CN116116786B - Semi-submersible type deep open sea aquaculture net cage assembly type underwater net washing robot - Google Patents
Semi-submersible type deep open sea aquaculture net cage assembly type underwater net washing robot Download PDFInfo
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- CN116116786B CN116116786B CN202310071180.1A CN202310071180A CN116116786B CN 116116786 B CN116116786 B CN 116116786B CN 202310071180 A CN202310071180 A CN 202310071180A CN 116116786 B CN116116786 B CN 116116786B
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- net
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- net washing
- disc
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- 238000005406 washing Methods 0.000 title claims abstract description 160
- 238000009360 aquaculture Methods 0.000 title claims abstract description 20
- 244000144974 aquaculture Species 0.000 title claims abstract description 20
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 13
- 238000009313 farming Methods 0.000 claims description 6
- 239000004698 Polyethylene Substances 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- -1 polyethylene Polymers 0.000 claims description 3
- 229920000573 polyethylene Polymers 0.000 claims description 3
- 230000009182 swimming Effects 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 2
- 238000004140 cleaning Methods 0.000 description 9
- 230000000694 effects Effects 0.000 description 5
- 239000000428 dust Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 229920000642 polymer Polymers 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004851 dishwashing Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B1/00—Cleaning by methods involving the use of tools
- B08B1/30—Cleaning by methods involving the use of tools by movement of cleaning members over a surface
- B08B1/32—Cleaning by methods involving the use of tools by movement of cleaning members over a surface using rotary cleaning members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B13/00—Accessories or details of general applicability for machines or apparatus for cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
- Y02A40/81—Aquaculture, e.g. of fish
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Ocean & Marine Engineering (AREA)
- Farming Of Fish And Shellfish (AREA)
Abstract
The invention relates to an assembly type underwater net washing robot for a deep-open sea aquaculture net cage, which comprises the following components: the two walking modules and the plurality of net washing modules are connected end to form a whole, and the two walking modules are respectively connected to the left side and the right side of the whole. The main body component of the invention adopts a modularized design, the net washing modules can be freely assembled to form the underwater net washing robots with different numbers of net washing trays, the single module can be directly replaced after being damaged, and the invention can be suitable for the fishing net washing operation of various large and small deep open sea aquaculture net boxes.
Description
Technical Field
The application belongs to the technical field of deep-open sea cultivation, and particularly relates to a semi-submersible type deep-open sea cultivation net cage assembly type underwater net washing robot.
Background
Various marine organisms are very easy to grow on the fishing net of the cultivation net cage in the cultivation process, the marine organisms are mainly cleaned and removed by removing the net clothes to a mode of airing on land, cleaning by a high-pressure water gun and cleaning by a cavitation effect net washing disc, but most of the marine organisms are manually cleaned, the cultivation cannot be performed due to the fact that the fishing net is removed by cleaning, a new fishing net needs to be replaced for continuous cultivation, and a diver needs to submerge the high-pressure water gun and the cavitation effect net washing disc for cleaning, so that the work load is large, and the operation is dangerous.
The current deep-open sea aquaculture net cage is mainly cleaned by means of a high-pressure water gun and a cavitation effect net-washing disc, and the current method is also used for cleaning the net-washing disc by means of carrying the high-pressure water gun and the cavitation effect net-washing disc by an underwater robot, but the current underwater machine carrying the cavitation effect net-washing disc is high in applicability and pertinence, and is a customized product according to the size and the function of the aquaculture net cage, so that the universality is poor, for example, the cleaning of a small-sized net cage is good, the number of the net-washing disc is small, and the number of the net-washing disc is small, for example, the number of the net-washing disc is large, and the underwater net-washing robot with more fishing net area is required for cleaning in unit time. The underwater net washing robot has higher integration level and higher product customization degree, so that the existing product is difficult to achieve universality, the existing universal form of the underwater net washing robot is a form of carrying a cleaning device on the remote-controlled underwater robot, the small-sized net cage and the large-sized net cage are difficult to achieve, and in addition, replacement and maintenance are difficult when a single part is damaged.
Disclosure of Invention
The invention aims to solve the technical problems that: in order to solve the defect that the underwater net washing robot with strong compatibility is lacked in the prior art, the semi-submersible deep open sea aquaculture net cage assembly type underwater net washing robot is provided.
