Shipborne roller comb rake and hydraulic suction conveying integrated seabed shellfish catching device and method

Abstract

The invention discloses a shipborne roller comb rake and hydraulic suction conveying integrated seabed shellfish catching device and method. The device comprises a shellfish catching module, a lifting module and a mother ship guarantee module; in the catching module, a hollow shell-shaped roller rotates along with the operation of the mother ship, and a comb-shaped shovel is circumferentially arranged outside the hollow shell-shaped roller and rolls into the bed surface along with the roller to shovel shellfish; a suspension frame is arranged in the roller, relative rotation of the roller is achieved through ball bearing connection, and a built-in conveying mechanism conveys shellfish to the first end of the roller; in the lifting module, the lower end of a transition pipe is connected with an inner ring of a ball bearing and extends into the first end of a roller to receive shellfish, the lower end of a suction pipe is connected with the transition pipe, and the upper end is hinged to a mother ship. The mother ship guarantee module comprises a double-body mother ship, a stock bin and a first conveying belt, and the conveying belt is connected with the upper end of the suction pipe and the stock bin to convey shellfish. An efficient and environment-friendly solution is provided for offshore shellfish catching, development of the mudflat shellfish catching industry is expected to be promoted, and shellfish resources are better developed and utilized.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of ship and ocean engineering, and in particular, it is especially about a ship-mounted drum combing and water-powered suction conveying integrated seabed shell harvesting device and method. BACKGROUND

[0002] China's intertidal biological resources are extremely rich, especially the offshore shellfish resources, which are widely distributed in the coastal intertidal areas. They not only have important economic value, but also have irreplaceable significance for the ecological environment. With the increasing demand for shellfish resources, the intertidal shellfish harvesting industry has developed rapidly. However, the traditional shellfish harvesting method mainly relies on manual labor, which is inefficient and cannot meet the growing market demand. Therefore, in recent years, various forms of mechanical harvesting equipment have been put into production to improve harvesting efficiency.

[0003] Although the application of mechanical harvesting equipment has improved the harvesting efficiency to some extent, the current intertidal harvesting industry has been limited by the ocean tide for a long time, and usually can only carry out operations during the ebb tide, which greatly shortens the harvesting window and limits the harvesting range. In contrast, the development of underwater shellfish harvesting is relatively slow, and there is still a lack of efficient commercial harvesting equipment, which seriously restricts the development and utilization of shellfish resources.

[0004] Underwater shellfish harvesting faces many technical difficulties: first, the underwater working environment is special and complex, affected by factors such as tides, currents, visibility, etc. The cost of waterproof motors is too high, making the waterproof performance of the harvesting equipment one of the constraints, and the harvesting equipment also needs to have strong environmental adaptability and stability to cope with complex underwater conditions; second, shellfish are usually buried in silt, and traditional harvesting tools such as rake nets and buckets will encounter great resistance from silt during harvesting, which not only leads to low harvesting efficiency, but also increases energy consumption; finally, most harvesting equipment has complex structure and poor flexibility, making it difficult to adapt to different water depths and bottom conditions, which limits its application in a wider area. SUMMARY

[0005] The present application aims to solve at least one of the technical problems existing in the prior art. To this end, the present application provides a ship-mounted drum combing and water-powered suction conveying integrated seabed shell harvesting device and method, which aims to solve the problems of short harvesting window, small harvesting range, poor adaptability, and high energy consumption of intertidal shellfish harvesting.

