Automatic cage dumping device based on square nested suture-free scallop cage and application

Abstract

The invention discloses an automatic cage dumping device based on a square nested suture-free scallop cage and application. The device comprises a rack, a square nested quick-connection suture-free scallop cage string, a crown block system, a three-dimensional magnetic coordinate positioning system, a conventional scallop cage single body picking and conveying system, a reversing system and a vibrating system, wherein the square nested quick-connection suture-free scallop cage string consists of a cage head scallop cage and more than one conventional scallop cage single body; a conventional scallop cage single body discharging system and a breeding object harvesting box. According to the device, square nested quick-connection suture-free scallop cage strings can be picked one by one from bottom to top, and after the scallop cages are reversed, the scallop cages are vibrated and emptied, so that cultured objects in the scallop cages are harvested, automation of the raft cage culture harvesting process is achieved, a complex manual intervention process is not needed, manpower and material resources are greatly saved, and the device is convenient and practical.

Description

Technical Field

[0001] This invention relates to the field of fishery engineering equipment, specifically to an automated cage-turning device based on square nested, sewn-free scallop cages, and also to the application of the automated cage-turning device. Background Technology

[0002] Raft-type cage culture is one of the main production methods in marine ranching. It uses cages with different compartments to cultivate various aquatic products such as scallops, oysters, pearl oysters, and sea cucumbers. Since scallops are the primary species, they are generally referred to as scallop cages. Harvesting from raft-type cage culture traditionally requires manual opening and sewing of these scallop cages. Especially for scallops and oysters, which are sessile marine species, they often adhere to the netting of the cages and are difficult to remove. This makes harvesting time-consuming, labor-intensive, and inefficient, hindering automated production and harvesting. Summary of the Invention

[0003] The purpose of this invention is to provide an automated cage-turning device based on square nested, sewn-free scallop cages and its application to improve the harvesting efficiency of cage aquaculture, so as to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: an automated scallop unloading device based on a square nested, sewn-free scallop cage, comprising a frame; the device further comprises: Square nested quick-connection, stitch-free scallop cage string; Overhead crane system for hoisting square nested quick-connect seamless scallop cages; A conventional scallop cage individual picking and conveying system installed on the frame; The inverted system receives the conventional scallop cages sent out by the picking and conveying system; A vibrating system, used to empty the scallop cages that have been inverted after being processed by the inverting system; The harvesting box for aquaculture is located below the inverting system and the vibrating system; And a conventional scallop cage individual discharge system, which receives the scallop cages after they have been emptied by the vibration system.

[0005] As a further improvement to the above solution, the square nested quick-connecting stitchless scallop cage string is composed of a cage head scallop cage and one or more conventional scallop cage units nested together; the conventional scallop cage unit is composed of a square rigid ring covered with a net, and the net is stretched into an inverted truncated cone shape without a top.

[0006] As a further improvement to the above solution, four O-ring buckles with soft magnets are fixed at the positions of the mesh opening of the conventional scallop cage directly opposite the corner of the square rigid ring. The four O-ring buckles correspond to the four corners of the square rigid ring. A flexible netting is interspersed in the mesh opening of the conventional scallop cage, and a double-hole drawstring buckle is installed on the flexible netting.

[0007] As a further improvement to the above solution, the overhead crane system is installed at the top of the frame, and the frame is equipped with anti-detachment blocks.

[0008] As a further improvement to the above solution, the conventional scallop cage individual picking and conveying system includes a front slide rail and a rear slide rail installed in parallel at the middle of the frame, a front slide rail slidably mounted on the front slide rail, a rear slide rail slidably mounted on the rear slide rail, and five waterproof flexible robotic arms.

[0009] As a further improvement to the above scheme, the five waterproof flexible robotic arms are designated as the first waterproof flexible robotic arm, the second waterproof flexible robotic arm, the third waterproof flexible robotic arm, the fourth waterproof flexible robotic arm, and the fifth waterproof flexible robotic arm; wherein the first and second waterproof flexible robotic arms are both mounted on the rear slide bar, and the third, fourth, and fifth waterproof flexible robotic arms are all mounted on the front slide bar.

[0010] As a further improvement to the above solution, the waterproof flexible manipulator consists of a flexible arm, a magnetic field emitter and sensor, and a dual-claw dexterous hand.

[0011] As a further improvement to the above scheme, the inverting system includes a rotatable front arc-shaped support groove and a rear arc-shaped support groove, a first spacing adjuster acting on the front arc-shaped support groove, and a second spacing adjuster acting on the rear arc-shaped support groove.

