Shipboard drum rake and hydraulic suction conveying integrated seabed shell harvesting device and method

Abstract

The application discloses a kind of shipborne drum carding and water suction conveying integration seabed shellfish harvesting device and method, including shellfish harvesting, lifting and mother ship guarantee module;Harvesting module, hollow shell-shaped drum rotates with the running of mother ship, and its outside circumference is provided with comb-shaped shovel, and shellfish is scooped up with drum rolling cutting into bed surface;Suspension frame is arranged in the drum, and relative rotation of the drum is realized by ball bearing connection, and built-in conveying mechanism sends shellfish to the first end of the drum;In lifting module, the lower end of transition pipe is connected with the inner ring of ball bearing and extends into the first end of the drum to receive shellfish, the lower end of suction pipe is connected with the transition pipe, and the upper end is hinged to the mother ship, and shellfish is lifted above waterline by water suction;The mother ship guarantee module includes a catamaran, a silo and a first conveyor belt, and the conveyor belt connects the upper end of the suction pipe and the silo to convey shellfish.The application provides an efficient and environmentally friendly solution for offshore shellfish harvesting, which is expected to promote the development of intertidal shellfish harvesting industry and better develop and utilize shellfish resources.

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:

[0007] 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;

[0008] 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 relative to the suspension frame from the lower end to the towing direction by the driving member; 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; 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.

[0009] 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 to receive the shellfish conveyed by the shellfish conveying mechanism; the upper end of the suction pipe is hinged in the middle seam 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 above the waterline by suction force.

[0010] 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 to convey the lifted shellfish into the bunker.

[0011] 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 in the circumferential direction at equal intervals between the two fixed rings, 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 in the axial direction at equal intervals between each group of the strong beams and the secondary beams, thereby forming a hollow shell structure.

[0012] 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 streamlined shape; a plurality of the shovel teeth are arranged in parallel 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.

[0013] As preferred: a suction pipe posture adjusting mechanism is further arranged on the catamaran, which comprises a first hydraulic rod, a second hydraulic rod, a winch, a rigging frame, a sliding cable and a pulley;

[0014] 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 articulation point of the suction pipe, the rigging frame is installed at the stern of the catamaran, and the winch lifts the suction pipe from top to bottom through the sliding cable and the pulley installed on the rigging frame and the suction pipe.

[0015] As 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, and 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; a plurality of screen holes in the form of longitudinal cracks exist at the bottom of the shell storage chambers to further screen the bed sand quality lifted together with the shells.

[0016] As preferred: 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 drum, each group of the one-way door assembly comprises a valve plate hinged to the inner side of the adjacent two strong beams of the drum, so that it can only open to the inside space of the drum; the submersible pump is installed at the inner ring of the ball bearing at the second end of the drum, and the suction port is located outside the drum, for continuously pumping seawater into the inside of the drum to form a jet flow, assisting the shells to enter the transition pipe.

[0017] As 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;

[0018] 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 adjusts the posture 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.

[0019] 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.

[0020] 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 inserting the pile legs into the bed surface during fixed-point operation, continuous and stable operation can be realized.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] The application has the following advantages due to the above technical solutions:

[0026] 1. The efficiency of shellfish harvesting is significantly enhanced:

[0027] The present application adopts a linkage design of a roller and a comb-shaped shovel. The roller is connected with a shellfish lifting pipeline by a bearing structure and is dragged by a ship and independently rotates, driving the comb-shaped shovel to efficiently collect shellfish from the seabed. The gap design of the tines realizes the preliminary screening of shellfish and bed sand, only capturing shellfish above a target size, and returning smaller shellfish to the natural environment, reducing the destruction of ecological populations. At the same time, the "L"-shaped tines of the comb-shaped shovel have a front-narrow rear-wide streamline structure, combined with the hollow roller, effectively reducing the water flow and sediment resistance compared with the traditional solid and straight plate type collection device, improving the towing efficiency, significantly improving the single operation time of the device, and significantly improving the harvesting efficiency and resource utilization, reducing the disturbance of shellfish harvesting to the beach environment. In addition, the lifting module based on the suction and jet principle ensures that the harvested shellfish can enter the mother ship bin in time.