[0006] To achieve the above-mentioned purpose, the present application adopts the following technical solutions: In a first aspect, the present application provides a ship-mounted drum combing and water-powered suction conveying integrated seabed shell harvesting device, comprising a shell harvesting module, a shell lifting module, and a mother ship support module; The shellfish catching module comprises a drum, a comb-shaped shovel, a suspension frame, a ball bearing and a shellfish conveying mechanism; the drum is a hollow shell structure, and in the working state, the drum is arranged near the seabed and can be passively towed by overcoming fluid resistance and bed resistance during the operation of the mother ship guarantee module; the suspension frame is coaxially arranged in the drum, two ball bearings are respectively installed at the two ends of the drum and the suspension frame, the outer ring of the ball bearing is tightly connected with the drum, the inner ring of the ball bearing is tightly connected with the suspension frame, and the drum can be actively rotated from the lower end to the towing direction relative to the suspension frame through a driving part; a plurality of groups of the comb-shaped shovels are uniformly arranged on the outer part of the drum in the circumferential direction, and are used for cutting into the seabed to shovel the shellfish and falling into the drum through the gravity of the shellfish; the shellfish conveying mechanism is installed in the drum and is used for conveying the shellfish falling into the drum to the first end of the drum. The shellfish lifting module comprises a suction pipe and a transition pipe, the lower end of the transition pipe is tightly connected with the inner ring of the ball bearing and extends into the first end of the drum, and is used for receiving the shellfish conveyed by the shellfish conveying mechanism; the upper end of the suction pipe is hinged in the middle joint of the catamaran mother ship of the mother ship guarantee module, the lower end of the suction pipe is connected with the upper end of the transition pipe, and is used for lifting the shellfish in the transition pipe to the waterline through suction force. The mother ship guarantee module comprises a catamaran mother ship and a bunker and a first conveying belt arranged on the catamaran mother ship; one end of the first conveying belt is connected with the upper end of the suction pipe, and the other end of the first conveying belt is connected with the bunker, and is used for conveying the lifted shellfish into the bunker.

[0007] As preferred, the drum comprises a fixed ring, a strong beam, a secondary beam and a ring-shaped reinforcing rib, 6 groups of the strong beams and 6 groups of the secondary beams are alternately connected between the two fixed rings at equal intervals in the circumferential direction, one group of the comb-shaped shovels is connected on each group of the strong beams, and a plurality of the ring-shaped reinforcing ribs are connected between each group of the strong beams and the secondary beams at equal intervals in the axial direction, so as to form a hollow shell structure.

[0008] As preferred, the comb-shaped shovel comprises a shovel tooth and a shovel tooth connecting plate, the shovel tooth is in the shape of “L”, the cross section of the shovel tooth is in the form of front narrow and rear wide, and the front narrow part is arranged in a streamline shape; a plurality of the shovel teeth are arranged in parallel and at equal intervals on the shovel tooth connecting plate, and cover the length interval of the shovel tooth connecting plate, and the shovel tooth connecting plate is tightly connected on the strong beam of the drum.

[0009] As preferred, a suction pipe posture adjusting mechanism is further arranged on the catamaran mother ship, the suction pipe posture adjusting mechanism comprises a first hydraulic rod, a second hydraulic rod, a winch, a shafting frame, a sliding rope and a pulley; The first hydraulic rod is connected between the catamaran and the bottom of the suction pipe for adjusting the pitch angle of the suction pipe; the second hydraulic rod is connected between the catamaran and the two sides of the suction pipe for adjusting the lateral angle of the suction pipe; the winch is installed on the catamaran above the hinge point of the suction pipe; the hinged frame is installed at the stern of the catamaran; the winch lifts the suction pipe from top to bottom through the sliding rope and the pulley installed on the hinged frame and the suction pipe.

[0010] As a preferred, the shell conveying mechanism is a second conveying belt installed on the suspension frame directly below the highest point of the comb-shaped shovel, one end of the second conveying belt is located in the transition pipe inlet, the surface of the second conveying belt is formed with a plurality of shell storage chambers for temporarily storing shells during lifting; the shell storage chambers are separated by partitions, and the partitions continuously push the shells towards the transition pipe inlet when the second conveying belt is running; there are a plurality of screen holes in the form of longitudinal cracks at the bottom of the shell storage chambers to further screen the bed sand quality lifted together with the shells.

[0011] As a preferred, the shell conveying mechanism includes a one-way door assembly and a submersible pump, a plurality of one-way door assemblies are densely arranged in the hollow part of the roller, each one-way door assembly includes a valve plate hinged to the inner side of two adjacent strong beams of the roller, so that it can only open to the inside space of the roller; the submersible pump is installed at the inner ring of the ball bearing at the second end of the roller, and the suction port is located outside the roller for continuously pumping seawater into the inside of the roller to form a jet flow to assist the shells into the transition pipe.