[0012] As a further improvement to the above solution, the vibration system includes a flexible vibrating rod.

[0013] As a further improvement to the above scheme, the conventional scallop cage individual discharge system is set in the middle of the frame and located on the opposite side of the overhead crane system. The conventional scallop cage individual discharge system consists of a front toothed conveyor belt and a rear toothed conveyor belt.

[0014] As a further improvement to the above solution, the device also includes a three-dimensional magnetic coordinate positioning system installed in the middle of the frame, which is composed of a three-dimensional box array of magnetic sensors.

[0015] A method for harvesting using the aforementioned automated cage-turning device includes the following steps: S1 debugging and setting up of the control system; S2 suspended installation of harvested scallop cages; S3 locates the scallop cage string that needs to be untied; S4 removes the bottommost regular scallop cage from the scallop cage string positioned by S3; S5 is a regular scallop cage sample taken from S4 and then reversed; S6 vibration followed by S5 inversion of the conventional scallop cage unit; S7 discharges the conventional scallop cage unit after the vibration and emptying operation is completed; S8 adjusts the position of the scallop cage string that has been removed from the bottom layer of regular scallop cages, so that the remaining bottom layer of regular scallop cages are once again in the position to be removed. S9 repeats S4~S8 to complete the removal of all conventional scallop cages except for the head scallop cage and the harvesting of cultured organisms. S10 removes the scallop cage head, harvests the farmed scallops inside, and replaces it with another new string of scallop cages ready for harvest. S11 repeats S2~S10 to complete the batch harvest of scallop farming operations using square nested quick-connection, sewing-free scallop cages.

[0016] Application of an automated cage-unloading device based on square nested, sewn-free scallop cages in the harvesting of adult scallops at sea.

[0017] Application of an automated scallop trap-turning device based on square nested, sewn-free scallop traps in the harvesting of adult oysters in nearshore land sites.

[0018] Compared with the prior art, the beneficial effects of the present invention are: 1. It can realize the complete automation of the harvesting production process of hanging cage culture. Based on the automatic release action of the nesting connection between adjacent upper and lower layers of square nested scallop cages without sewing, it completely eliminates the need for manual removal of sewing lines and brute force shaking to drop the cultured objects, saving manpower and greatly improving operation efficiency.

[0019] 2. Through fully automated harvesting operations, the waiting time for harvesting, cleaning, and sorting of the animals is greatly reduced, and the drying time of the aquatic animals after they are taken out of the water is significantly reduced, thereby improving the freshness and survival rate of the aquatic animals during the sales process.

[0020] 3. The designed harvesting device is simple and compact, and can be installed on production vessels. It eliminates the need to transport the aquaculture cages to the shore for harvesting. Harvesting, preliminary cleaning and sorting can be carried out directly on the offshore vessel, which greatly saves time and improves operational efficiency. Attached Figure Description

[0021] Figure 1 The diagram shown is a structural schematic of the present invention.

[0022] Figure 2 The diagram shows the process of transporting a single, harvested scallop cage to an inverted position, with the arrows indicating the inverted direction.

[0023] Figure 3 The diagram shown illustrates the vibration operation of a conventional scallop cage unit in this invention. In the diagram, A indicates a conventional scallop cage unit that is being vibrated after being inverted.

[0024] Figure 4 The diagram shown illustrates the discharge process of a conventional scallop cage in this invention.

[0025] Explanation of main component symbols 1. Frame; 2. Scallop cage head; 3. Standard scallop cage unit; 4. O-ring lifting buckle; 5. Double-hole drawstring buckle; 6. Overhead crane system; 7. Anti-detachment block; 8. Front toothed conveyor belt; 9. Rear toothed conveyor belt; 10. Front slide rail; 11. Rear slide rail; 12. Front slide; 13. Rear slide; 14. First waterproof flexible manipulator; 15. Second waterproof flexible manipulator; 16. Third waterproof flexible manipulator; 17. Fourth waterproof flexible manipulator; 18. Fifth waterproof flexible manipulator; 19. Three-dimensional magnetic coordinate positioning system; 20. Magnetic field emitter and sensor; 21. Double-claw dexterous hand; 22. Front arc-shaped support groove; 23. Rear arc-shaped support groove; 24. First spacing adjuster; 25. Second spacing adjuster; 26. Harvesting box for cultured organisms; 27. Flexible vibrator.