The technical scheme adopted for solving the technical problems is as follows:
a semi-submersible deep open sea aquaculture net cage assembly type underwater net washing robot comprising: the device comprises two walking modules and a plurality of net washing modules, wherein the net washing modules are connected end to form a whole, and the two walking modules are respectively connected to the left side and the right side of the whole;
The washing module comprises: the device comprises a buoyancy frame, a washing plate, a driven wheel and a propeller; a net washing disc vacancy is arranged in the middle of one end of the bottom of the buoyancy frame, a net washing disc edge vacancy is arranged at the edge of the other end of the bottom of the buoyancy frame, and the net washing disc vacancy can be spliced with the net washing disc edge vacancy to form a complete net washing disc embedding position; the washing disc is embedded and installed in the washing disc vacancy, the buoyancy frame is provided with a washing disc bearing hole, and the washing disc bearing and the washing disc water inlet pipe are embedded in the washing disc bearing hole; the buoyancy frame is also provided with a propeller flow passage hole positioned at one side of the mesh washing disc vacancy, a propeller guide cover is embedded and installed in the propeller flow passage hole, the propeller is installed in the propeller guide cover, and the thrust direction of the propeller faces to the bottom of the buoyancy frame; driven wheels are arranged at two ends of the bottom of the buoyancy frame;
The two ends of the buoyancy frame are axially provided with connecting bolt holes along the driven wheel, and the adjacent net washing modules can pass through the connecting bolt holes for connection after being butted, and when being butted, the net washing disc empty position of one of the adjacent net washing modules is spliced with the net washing disc edge empty position of the other net washing module;
The walking module includes: a buoyancy base, a front-back pushing device and a walking crawler; the buoyancy base can be fixed on one side of the buoyancy frame; the front and rear pushing device is arranged on the buoyancy base and positioned on one side of the walking track, and is used for providing forward and backward swimming pushing force; the buoyancy base is provided with a net washing disc edge vacancy;
the left and right walking tracks synchronously rotate forward or backward to provide power for the net washing robot, and the left and right walking tracks respectively rotate forward and backward to provide steering power for the net washing robot during net washing.
Preferably, the semi-submersible type deep and open sea aquaculture net cage assembly type underwater net washing robot is characterized in that the propeller guide cover is provided with a guide groove facing the net washing disc vacancy or the net washing disc edge vacancy close to the edge of the net washing disc vacancy or the net washing disc edge vacancy.
Preferably, the semi-submersible type deep open sea aquaculture net cage assembly type underwater net washing robot is characterized in that the diversion trench is in a horn shape.
Preferably, the semi-submersible type deep and open sea aquaculture net cage assembly type underwater net washing robot is characterized in that the buoyancy frame is made of high polymer polyethylene materials, and the inside of the buoyancy frame is of a hollow structure.
Preferably, the semi-submersible type deep open sea aquaculture net cage assembly type underwater net washing robot is characterized in that the driven wheel is connected with the buoyancy frame through a driven wheel shaft and a driven wheel fixing nut.
Preferably, the semi-submersible type deep and open sea aquaculture net cage assembly type underwater net washing robot comprises a propeller screw, a propeller support and a propeller motor, wherein the propeller motor is connected with a propeller guide cover through the propeller support, and the propeller screw is arranged on the propeller motor.
Preferably, the semi-submersible type deep open sea aquaculture net cage assembly type underwater net washing robot is characterized in that the buoyancy frame is of an axisymmetric structure.
The beneficial effects of the invention are as follows:
The main body component adopts a modularized design, the net washing modules can be freely assembled to form the underwater net washing robots with different numbers of net washing trays, and the single module can be directly replaced after being damaged, thus being applicable to the fishing net washing operation of various large and small deep open sea aquaculture net boxes.
Drawings
The technical scheme of the application is further described below with reference to the accompanying drawings and examples.
FIG. 1 is a front view of a semi-submersible deep open sea farming net cage assembly type underwater net washing robot structure according to an embodiment of the present application;
FIG. 2 is a front view of a screen washing module structure according to an embodiment of the present application;
FIG. 3 is a rear view of the structure of a washing module according to an embodiment of the present application;
FIG. 4 is a right side view of the construction of the washing module according to the embodiment of the present application;
FIG. 5 is a cross-sectional view A-A of FIG. 2;
FIG. 6 is a top view of a screen washing module structure according to an embodiment of the application;
FIG. 7 is a front view of a walking module structure of an embodiment of the present application;
FIG. 8 is a right side view of a walking module structure of an embodiment of the present application;
FIG. 9 is a front view of a monolith employing 3 washing modules connected together;
FIG. 10 is a rear view of a monolith employing 3 washing modules connected together;
FIG. 11 is a front view of a monolith employing 5 washing modules connected together;
Fig. 12 is a rear view of a monolith employing 5 washer modules.