[0012] As a preferred, a plurality of underwater cameras are installed on the suspension frame for collecting underwater image information; a plurality of deformation sensors are built-in the tooth connecting plate for collecting strain information of the tooth connecting plate. Meanwhile, a cab is arranged on the double-hull mother ship, an industrial computer is arranged in the cab, and the industrial computer is connected with the underwater camera, the deformation sensor, the driving element, the first hydraulic rod, the second hydraulic rod and the winch in signal connection, the industrial computer controls the output power of the shell catching module and the posture adjustment of the shell lifting module according to the underwater image information and the strain information of the toothed connecting plate, specifically, when the strain of the toothed connecting plate is too large, that is, when the toothed comb has a risk of structure damage due to encountering a hard bed surface, the double-hull mother ship stops dragging and starts the winch to lift the suction pipe to make the roller leave the bed surface for several seconds; when the shell density in the catching area is large, the dragging speed of the double-hull mother ship and / or the output power of the hydraulic motor is increased to increase the rotation speed of the roller; when the shell size in the catching area is large or the burial depth is large, the first hydraulic rod is controlled to adjust the pitch angle of the suction pipe and / or the second hydraulic rod is controlled to adjust the lateral angle of the suction pipe to increase the depth of the toothed comb into the soil.

[0013] Preferably, a water storage tank and a spraying mechanism are further arranged on the double-hull mother ship, the spraying mechanism is arranged above the first conveying belt and connected with the water storage tank, and is used for spraying the shells on the first conveying belt to clean the residual bed sand on the shells.

[0014] Preferably, a plurality of pile legs are further arranged on the double-hull mother ship, a conical soil breaker is arranged at the bottom of each pile leg, and when the double-hull mother ship is fixed by being inserted into the bed surface during fixed-point operation, the pile legs can assist the double-hull mother ship to realize continuous and stable operation.

[0015] In the second aspect, the application provides a ship-mounted roller comb and water-powered suction conveying integrated seabed shell catching method based on the device of the first aspect of the application, and the method comprises the following steps: The seabed shell catching device travels along a pre-planned catching operation path, the suction pipe posture adjusting mechanism continuously adjusts the posture of the suction pipe to adapt to the catching terrain, and the distance between the roller and the bed surface is kept constant; When the underwater camera carried on the shell catching module captures a shell image, the industrial computer instructs the roller to start rotating, and when the roller rotates, the toothed comb moves from the bottom to the dragging direction and continuously lifts the shells from the bed surface; when the toothed comb reaches the highest point, the shells fall into the roller due to their own gravity, and then enter the transition pipe through the shell conveying mechanism, and then the shells are lifted to the first conveying belt on the double-hull mother ship through the suction pipe; The spraying mechanism sprays and cleans the shells on the first conveying belt, and finally the shells are transported to the storage bin through the first conveying belt.

[0016] The application has the following advantages due to the above technical solutions: 1. The shell catching efficiency is significantly improved: The application adopts linkage design of the roller and the comb-shaped shovel, the roller is connected with the shell lifting pipeline by bearing structure, and rotates independently while being dragged by the ship, drives the comb-shaped shovel to efficiently collect shells from the seabed, and the gap design of the tines realizes preliminary screening of the shells and the bed sand, only the shells above the target size can be captured, and the small shells are returned to the natural environment, reducing the damage to the ecological population; meanwhile, the "L" shaped tines of the comb-shaped shovel have a front-narrow rear-wide streamline structure, combined with the hollow roller, compared with the traditional solid and straight plate type collecting device, the water flow and sediment resistance are effectively reduced, the dragging efficiency is improved, the single operation time of the device is fully improved, the collection efficiency and resource utilization rate are significantly improved, and the disturbance of shell collection to the mudflat environment is reduced. In addition, the lifting module based on the suction and jet principle ensures that the collected shells can enter the mother ship bin in time.

[0017] 2. All-weather and large-scale operation: The application breaks through the tidal limit of traditional mudflat collection, can continuously work underwater, is not affected by the ebb tide, and greatly prolongs the effective operation time. At the same time, the ship dragging makes the operation range no longer limited to the shallow area, and can cover a wider sea area.