[0028] 2. All-weather and large-scale operation:

[0029] The present application breaks through the tidal limit of traditional beach harvesting and can operate continuously underwater, unaffected by the ebb tide, greatly extending the effective operation time. At the same time, the ship towing makes the operation range no longer limited to the shallow area, and can cover a wider sea area.

[0030] In summary, the present application provides an efficient and environmentally friendly solution for offshore shellfish harvesting, which is expected to promote the development of beach shellfish harvesting industry and better develop and utilize shellfish resources. BRIEF DESCRIPTION OF DRAWINGS

[0031] 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 included to provide a description of the preferred embodiments and are not meant to limit the present application. Throughout the drawings, the same reference designations are used to designate the same elements. In the drawings:

[0032] Figure 1 Overall view of the ship-mounted roller comb harrow and hydraulic suction conveying integrated seabed shellfish harvesting device provided for embodiment 1 of the present application;

[0033] Figure 2 Overall view of the shellfish harvesting module provided for embodiment 1 of the present application;

[0034] Figure 3 Overall view of the suspension frame provided for embodiment 1 of the present application;

[0035] Figure 4 Overall view of the comb-shaped shovel provided for embodiment 1 of the present application;

[0036] Figure 5Partial perspective view of the second conveyor belt provided for the embodiment 1 of the present invention;

[0037] Figure 6 Front view of the process of the conveyor belt type of the present invention;

[0038] Figure 7 Partial perspective view of the process of the conveyor belt type of the present invention;

[0039] Figure 8 Front view of the process of the jet type of the present invention;

[0040] Figure 9 Partial perspective view of the process of the jet type of the present invention.

[0041] The reference signs in the drawings are as follows:

[0042] 1 roller, 2 comb-shaped spade, 3 suspension frame, 4 ball bearing, 5 suction pipe, 6 transition pipe, 7 catamaran 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;

[0043] 2-1 spade tooth, 2-2 spade tooth connecting plate;

[0044] 16-1 shellfish storage chamber, 16-2 partition, 16-3 screen hole. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical scheme and advantages of the present invention clearer, the specific embodiments of the present invention will be further described below in combination with the drawings. Although the exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present invention and to convey the scope of the present invention to those skilled in the art.

[0046] In the description of the present invention, 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 invention 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 invention.

[0047] In addition, the terms "first", "second", etc. are used only for the purpose of description and do not imply or signify relative importance or imply the number of the technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0048] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connecting", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrated; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0049] In the present application, unless otherwise explicitly specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact between the first and second features through intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0050] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present application, the illustrative description of the above terms is not necessarily for the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in the present application and the features of different embodiments or examples without contradiction.

[0051] In the following, the shipboard drum carding and water suction conveying integrated seabed shellfish harvesting device and method provided by the embodiment of the present application will be described in detail in conjunction with the drawings.

[0052] Embodiment 1

[0053] Please refer to Figure 1The embodiment provides a ship-mounted drum combing and water suction conveying integrated seabed shellfish harvesting device, which comprises a shellfish harvesting module, a shellfish lifting module and a mother ship guarantee module.

[0054] Among them, 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 the shellfish harvesting function, and comprises a drum 1, a combing shovel 2, a suspension frame 3, a ball bearing 4 and a shellfish conveying mechanism. The drum 1 is a hollow shell structure, and in the working state, the drum 1 is arranged near the seabed and can be passively dragged by overcoming fluid resistance and bed surface resistance during the operation of the mother ship guarantee module. The suspension frame 3 is coaxially arranged in the drum 1, two ball bearings 4 are respectively arranged at two ends of the drum 1 and the suspension frame 3, the outer ring of the ball bearing 4 is tightly connected with the drum 1, the inner ring of the ball bearing 4 is tightly connected with the suspension frame 3, and the drum 1 is driven to rotate relative to the suspension frame 3 from the lower end to the dragging direction by a hydraulic motor. A plurality of groups of combing shovels 2 are uniformly arranged on the outer part of the drum 1 in the circumferential direction, and are used for cutting into the bed surface to shovel up the shellfish 22 and falling into the drum 1 by gravity (please refer to Figure 6 ) along with the rotation of the drum 1. The shellfish conveying mechanism is installed in the drum 1 and is used for conveying the shellfish falling into the drum 1 to the first end of the drum 1.