The reference numerals in the figures are:
1. Net washing module
1-1 Buoyancy frame
1-2 Mesh washing disc vacancy
1-3 Net-washing disc edge vacancy
1-4 Washing net disk bearing hole
1-5 Propeller flow passage holes
1-6 Connecting bolt holes
1-7 Connecting bolt
1-8 Diversion trenches
2-1 Dish washer
2-2 Dish washing bearing
2-3 Water inlet pipe for washing dish
3-1 Driven wheel
3-2 Driven wheel axle
3-3 Driven wheel fixing nut
4. Propelling device
4-1 Propeller
4-2 Propeller support
4-3 Propeller motor
4-4 Propeller air guide sleeve
5. Walking module
5-1 Buoyancy base
5-2 Walking caterpillar
5-3 Pushing the device.
Detailed Description
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other.
In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the scope of the present application. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the application, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of the present application, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art in a specific case.
The technical scheme of the present application will be described in detail below with reference to the accompanying drawings in combination with embodiments.
Examples
The embodiment provides a semi-submersible type deep open sea aquaculture net cage assembly type underwater net washing robot, as shown in fig. 1-8, comprising: the two walking modules 5 and the plurality of net washing modules 1 are connected end to form a whole, and the two walking modules 5 are respectively connected to the left side and the right side of the whole;
The washing module 1 comprises: 1-1 of buoyancy frame, 2-1 of washing plate, 3-1 of driven wheel, propeller 4; a net washing disc vacancy 1-2 is arranged in the middle of one end of the bottom of the buoyancy frame 1-1, a net washing disc edge vacancy 1-3 is arranged at the edge of the other end of the bottom of the buoyancy frame, and the net washing disc vacancy 1-2 can be spliced with the net washing disc edge vacancy 1-3 to form a complete net washing disc embedding position; the washing disc 2-1 is embedded and installed in the washing disc vacancy 1-2, the buoyancy frame 1-1 is provided with a washing disc bearing hole 1-4, and the washing disc bearing 2-2 and the washing disc water inlet pipe 2-3 are embedded in the washing disc bearing hole 1-4; the buoyancy frame 1-1 is also provided with a propeller flow passage hole 1-5 positioned at one side of the mesh washing disc vacancy 1-2, a propeller guide cover 4-4 is embedded and installed in the propeller flow passage hole 1-5, the propeller 4 is installed in the propeller guide cover 4-4, and the thrust direction of the propeller 4 faces the bottom of the buoyancy frame 1-1; driven wheels 3-1 are arranged at two ends of the bottom of the buoyancy frame 1-1;
The two ends of the buoyancy frame 1-1 are axially provided with connecting bolt holes 1-6 along the driven wheel 3-1, and the adjacent net washing modules 1 can be connected through the connecting bolt holes 1-6 after being butted by the connecting bolts 1-7, and when being butted, the net washing disc empty space 1-2 of one of the adjacent net washing modules 1 is spliced with the net washing disc edge empty space 1-3 of the other net washing module 1;
The walking module 5 includes: a buoyancy base 5-1, a front-rear pushing device 5-3 and a walking crawler 5-2; the buoyancy base 5-1 can be fixed on one side of the buoyancy frame 1-1; the front and rear pushing device 5-3 is arranged on the buoyancy base 5-1 and positioned on one side of the walking caterpillar band 5-2, and the front and rear pushing device 5-3 is used for providing forward and backward swimming pushing force; the buoyancy base 5-1 is provided with a net washing disc edge vacancy 1-3;
the left and right walking tracks 5-2 synchronously rotate forward or backward to provide power for the net washing robot, and the left and right walking tracks 5-2 respectively rotate forward and backward to provide power for turning the net washing robot when washing the net.