[0018] In summary, the application provides an efficient and environmentally friendly solution for offshore shell collection, which is expected to promote the development of mudflat shell collection industry and better develop and utilize shell resources. BRIEF DESCRIPTION OF DRAWINGS

[0019] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are merely illustrative and are not considered to be limiting upon the present application. Throughout the drawings, like reference numerals are used to indicate like parts. In the drawings: Figure 1 The overall perspective view of the ship-mounted roller comb harrow and hydraulic suction conveying integrated seabed shell collection device provided for the embodiment 1 of the application is shown in the figure; Figure 2 The overall view of the shell collection module provided for the embodiment 1 of the application is shown in the figure; Figure 3 The overall view of the suspension frame provided for the embodiment 1 of the application is shown in the figure; Figure 4 The overall view of the comb-shaped shovel provided for the embodiment 1 of the application is shown in the figure; Figure 5 The partial oblique view of the second conveying belt provided for the embodiment 1 of the application is shown in the figure; Figure 6 The front view of the conveying belt type shell collection process provided for the application is shown in the figure; Figure 7 The oblique view of the conveying belt type shell collection process provided for the application is shown in the figure; Figure 8 Figure 2 is a front view of the jet flow shellfish harvesting process of the present application; Figure 9 Figure 3 is an oblique view of the jet flow shellfish harvesting process of the present application.

[0020] The reference signs in the drawings are as follows: 1 drum, 2 comb-shaped spade, 3 suspension frame, 4 ball bearing, 5 suction pipe, 6 transition pipe, 7 double-hulled mother ship, 8 bunker, 9 first conveyor belt, 10 first hydraulic rod, 11 second hydraulic rod, 12 winch, 13 rigging frame, 14 slide cable, 15 pulley, 16 second conveyor belt, 17 one-way door assembly, 18 submersible pump, 19 bridge, 20 water storage tank, 21 spud leg, 22 shellfish; 2-1 spade tooth, 2-2 spade tooth connecting plate; 16-1 shellfish storage chamber, 16-2 partition, 16-3 screen hole. DETAILED DESCRIPTION

[0021] In order to make the objects, technical solutions and advantages of the present application clearer, the specific embodiments of the present application will be further described below with reference to the drawings. Although the exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided so that the present application can be more thoroughly understood and the scope of the present application can be completely conveyed to those skilled in the art.

[0022] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0023] In addition, the terms "first" and "second" are only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features referred to. Therefore, the features defined with "first" and "second" can include one or more such features explicitly or implicitly. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0024] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0025] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0026] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0027] The following is a detailed description of the integrated seabed shellfish harvesting device and method combining shipborne drum rake and hydraulic suction and conveying provided by the present invention, with reference to the accompanying drawings.

[0028] Example 1 Please see Figure 1 This embodiment provides a shipborne roller rake and hydraulic suction conveying integrated seabed shellfish harvesting device, which includes a shellfish harvesting module, a shellfish lifting module and a mother ship support module.

[0029] Please refer to Figure 2 , Figure 3, the shellfish harvesting module is used for realizing preliminary screening between shellfish harvesting and different scale shellfish and bed sand, and is a core link for realizing shellfish harvesting function, and comprises a roller 1, a comb-shaped shovel 2, a suspension frame 3, a ball bearing 4 and a shellfish conveying mechanism. The roller 1 is a hollow shell structure, and in the working state, the roller 1 is arranged near the seabed and can be passively towed by overcoming fluid resistance and bed surface resistance with the operation of the mother ship guarantee module. The suspension frame 3 is coaxially arranged in the roller 1, the two ball bearings 4 are respectively arranged at the two ends of the roller 1 and the suspension frame 3, the outer ring of the ball bearing 4 is fixedly connected with the roller 1, the inner ring of the ball bearing 4 is fixedly connected with the suspension frame 3, and the roller 1 is driven to rotate relative to the suspension frame 3 from the lower end to the towing direction by a hydraulic motor. A plurality of groups of comb-shaped shovels 2 are uniformly arranged on the outer part of the roller 1 in the circumferential direction, and are used for cutting into the seabed to shovel up shellfish 22 and falling into the roller 1 by gravity (see Figure 6 ). The shellfish conveying mechanism is arranged in the roller 1 and is used for conveying the shellfish falling into the roller 1 to the first end of the roller 1.

[0030] Please refer to Figure 1 , Figure 2 , the shellfish lifting module is used for lifting the shellfish from the seabed to the mother ship guarantee module, and comprises a suction pipe 5 and a transition pipe 6. The lower end of the transition pipe 6 is fixedly connected with the inner ring of the ball bearing 4 and extends into the first end of the roller 1, and is used for receiving the shellfish conveyed by the shellfish conveying mechanism. The upper end of the suction pipe 5 is hinged in the middle joint of the catamaran mother ship 7 (the hinge point is near the waterline), the lower end of the suction pipe 5 is connected with the upper end of the transition pipe 6, and the shellfish in the transition pipe 6 is lifted above the waterline by suction force.