[0026] The above description of the main component symbols, together with the accompanying drawings and specific embodiments, provides a more detailed explanation of the present invention. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to embodiments. Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. It should be understood that the following description is merely illustrative and not intended to limit the invention.

[0028] The specific embodiments of the present invention will be described in detail below. Example 1

[0029] Please see Figure 1-4This embodiment provides an automated scallop cage unloading device based on square nested seamless scallop cages. It includes a frame 1, a string of square nested, quick-connect seamless scallop cages consisting of a single scallop cage head 2 and one or more conventional scallop cage units 3, a crane system 6 for hoisting the square nested, quick-connect seamless scallop cages, a three-dimensional magnetic coordinate positioning system 19, a conventional scallop cage unit picking and conveying system mounted on the frame 1, an inverting system, a vibration system for processing the inverted scallop cages, a conventional scallop cage unit discharge system, and a harvesting box 26 for the cultured organisms located below the inverting and vibration systems. The automated cage unloading device in this embodiment is also equipped with a control system, which coordinates the related actions of each subsystem during the automated harvesting process, including the precise operation of the crane system 6, the layer-by-layer picking of the conventional scallop cage units 3, and the inverting, vibration, and discharge of the conventional scallop cage units 3. The control system is a general-purpose industrial automatic control device based on a microprocessor, integrating computer technology, automatic control technology, and communication technology, and will not be described in detail here.

[0030] In this embodiment, the frame 1 is a rectangular frame structure, made of corrosion-resistant stainless steel coated with epoxy resin or other anti-corrosion coatings. The main frame is reinforced with multiple triangular intersecting chord ribs. If the overall straight length of the square nested quick-connect seamless scallop cage string to be cultured is L, then the height of the frame 1 is approximately 1.5L. If the side length of the square rigid ring of the square nested quick-connect seamless scallop cage to be cultured is R, then the length of the frame 1 must be no less than 5R, and the width must be no less than 2R, to provide sufficient space for the layout of other subsystems. The frame 1 has sufficient strength and anti-overturning capacity, with an anti-overturning tensile force of no less than 400kg, and can be fixedly installed on aquaculture production vessels or other operating sites.

[0031] The conventional scallop cage unit 3 consists of a square rigid ring covered with a mesh, which, when unfolded, forms an inverted frustum shape without a top. Four O-ring hooks 4 with soft magnets are fixed at the corners of the square rigid ring, directly opposite the mesh opening of the conventional scallop cage unit 3. The four O-ring hooks 4 correspond to the four corners of the square rigid ring. A flexible mesh cord is interlaced within the mesh opening of the conventional scallop cage unit 3, and a double-hole drawstring buckle 5 is installed on the flexible mesh cord. The double-hole drawstring buckle 5 is used to tighten or loosen the flexible mesh cord, and the length of the locked flexible mesh cord 5 is adjusted by the double-hole drawstring buckle to control the circumference of the mesh opening. The double-hole drawstring buckle contains a soft magnet. The specific nesting and disassembly methods between adjacent scallop cages have been submitted in a related application (application titled "A Square Nested Quick-Connecting No-Sewing Scallop Cage"), and will not be elaborated here.

[0032] The overhead crane system 6 is installed at the top of the frame 1. Below the overhead crane system 6 is the hoisting space for the entire scallop cage. The overhead crane system 6 used in this embodiment is a customized, mature, small-scale overhead crane system. Its hook has three-dimensional movement capability, that is, it can move vertically, horizontally, and rotate, and the movement adjustment accuracy in any dimension is no less than 2mm, and the rotation adjustment accuracy is no less than 2° (360° per revolution). The hook load capacity of the overhead crane system 6 is no less than 200kg, and the extension length of the hoisting rope of the overhead crane system 6 is no less than the length of the entire square nested quick-connect seamless scallop cage when straightened. The overhead crane system 6, combined with the three-dimensional magnetic coordinate positioning system 19, allows the control system to adjust the specific position of the scallop cage string.

[0033] The frame 1 is provided with a detachment block 7. In this embodiment, part of the top long beam of the frame 1 also serves as a guide rail for the horizontal movement of the overhead crane system 6. The detachment block 7 is fixed on the guide rail to limit the horizontal movement range of the overhead crane system 6 and prevent the overhead crane system 6 from detaching from the frame 1.