[0055] 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 tightly connected with the inner ring of the ball bearing 4 and extends into the first end of the drum 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.

[0056] 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.

[0057] In the above embodiment, preferably, please refer to Figure 2 The drum 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 combing shovels 2 is connected on each group of strong beams, and a plurality of ring-shaped reinforcing ribs are connected with each group 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.

[0058] In the above embodiment, preferably, referring to Figure 4 The 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 collecting 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 collected shellfish), 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 is rotated 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, while 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 and fall into the conveying mechanism through the hollow structure of the roller 1 to achieve collection. In addition, the dredge tooth connecting plate 2-2 can be made of rubber material and has a certain elasticity, which can buffer the stress of the dredge teeth 2-1.

[0059] In the above embodiment, preferably, referring to Figure 1 The suction pipe posture adjusting mechanism 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, which is used to adjust the pitch angle of the suction pipe 5 and can be retracted onto 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, which is 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 at 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.

[0060] 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 chamber 16-1 to further screen the bed sand that is lifted together with the shellfish, achieving further screening.

[0061] In the above embodiment, preferably, please refer 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 strong 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.

[0062] In the above embodiment, preferably, multiple underwater cameras (not shown in the figure) are installed on the suspension frame 3, used to collect underwater image information. Multiple deformation sensors are built into the tooth connecting plate 2-2, used to collect 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 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 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 to make the drum 1 leave 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, to increase the depth of the rake 2 into the soil.

[0063] In the above embodiment, preferably, please continue to refer to Figure 1 The double-hull mother ship 7 is also provided with a water storage tank 20 and a spraying mechanism (not shown in the figure), 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.

[0064] In the above embodiment, preferably, a plurality of pile legs 21 are provided on the double-hull mother ship 7, and a conical soil breaker is installed at the bottom of the 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.

[0065] Embodiment 2

[0066] Based on the ship-mounted drum combing and raking and water suction conveying integrated seabed shell harvesting device provided in Embodiment 1, the present embodiment further provides a ship-mounted drum combing and raking and water suction conveying integrated seabed shell harvesting method, which comprises the following steps:

[0067] S100. The seabed shell harvesting device travels along the pre-planned harvesting path, and the suction pipe posture adjusting mechanism continuously adjusts the posture of the suction pipe 5 to adapt to the harvesting terrain, and keeps the distance between the drum 1 and the bed surface constant.

[0068] S200. Please refer to Figure 6 Or Figure 8 When the underwater camera mounted on the shell harvesting module captures the shell 22 picture, the industrial computer instructs the drum 1 to start rotating. When the drum 1 rotates, the comb-shaped shovel 2 moves from below to the towing direction, constantly lifting the shell 22 from the bed surface. When the comb-shaped shovel 2 reaches the highest point, the shell 22 falls into the drum 1 due to its own gravity, and enters the transition pipe 6 with the shell conveying mechanism, and then the shell 22 is lifted to the first conveying belt 9 on the double-hull mother ship 7 through the suction pipe 5.

[0069] S300. The spraying mechanism sprays and washes the shell 22 on the first conveying belt 9, and finally is transported to the silo 8 for storage through the first conveying belt 9.

[0070] Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application, and they should be covered in the scope of the claims and the specification of the present application. Especially, as long as there is no structural conflict, each technical feature mentioned in each embodiment can be combined in any way. The present application is not limited to the specific embodiments disclosed in the text, but includes all technical solutions falling within the scope of the claims.