[0031] Please refer to Figure 1 , the mother ship guarantee module comprises the catamaran mother ship 7 and a bunker 8 and a first conveying belt 9 arranged on the catamaran mother ship 7. One end of the first conveying belt 9 is connected with the upper end of the suction pipe 5, and the other end of the first conveying belt 9 is connected with the bunker 8, and is used for conveying the lifted shellfish into the bunker 8.

[0032] In the above embodiment, preferably, please refer to Figure 2 , the roller 1 comprises a fixed ring, a strong beam, a secondary beam and a ring-shaped reinforcing rib, 6 groups of strong beams and 6 groups of secondary beams are alternately connected between the two fixed rings at equal intervals in the circumferential direction, one group of comb-shaped shovels 2 is connected on each group of strong beams, and a plurality of ring-shaped reinforcing ribs are connected between the groups of strong beams and secondary beams at equal intervals in the axial direction, so as to enhance the structural strength, thereby forming a hollow shell structure.

[0033] In the above embodiment, preferably, please refer to Figure 4The comb-shaped dredge 2 comprises dredge teeth 2-1 and a dredge tooth connecting plate 2-2. The dredge teeth 2-1 are structures directly acting on the bed surface to achieve the function of catching shellfish. The dredge teeth 2-1 are in the shape of "L" and have a cross section in the form of front narrow and rear wide. The front narrow part is in the shape of streamline, which can effectively reduce the resistance and energy consumption. A plurality of dredge teeth 2-1 are arranged on the dredge tooth connecting plate 2-2 in parallel and equidistant (the gap between adjacent dredge teeth 2-1 can be designed according to the size of the shellfish to be caught). The dredge teeth 2-1 are arranged on the dredge tooth connecting plate 2-2 and cover the length interval of the dredge tooth connecting plate 2-2. The dredge tooth connecting plate 2-2 is fastened to the strong beam of the roller 1. Through the above arrangement, when the comb-shaped dredge 2 rotates with the roller 1, the shellfish is continuously lifted from the bed surface, and the preliminary screening of the bed sand quality of the shellfish is completed. That is, the shellfish with large size can be lifted, and the bed sand and the shellfish with size smaller than the gap between the dredge teeth 2-1 will not be collected. When the comb-shaped dredge 2 moves to the vicinity of the highest point, the shellfish will fall due to its own gravity through the hollow structure of the roller 1 and fall into the conveying mechanism to achieve the function of catching.

[0034] In the above embodiment, preferably, referring to Figure 1 The suction pipe posture adjusting mechanism is arranged on the catamaran mother ship 7 and comprises a first hydraulic rod 10, a second hydraulic rod 11, a winch 12, a rod system frame 13, a sliding cable 14 and a pulley 15. The first hydraulic rod 10 is connected between the catamaran mother ship 7 and the bottom of the suction pipe 5, used to adjust the pitch angle of the suction pipe 5 and to retract the suction pipe 5 on the waterline of the catamaran mother ship 7 when not in operation. The second hydraulic rod 11 is connected between the catamaran mother ship 7 and the two sides of the suction pipe 5, used to adjust the lateral angle of the suction pipe 5. The winch 12 is installed on the catamaran mother ship 7 above the hinge point of the suction pipe 5. The rod system frame 13 is installed on the stern of the catamaran mother ship 7. The winch 12 lifts the suction pipe 5 from top to bottom through the sliding cable 14 and the pulley 15 installed on the rod system frame 13 and the suction pipe 5.

[0035] In the above embodiment, preferably, referring to Figures 5 to 7 The shellfish conveying mechanism can be a second conveying belt 16 located directly below the highest point of the comb-shaped dredge 2 and installed on the suspension frame 3. One end of the second conveying belt 16 is located in the inlet of the transition pipe 6. The surface of the second conveying belt 16 forms a plurality of shellfish storage chambers 16-1 for temporarily storing shellfish during lifting. The shellfish storage chambers 16-1 are separated by partitions 16-2. When the second conveying belt 16 is running, the partitions 16-2 continuously push the shellfish 22 towards the inlet of the transition pipe 6. There are a plurality of screen holes 16-3 in the form of longitudinal cracks at the bottom of the shellfish storage chambers 16-1 to further screen the bed sand and shellfish with size smaller than the gap between the dredge teeth 2-1, achieving further screening.