The working principle of each part of the semi-submersible type deep open sea aquaculture net cage assembly type underwater net washing robot in the embodiment is as follows:
the net washing module 1 is mainly supported and buoyancy is provided by a buoyancy frame 1-1, the buoyancy frame 1-1 is made of high polymer polyethylene materials, has certain strength, is hollow inside and can generate certain buoyancy. The propeller 4 of the washing net module 1 mainly provides reaction force for the water jet of the washing plate 2-1 in the time of washing net; as the underwater robot moves through the water, downward and upward thrust is provided. The front and rear pushing devices 5-3 of the traveling module 5 mainly provide forward and backward traveling pushing force for the net washing robot. The front and rear pushing devices 5-3 of the left side traveling module 5 and the front and rear pushing devices 5-3 of the right side traveling module 5 can turn the net washing robot when pushing forces are generated forward and backward, respectively. When the walking crawler belt 5-2 mainly performs net washing operation, the net washing robot walks on the fishing net, and thrust is generated in the direction of the fishing net through the propeller 4 of the net washing module 1, so that the net washing robot is clung to the fishing net and moves forwards or backwards through the walking crawler belt 5-2. As shown in fig. 9 to 12, the semi-submersible type deep-open sea culture net cage assembly type underwater net washing robot of the present embodiment may have 3 net washing modules 1 connected as a whole or 5 net washing modules connected as a whole, but is not limited to the number. Therefore, the damage of a single module can be directly replaced, and the device can be suitable for the fishing net cleaning operation of various large and small deep open sea cultivation net cages.
Preferably, as shown in fig. 10, the propeller dome 4-4 is close to the edge of the net-washing disc space 1-2 or the net-washing disc edge space 1-3 and provided with a diversion trench 1-8 facing the net-washing disc space 1-2 or the net-washing disc edge space 1-3. The diversion trench 1-8 is communicated with the edge of the diversion cover 4-4, when the propeller 4-1 of the propeller 4 rotates, the water flow at the rear end of the diversion cover 4-4 is pumped to the front end, and based on the reaction force, the propeller 4-1 receives the backward thrust, so that the whole robot is pushed to the net to be cleaned; in the process, as the washing plate 2-1 also works, most of the centrifugal force of the dust swept off the net by the washing plate 2-1 due to the rotation of the washing plate 2-1 is concentrated at the edge position of the net washing plate vacancy 1-2, so that the dust is easy to wash away along with the water flow caused by the following of the propeller screw 4-1 by the guide groove 1-8, and the problem that too much dust floating nearby after the net is cleaned is prevented from being reattached to the net to a certain extent. As shown in FIG. 10, the shape of the flow guide grooves 1-8 is preferably a horn mouth shape, so that the flow of the flow guide grooves 1-8 is increased.
Preferably, as shown in fig. 6, the driven wheel 3-1 is connected with the buoyancy frame 1-1 through a driven wheel shaft 3-2 and a driven wheel fixing nut 3-3. This structure can facilitate replacement when the driven wheel 3-1 is damaged.
Preferably, as shown in fig. 3 and 4, the propeller 4 of the semi-submersible type deep and open sea aquaculture net cage assembly type underwater net washing robot of the embodiment comprises a propeller screw 4-1, a propeller support 4-2 and a propeller motor 4-3, wherein the propeller motor 4-3 is connected with the propeller guide cover 4-4 through the propeller support 4-2, and the propeller screw 4-1 is arranged on the propeller motor 4-3.
Preferably, in the semi-submersible deep open sea aquaculture net cage assembly type underwater net washing robot of this embodiment, as shown in fig. 1-4, the buoyancy frame 1-1 has an axisymmetric structure, which is beneficial to the balance of the whole body of the machine.
With the above-described preferred embodiments according to the present application as a teaching, the worker skilled in the art could make various changes and modifications without departing from the scope of the technical idea of the present application. The technical scope of the present application is not limited to the contents of the specification, and must be determined according to the scope of claims.