Claims

1. A shipborne drum rake and hydraulic suction conveying integrated seabed shellfish harvesting device, characterized in that, It includes a shellfish harvesting module, a shellfish lifting module, and a mother ship support module; The shellfish harvesting module includes a roller, comb-shaped shovels, a suspension frame, ball bearings, and a shellfish conveying mechanism. The roller has a hollow shell structure. In operation, the roller is positioned near the seabed and can be passively towed by the mother ship support module, overcoming fluid resistance and seabed resistance. The suspension frame is coaxially arranged inside the roller. Two ball bearings are respectively installed at both ends of the roller and the suspension frame. The outer ring of the ball bearing is fastened to the roller, and the inner ring of the ball bearing is fastened to the suspension frame. A drive component enables the roller to actively rotate relative to the suspension frame from bottom to towing direction. Several sets of comb-shaped shovels are evenly arranged circumferentially outside the roller. They are used to cut into the seabed as the roller rotates to scoop up shellfish and allow them to fall into the roller under their own weight. The shellfish conveying mechanism is installed inside the roller and is used to transport the shellfish that fall into the roller to the first end of the roller. The shellfish lifting module includes a suction pipe and a transition pipe. The lower end of the transition pipe is fastened to the inner ring of the ball bearing and extends into the first end of the drum to receive shellfish conveyed by the shellfish conveying mechanism. The upper end of the suction pipe is hinged to the center seam of the catamaran of the mother ship support module, and the lower end of the suction pipe is connected to the upper end of the transition pipe to lift the shellfish in the transition pipe to above the waterline by suction force. The mother ship support module includes a catamaran mother ship and a hopper and a first conveyor belt arranged on the catamaran mother ship; one end of the first conveyor belt is connected to the upper end of the suction pipe, and the other end of the first conveyor belt is connected to the hopper, for transporting the lifted shellfish into the hopper. The roller includes a fixed ring, a strong crossbeam, a secondary crossbeam, and annular reinforcing ribs. Six sets of the strong crossbeams and six sets of the secondary crossbeams are equidistantly and alternately connected between two fixed rings along the circumferential direction. A set of comb-shaped shovels is connected to each set of strong crossbeams. Several annular reinforcing ribs are equidistantly connected to each set of strong crossbeams and secondary crossbeams along the axial direction, thereby forming a hollow shell structure. The comb-shaped shovel includes shovel teeth and a shovel tooth connecting plate. The shovel teeth are "L" shaped and have a cross-section that is narrower at the front and wider at the back. The narrower front portion is streamlined. Multiple shovel teeth are arranged parallel and equidistantly on the shovel tooth connecting plate and fill the length range of the shovel tooth connecting plate. The shovel tooth connecting plate is fastened to the strong crossbeam of the roller.

2. The integrated seabed shellfish harvesting device combining shipborne drum rake and hydraulic suction conveying as described in claim 1, characterized in that, The catamaran mother ship is also equipped with a suction pipe attitude adjustment mechanism, which includes a first hydraulic rod, a second hydraulic rod, a winch, a rod frame, a zipline, and pulleys. The first hydraulic rod is connected between the catamaran mother ship and the bottom of the suction pipe, and is used to adjust the downward angle of the suction pipe; the second hydraulic rod is connected between the catamaran mother ship and both sides of the suction pipe, and is used to adjust the lateral angle of the suction pipe; the winch is installed on the catamaran mother ship above the hinge point of the suction pipe, the rod frame is installed at the stern of the catamaran mother ship, and the winch lifts the suction pipe from top to bottom through the zipline and the pulleys installed on the rod frame and the suction pipe.

3. The integrated seabed shellfish harvesting device combining shipborne drum rake and hydraulic suction conveying as described in claim 2, characterized in that, The shellfish conveying mechanism is a second conveyor belt located directly below the highest point of the comb-shaped shovel and mounted on the suspension frame. One end of the second conveyor belt is located inside the transition pipe inlet. The surface of the second conveyor belt has multiple shellfish storage chambers for temporary storage of shellfish during lifting. The shellfish storage chambers are separated by partitions. When the second conveyor belt is running, the partitions continuously push the shellfish toward the transition pipe inlet. The bottom of the shellfish storage chambers has multiple longitudinally slit-shaped sieve holes to further sieve the bed sand that is lifted along with the shellfish.