[0036] In the above embodiment, preferably, referring to Figure 8 ,Figure 9 To adapt to deep water conditions, the shell conveying mechanism can also include a one-way door assembly 17 and a submersible pump 18. Multiple one-way door assemblies 17 are densely arranged in the hollow part of the drum 1, and each one-way door assembly 17 includes a valve plate hinged to the inner side of two adjacent cross beams of the drum 1, so that it can only open to the inside of the drum 1. This design allows the high-position valve plate to open automatically due to gravity, receiving the falling shellfish 22 on the rake 2, and the low-position valve plate closes to form a continuous curved surface due to gravity and limiting, preventing the shellfish 22 inside the drum 1 from falling back to the bed surface from the hollow part. The submersible pump 18 is installed at the inner ring of the ball bearing 4 at the second end of the drum 1, and the suction port is located outside the drum 1, used to continuously pump seawater into the inside of the drum 1 to form a jet, assisting the shellfish 22 to enter the transition pipe 6.

[0037] In the above embodiment, preferably, a plurality of underwater cameras (not shown in the figure) are installed on the suspension frame 3 for collecting underwater image information. A plurality of deformation sensors are built into the tooth connecting plate 2-2 for collecting strain information of the tooth connecting plate 2-2. Meanwhile, please refer to Figure 1 A cab 19 is provided on the double-hull mother ship 7, and an industrial computer is installed in the cab 19, and the industrial computer is signal connected with the underwater camera, the deformation sensor, the hydraulic motor, the first hydraulic rod 10, the second hydraulic rod 11 and the winch 12. The industrial computer realizes the output power control of the shell catching module and the posture adjustment of the shell lifting module according to the returned underwater image information and the strain information of the tooth connecting plate, specifically: when the strain of the tooth connecting plate 2-2 is too large, i.e. the rake 2 has a risk of structural damage due to encountering a hard bed surface, the double-hull mother ship 7 stops dragging and starts the winch 12 to lift the suction pipe 5 so that the drum 1 leaves the bed surface for several seconds; when the shell density in the current catching area is large, the dragging speed of the double-hull mother ship 7 and / or the output power of the hydraulic motor is increased to increase the rotation speed of the drum 1; when the shell size in the current catching area is large or the burial depth is large, the first hydraulic rod 10 is controlled to adjust the pitch angle of the suction pipe 5 and / or the second hydraulic rod 11 is controlled to adjust the lateral angle of the suction pipe 5, so as to increase the depth of the rake 2 into the soil.

[0038] In the above embodiment, preferably, please continue to refer to Figure 1 A water storage tank 20 and a spraying mechanism (not shown in the figure) are also provided on the double-hull mother ship 7, the spraying mechanism is arranged above the first conveying belt 9 and connected with the water storage tank 20, used to spray the shell on the first conveying belt 9 to clean the residual bed sand on the shell.

[0039] In the above embodiment, preferably, a plurality of pile legs 21 are also provided on the double-hull mother ship 7, and a conical soil breaker is installed at the bottom of each pile leg 21, which can assist the double-hull mother ship 7 to fix when working at a fixed point to realize continuous and stable operation.

[0040] Embodiment 2 Based on the integrated seabed shellfish harvesting device combining shipborne drum rake and hydraulic suction conveying provided in Embodiment 1 above, this embodiment also provides a method for harvesting seabed shellfish integrating shipborne drum rake and hydraulic suction conveying, including the following steps: S100. The seabed shellfish harvesting device moves along the pre-planned harvesting operation path. The suction tube attitude adjustment mechanism continuously adjusts the attitude of the suction tube 5 to adapt to the harvesting terrain and maintain a constant distance between the roller 1 and the bed surface.

[0041] S200. Please refer to Figure 6 or Figure 8 When the underwater camera mounted on the shellfish harvesting module captures an image of the shellfish 22, the industrial control computer instructs the drum 1 to start rotating. As the drum 1 rotates, the comb-shaped shovel 2 moves from bottom to top in the towing direction, continuously lifting the shellfish 22 from the bed surface. When the comb-shaped shovel 2 reaches its highest point, the shellfish 22 falls into the drum 1 due to its own gravity and enters the transition tube 6 with the shellfish conveyor mechanism. Then, the shellfish 22 is lifted by the suction pipe 5 to the first conveyor belt 9 on the catamaran mother ship 7.

