3) to be increased, and being suitable for a scene with thick attachment, enabling a pin recycling push rod motor (107) to drive the pin recycling adjusting plate (108) to move downwards when the pin is required to extend out of the track row chain (3), enabling the pin (4) to protrude out of the track row chain (3) to move upwards through limiting the pin recycling adjusting plate (108), and enabling the pin (4) to move upwards after the pin recycling plate (108) to limit the pin row chain (109); step (2), cleaning operation: After the net is attached, the vertical pushing device continuously keeps the downward pressure and is matched with the spike teeth (104) inserted into the net mesh of the net so that the net is in a stable tensioning state, and the cleaning structure vibration teeth (304) are inserted into the net mesh of the net in the state; The method comprises the steps of starting a netting cleaning mechanism to clean a motor (303), enabling the cleaning motor (303) to drive a cleaning screw propeller (302) and vibrating teeth (304) to rotate, dividing netting attachments in the rotating process of the vibrating teeth (304), dividing the attachments into small blocks, reducing the adhesive force of the attachments, enabling the tensioned netting ropes to vibrate in a low-frequency and high-amplitude mode in the rotating process of the vibrating teeth (304), and enabling the attachments to be stripped from the netting, enabling the cleaning screw propeller (302) to rotate and drain water to generate negative pressure, and sucking the stripped attachments out of the cleaning structure; The net-pasting movement of the underwater gear motor (101) is controlled, so that the traversing cleaning of the net clothes at different positions is completed.

Description

Low-energy-consumption mechanical vibration type netting cleaning robot and working method thereof Technical Field The invention relates to the technical field of netting cleaning robots, in particular to a low-energy-consumption mechanical vibration type netting cleaning robot and a working method thereof. Background With national strategic guidance and industrial requirements, the rapid development of deep-open sea cage culture has become an important measure for breaking through the problems of resource limitation and space restriction. The rapid development of the cage culture industry accelerates the transformation and upgrading of the culture mode and the large expansion of the marine culture space, and forms a new development pattern of marine facility culture. The net cover for cage culture is extremely easy to be corroded by marine attached organisms such as bacterial films, algae, shellfish, podophy and the like due to long-term soaking in seawater, so that huge loss and cost are brought to the cage culture industry, and meanwhile, the development of the cage culture industry is limited. The biological adhesion cleaning of the net cage is an indelible ring in the net cage cultivation process, and is core basic equipment for supporting the efficient development of deep open sea fishery cultivation. The main current deep-open sea cage and netting attachment cleaning mode comprises manual operation cleaning and netting cleaning robot cleaning. The cleaning netting for manual operation has the outstanding problems of high operation risk, low operation efficiency, high labor cost and the like, and cannot meet the development requirements of modern equipment type fishery aquaculture industry. The netting cleaning robot is used as mechanical and automatic netting cleaning operation equipment, so that the traditional manual netting cleaning operation is effectively replaced, most of the existing netting cleaning robots are based on a high-pressure water jet cleaning principle, high-flow high-pressure water is provided by a high-pressure water pump station in the operation process, the operation energy consumption is high, the energy efficiency is low, most of the energy consumption is in mechanical loss, viscous loss and turbulence loss, in addition, the existing netting cleaning system is complex in overall system composition due to the fact that the high-pressure water pump station is required to be integrated, the installation space and the electric energy configuration requirements are high when the cultivation equipment such as a cultivation net cage, a sea-going type engineering ship and the like are deployed, and the popularization scene is limited. At present, the traditional caterpillar band is in a serious attachment area, because attachments are different in height, the caterpillar band is easy to slip when passing, the gesture of a robot is influenced when passing, and then the cleaning effect is influenced. Disclosure of Invention In order to make up the defects of the prior art, the invention provides a low-energy-consumption mechanical vibration type netting cleaning robot and a working method thereof. The netting cleaning robot has the capability of multi-gesture movement under water, when the netting cleaning operation is performed, the netting is close to the robot by the remote control, the motor carried by the robot is utilized to drive the propeller to rotate to generate negative pressure to adsorb the netting, and the cam structure specifically designed by the cleaning mechanism is matched with the netting to interact to generate vibration in the adsorption process, so that the efficient nondestructive cleaning of the netting is realized. The invention is realized by the following technical scheme that the low-energy-consumption mechanical vibration type netting cleaning robot comprises a robot main body frame, wherein crawling tracks are respectively arranged on two sides of the lower part of the robot main body frame, a robot cleaning mechanism is arranged at the bottom of the robot main body frame, each crawling track comprises an underwater gear motor, 2 front-back arranged chain gears, a track row chain wound on the chain gears and meshed with the chain gears, and a plurality of spike teeth arranged on the track row chain through flexible connection, and an output shaft of each underwater gear motor is connected with the chain gears positioned at the front part through transmission; The robot main body frame is provided with a spike tooth adjusting mechanism for adjusting the extension length of spike teeth, the spike tooth adjusting mechanism comprises a spike tooth push-out push rod motor, a spike tooth push-out adjusting plate, a spike tooth recovery push rod motor, a spike tooth recovery adjusting plate, a track support plate push rod motor and a spike tooth limiting plate, the push-out push rod motor is fixedly arranged on the robot main body frame, the tail end of a telesc