4. The integrated seabed shellfish harvesting device combining shipborne drum rake and hydraulic suction conveying as described in claim 2, characterized in that, The shellfish conveying mechanism includes a one-way gate assembly and a submersible pump. Multiple sets of the one-way gate assemblies are densely arranged in the hollow part of the drum. Each set of the one-way gate assembly includes a valve plate hinged to the inner side of two adjacent strong crossbeams of the drum, so that it can only be opened to the internal space of the drum. The submersible pump is installed at the inner ring of the ball bearing at the second end of the drum, and the suction port is located outside the drum. It is used to continuously pump seawater into the inside of the drum to form a jet, which helps the shellfish enter the transition pipe.

5. The integrated seabed shellfish harvesting device combining shipborne drum rake and hydraulic suction conveying as described in claim 3 or 4, characterized in that, Multiple underwater cameras are installed on the suspension frame to collect underwater image information; multiple deformation sensors are built into the shovel tooth connecting plate to collect strain information of the shovel tooth connecting plate. Meanwhile, a bridge is provided on the catamaran mother ship, and an industrial control computer is installed in the bridge. The industrial control computer is connected to the underwater camera, deformation sensor, drive components, first hydraulic rod, second hydraulic rod, and winch signal. The industrial control computer controls the output power of the shellfish harvesting module and adjusts the attitude of the shellfish lifting module based on the returned underwater image information and the strain information of the shovel tooth connecting plate. Specifically: when the strain of the shovel tooth connecting plate is too large, i.e., encountering a hard bed surface, and the comb-shaped shovel is at risk of structural damage, the catamaran mother ship stops towing and starts the winch to raise the suction pipe so that the drum leaves the bed surface for several seconds; when the shellfish density in the harvesting area is high, the towing speed of the catamaran mother ship and / or the output power of the hydraulic motor are increased to increase the rotation speed of the drum; when the shellfish size in the harvesting 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 to increase the depth of the comb-shaped shovel into the soil.

6. The integrated seabed shellfish harvesting device combining shipborne drum rake and hydraulic pumping as described in claim 5, characterized in that, The catamaran mother ship is also equipped with a water storage tank and a spraying mechanism. The spraying mechanism is arranged above the first conveyor belt and connected to the water storage tank, and is used to spray the shellfish on the first conveyor belt to wash away the residual bed sand on the shellfish.

7. The integrated seabed shellfish harvesting device combining shipborne drum rake and hydraulic suction conveying as described in claim 6, characterized in that, The catamaran mother ship is also equipped with several piling legs, and a cone breaker is installed at the bottom of the piling legs. When the piling legs are used for fixed-point operations, they can be inserted into the bed surface to help fix the catamaran mother ship to achieve continuous and stable operation.

8. A method for harvesting seabed shellfish integrating shipborne drum rake and hydraulic suction conveying based on the device described in claim 6 or 7, characterized in that, Includes the following steps: The seabed shellfish harvesting device moves along a pre-planned harvesting path, and the suction tube attitude adjustment mechanism continuously adjusts the attitude of the suction tube to adapt to the harvesting terrain and maintain a constant distance between the roller and the bed surface. When the underwater camera on the shellfish harvesting module captures images of the shellfish, the industrial control computer instructs the drum to start rotating. As the drum rotates, the comb-shaped shovel moves from bottom to top in the towing direction, continuously lifting the shellfish from the bed surface. When the comb-shaped shovel reaches its highest point, the shellfish fall into the drum due to its own weight and enter the transition tube with the shellfish conveying mechanism. Then, the shellfish are lifted through the suction pipe to the first conveyor belt on the catamaran mother ship. The spraying mechanism sprays and cleans the shellfish on the first conveyor belt, and finally transports them to the storage bin via the first conveyor belt.

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