[0042] S300. The spraying mechanism sprays and cleans the shellfish 22 on the first conveyor belt 9, and finally transports them to the storage bin 8 via the first conveyor belt 9.

[0043] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A vessel-integrated seabed shellfish harvesting apparatus of the type comprising a drum comb, characterized in that, The shellfish catching module, the shellfish lifting module and the mother ship guarantee module are included. The shellfish catching module includes a drum, a comb-shaped shovel, a suspension frame, a ball bearing and a shellfish conveying mechanism; the drum is a hollow shell structure, and in the working state, the drum is arranged near the seabed and can be passively towed by overcoming fluid resistance and bed resistance while the mother ship guarantee module is running; the suspension frame is coaxially arranged in the drum, two ball bearings are respectively installed at both ends of the drum and the suspension frame, the outer ring of the ball bearing is tightly connected with the drum, the inner ring of the ball bearing is tightly connected with the suspension frame, and the drum can be actively rotated from the lower end to the towing direction by the driving part relative to the suspension frame; a plurality of groups of the comb-shaped shovels are uniformly arranged on the outer part of the drum in the circumferential direction, and are used to cut into the seabed to shovel the shellfish and fall into the drum by gravity while the drum is rotating; the shellfish conveying mechanism is installed in the drum and is used to convey the shellfish falling into the drum to the first end of the drum. The shellfish lifting module includes a suction pipe and a transition pipe, the lower end of the transition pipe is tightly connected with the inner ring of the ball bearing and extends into the first end of the drum, and is used to receive the shellfish conveyed by the shellfish conveying mechanism; the upper end of the suction pipe is hinged to the middle joint of the catamaran mother ship of the mother ship guarantee module, the lower end of the suction pipe is connected with the upper end of the transition pipe, and is used to lift the shellfish in the transition pipe to the waterline by suction force. The mother ship guarantee module includes a catamaran mother ship and a bunker and a first conveying belt arranged on the catamaran mother ship; one end of the first conveying belt is connected with the upper end of the suction pipe, and the other end of the first conveying belt is connected with the bunker, and is used to convey the lifted shellfish into the bunker.

2. An on-board drum-riddle and hydraulic suction conveyor integrated seabed shellfish harvesting apparatus according to claim 1, characterised in that, The drum includes a fixed ring, a strong beam, a secondary beam and a ring-shaped reinforcing rib, 6 groups of the strong beams and 6 groups of the secondary beams are alternately connected in the circumferential direction between two fixed rings, one group of the comb-shaped shovels is connected on each group of the strong beams, and a plurality of ring-shaped reinforcing ribs are connected in the axial direction between each group of the strong beams and the secondary beams, thereby forming a hollow shell structure.

3. An on-board drum combing and hydraulic suction conveying integrated seabed shellfishing apparatus according to claim 2, characterized in that, The comb-shaped shovel includes a shovel tooth and a shovel tooth connecting plate, the shovel tooth is in the form of "L", the cross section of the shovel tooth is in the form of front narrow and rear wide, and the front narrow part is in the form of streamline; a plurality of the shovel teeth are arranged in parallel and at equal intervals on the shovel tooth connecting plate, and cover the length interval of the shovel tooth connecting plate, and the shovel tooth connecting plate is tightly connected on the strong beam of the drum.

4. An on-board drum combing and hydraulic suction conveying integrated seabed shellfishing apparatus according to claim 3, characterized in that, A suction pipe posture adjusting mechanism is also arranged on the catamaran mother ship, and the suction pipe posture adjusting mechanism includes a first hydraulic rod, a second hydraulic rod, a winch, a shafting frame, a sliding rope and a pulley. The first hydraulic rod is connected between the double-hull mother ship and the bottom of the suction pipe, and is used for adjusting the downward angle of the suction pipe; the second hydraulic rod is connected between the double-hull mother ship and both sides of the suction pipe, and is used for adjusting the lateral angle of the suction pipe; the winch is installed on the double-hull mother ship above the hinge point of the suction pipe, and the hinged frame is installed at the stern of the double-hull mother ship, so that the winch can hoist the suction pipe from top to bottom through the sliding rope and the pulley installed on the hinged frame and the suction pipe.