Claims (6)
1. The utility model provides a semi-submerged formula deep open sea aquaculture net cage assembled formula is washing net robot under water which characterized in that includes: the two walking modules (5) and the plurality of net washing modules (1), wherein the plurality of net washing modules (1) are connected end to form a whole, and the two walking modules (5) are respectively connected to the left side and the right side of the whole;
The washing module (1) comprises: a buoyancy frame (1-1), a washing plate (2-1), a driven wheel (3-1) and a propeller (4); a net washing disc vacancy (1-2) is arranged in the middle of one end of the bottom of the buoyancy frame (1-1), a net washing disc edge vacancy (1-3) is arranged at the edge of the other end of the bottom of the buoyancy frame, and the net washing disc vacancy (1-2) can be spliced with the net washing disc edge vacancy (1-3) to form a complete net washing disc embedding position; the washing disc (2-1) is embedded and installed in the washing disc vacancy (1-2), the buoyancy frame (1-1) is provided with a washing disc bearing hole (1-4), and the washing disc bearing (2-2) and the washing disc water inlet pipe (2-3) are embedded in the washing disc bearing hole (1-4); the buoyancy frame (1-1) is also provided with a propeller runner hole (1-5) positioned at one side of the net washing disc vacancy (1-2), a propeller guide cover (4-4) is embedded and installed in the propeller runner hole (1-5), the propeller (4) is installed in the propeller guide cover (4-4), and the thrust direction of the propeller (4) faces to the bottom of the buoyancy frame (1-1); driven wheels (3-1) are arranged at two ends of the bottom of the buoyancy frame (1-1);
The two ends of the buoyancy frame (1-1) are axially provided with connecting bolt holes (1-6) along the driven wheel (3-1), the adjacent net washing modules (1) can be connected through the connecting bolt holes (1-6) after being butted, and when being butted, the net washing disc empty space (1-2) of one of the adjacent net washing modules (1) is spliced with the net washing disc edge empty space (1-3) of the other net washing module (1);
The walking module (5) comprises: a buoyancy base (5-1), a front-back pushing device (5-3) and a walking crawler (5-2); the buoyancy base (5-1) can be fixed on one side of the buoyancy frame (1-1); the front and rear pushing device (5-3) is arranged on the buoyancy base (5-1) and is positioned on one side of the walking crawler belt (5-2), and the front and rear pushing device (5-3) is used for providing forward and backward swimming pushing force; the buoyancy base (5-1) is provided with a net washing disc edge vacancy (1-3);
The left and right walking tracks (5-2) synchronously rotate forward or backward to provide power for the net washing robot, and the left and right walking tracks (5-2) respectively rotate forward and backward to provide steering power for the net washing robot during net washing; the propeller air guide sleeve (4-4) is close to the edge of the net washing disc vacancy (1-2) or the net washing disc edge vacancy (1-3) and is provided with an air guide groove (1-8) which faces the net washing disc vacancy (1-2) or the net washing disc edge vacancy (1-3).
2. The semi-submersible deep open sea farming net cage assembly type underwater net washing robot according to claim 1, wherein the diversion trenches (1-8) are bell-mouthed.
3. Semi-submersible deep open sea farming net cage assembly type underwater net washing robot according to any one of claims 1-2, wherein the buoyancy frame (1-1) is made of high molecular polyethylene material, and the inside is hollow structure.
4. Semi-submersible deep open sea farming net cage assembly type underwater net washing robot according to any one of claims 1-2, characterized in that the driven wheel (3-1) is connected with the buoyancy frame (1-1) through a driven wheel axle (3-2) and a driven wheel fixing nut (3-3).
5. Semi-submersible deep open sea farming net cage assembly type underwater net washing robot according to any one of claims 1-2, wherein said propeller (4) comprises a propeller screw (4-1), a propeller support (4-2), a propeller motor (4-3), said propeller motor (4-3) is connected with said propeller pod (4-4) through said propeller support (4-2), said propeller screw (4-1) is mounted on said propeller motor (4-3).
6. Semi-submersible deep open sea farming net cage assembly type underwater net washing robot according to any one of claims 1-2, characterized in that the buoyancy frame (1-1) is of axisymmetric structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310071180.1A CN116116786B (en) | 2023-02-07 | 2023-02-07 | Semi-submersible type deep open sea aquaculture net cage assembly type underwater net washing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310071180.1A CN116116786B (en) | 2023-02-07 | 2023-02-07 | Semi-submersible type deep open sea aquaculture net cage assembly type underwater net washing robot |
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| CN116116786A CN116116786A (en) | 2023-05-16 |
| CN116116786B true CN116116786B (en) | 2024-05-24 |
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| CN112792077A (en) * | 2021-01-29 | 2021-05-14 | 武汉第二船舶设计研究所 | Underwater cleaning robot for net cage of deep-sea fishing ground |
| CN113275295A (en) * | 2021-04-30 | 2021-08-20 | 中国水产科学研究院南海水产研究所 | Crawler-type netting cleaning robot for seawater cage culture and netting cleaning method |
| KR20220166498A (en) * | 2021-06-10 | 2022-12-19 | 고등기술연구원연구조합 | Underwater cleaning robot suction mechanism |
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