5. An on-board drum combing and hydraulic suction conveying integrated seabed shellfishing apparatus according to claim 4, characterized in that, The shell conveying mechanism is a second conveying belt installed on the suspension frame below the highest point of the comb-shaped shovel, one end of the second conveying belt is located in the transition pipe inlet, and the surface of the second conveying belt is provided with a plurality of shell storage chambers for temporarily storing shells during lifting; the shell storage chambers are separated by partitions, and the partitions continuously push the shells towards the transition pipe inlet when the second conveying belt is running; a plurality of screen holes in the form of longitudinal cracks are formed at the bottom of the shell storage chambers to further screen the bed sand lifted together with the shells.

6. An on-board drum combing and hydraulic suction conveying integrated seabed shellfishing apparatus according to claim 4, characterized in that, The shell conveying mechanism comprises a one-way door assembly and a submersible pump, a plurality of groups of the one-way door assembly are densely arranged in the hollow part of the roller, each group of the one-way door assembly comprises a valve plate hinged to the inner sides of the adjacent two strong beams of the roller, so that the valve plate can only open to the inside space of the roller; the submersible pump is installed at the inner ring of the ball bearing at the second end of the roller, and the suction port is located outside the roller, so that the submersible pump can continuously pump seawater into the inside of the roller to form a jet flow, thereby assisting the shells to enter the transition pipe.

7. A vessel-integrated seabed shellfish harvesting apparatus according to claim 5 or 6, wherein, A plurality of underwater cameras are installed on the suspension frame to collect underwater image information; a plurality of deformation sensors are built in the tooth connecting plate to collect strain information of the tooth connecting plate. Meanwhile, a cab is arranged on the double-hull mother ship, an industrial computer is installed in the cab, and the industrial computer is signal connected with the underwater cameras, the deformation sensors, the driving member, the first hydraulic rod, the second hydraulic rod and the winch; the industrial computer controls the output power of the shell catching module and adjusts the posture of the shell lifting module according to the returned underwater image information and the strain information of the tooth connecting plate, specifically: when the strain of the tooth connecting plate is too large, i.e. the comb-shaped shovel has a risk of structural damage, the double-hull mother ship stops dragging and starts the winch to lift the suction pipe to make the roller leave the bed surface for several seconds; when the shell density in the catching area is large, the dragging speed of the double-hull mother ship and / or the output power of the hydraulic motor is increased to increase the rotation speed of the roller; when the shell size in the catching area is large or the burial depth is large, the first hydraulic rod is controlled to adjust the downward angle of the suction pipe and / or the second hydraulic rod is controlled to adjust the lateral angle of the suction pipe, so as to increase the depth of the comb-shaped shovel into the soil.

8. An on-board drum combing and hydraulic suction conveying integrated seabed shellfishing apparatus according to claim 7, characterized in that, A water storage tank and a spraying mechanism are also arranged on the double-hull mother ship, the spraying mechanism is arranged above the first conveying belt and connected with the water storage tank, and is used for spraying the shells on the first conveying belt to wash away the bed sand remaining on the shells.

9. An on-board drum combing and hydraulic suction conveying integrated seabed shellfishing apparatus according to claim 8, characterized in that, The double-body mother ship is also provided with several inserted pile legs, the bottom of the inserted pile legs is provided with a conical soil breaker, and when the double-body mother ship is fixed at a fixed point to realize continuous and stable operation.

10. A method of integrated seabed shellfish harvesting by onboard drum raking and hydraulic suction transport, based on the device according to claim 8 or 9, characterized in that, The method comprises the following steps: The seabed shellfish catching device travels along a pre-planned catching operation path, the posture adjusting mechanism of the suction pipe continuously adjusts the posture of the suction pipe to adapt to the catching terrain, and the distance between the drum and the bed surface is kept constant; When the underwater camera carried on the shellfish catching module captures a shellfish image, the industrial computer instructs the drum to start rotating. When the drum rotates, the comb-shaped shovel moves from the bottom to the trailing direction, continuously lifting the shellfish from the bed surface. When the comb-shaped shovel reaches the highest point, the shellfish falls into the drum due to its own gravity, and enters the transition pipe with the shellfish conveying mechanism. Then the shellfish is lifted to the first conveying belt on the double-body mother ship through the suction pipe; The spraying mechanism sprays and cleans the shellfish on the first conveying belt, and finally the shellfish is transported to the silo for storage through the first conveying belt.

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