[0034] The conventional scallop cage discharge system is located in the middle of the frame 1, on the opposite side of the overhead crane system 6, and consists of a front toothed conveyor belt 8 and a rear toothed conveyor belt 9. In this embodiment, the distance between the front toothed conveyor belt 8 and the rear toothed conveyor belt 9 is slightly smaller than the side length R of the square rigid ring. The front toothed conveyor belt 8 and the rear toothed conveyor belt 9 move synchronously at the same speed, serving to receive the conventional scallop cages 3 after they have been emptied by inverted vibration and discharge them outside the device.

[0035] The conventional scallop cage individual harvesting and conveying system includes a front slide rail 10 and a rear slide rail 11 mounted parallel to each other in the middle of the frame 1, a front slide rail 12 slidably mounted on the front slide rail 10, a rear slide rail 13 slidably mounted on the rear slide rail 11, and five waterproof flexible robotic arms. In this embodiment, the two slide rails slide synchronously and controllably on the rails, each waterproof flexible robotic arm has a load-bearing capacity of not less than 20 kg, and soft magnetic beacons are installed on the slide rails.

[0036] The five waterproof flexible robotic arms are designated as follows: First Waterproof Flexible Robotic Arm 14, Second Waterproof Flexible Robotic Arm 15, Third Waterproof Flexible Robotic Arm 16, Fourth Waterproof Flexible Robotic Arm 17, and Fifth Waterproof Flexible Robotic Arm 18. The First Waterproof Flexible Robotic Arm 14 and Second Waterproof Flexible Robotic Arm 15 are both mounted on the rear slide bar 13, while the Third Waterproof Flexible Robotic Arm 16, Fourth Waterproof Flexible Robotic Arm 17, and Fifth Waterproof Flexible Robotic Arm 18 are all mounted on the front slide bar 12. In this embodiment, the First Waterproof Flexible Robotic Arm 14, Second Waterproof Flexible Robotic Arm 15, Third Waterproof Flexible Robotic Arm 16, and Fourth Waterproof Flexible Robotic Arm 17 are used to pick up the four O-ring hooks 4 on the conventional scallop cage unit 3, and the Fifth Waterproof Flexible Robotic Arm 18 picks up the double-hole drawstring hook.

[0037] The three-dimensional magnetic coordinate positioning system 19, composed of a three-dimensional box array of magnetic sensors, is located in the middle of the frame 1. The conventional scallop cage individual picking and conveying system is positioned, operated, and controlled within the three-dimensional magnetic coordinate positioning system 19. In the actual design, the magnetic sensors, such as Hall sensors, fluxmeters, magnetometers, magnetoresistive meters, or other suitable magnetic sensors, are constructed in a three-dimensional array with appropriate spacing, thus forming a local three-dimensional magnetic coordinate positioning system 19. This system provides the control system with the specific position coordinates of each moving device equipped with a soft magnetic beacon.

[0038] The waterproof flexible robotic arm involved in this embodiment is a mature robotic arm technology. The main body of the waterproof flexible robotic arm consists of a flexible arm, a magnetic field emitter and sensor 20, and a dual-claw dexterous hand 21. The waterproof flexible robotic arm is electrically driven, and its control and power supply are integrated into the central control system of the overall device. The flexible arm can move freely. The magnetic field emitter and sensor 20 identifies O-ring buckles 4 and double-hole drawstring buckles with soft magnets. The dual-claw dexterous hand 21 picks up the O-ring buckles 4 and double-hole drawstring buckles. The specific process is as follows: In the three-dimensional magnetic coordinate positioning system 19, the soft magnets on the O-ring buckles 4 and double-hole drawstring buckles can be clearly identified and located by the three-dimensional magnetic coordinate positioning system 19, thereby controlling the system to issue instructions, commanding the five waterproof flexible robotic arms to pick up the nearest O-ring buckle 4 or double-hole drawstring buckle. As the waterproof flexible robotic arm approaches the O-ring hook 4 or the double-hole drawstring hook, the magnetic field emitter and sensor 20 magnetizes the soft magnet inside, thereby attracting the O-ring hook 4 or the double-hole drawstring hook and lifting it from the netting of the corresponding conventional scallop cage unit 3. Furthermore, the dexterous double-claw hand 21 at the front end of the waterproof flexible robotic arm accurately picks up the O-ring hook 4 or the double-hole drawstring hook after identifying the magnetized soft magnet, avoiding entanglement or incorrect pickup of the netting.

[0039] This embodiment designs an inverting system to receive scallop cages delivered by a conventional scallop cage individual picking and conveying system. The inverting system includes a rotatable front arc-shaped support groove 22 and a rear arc-shaped support groove 23, a first spacing adjuster 24 acting on the front arc-shaped support groove 22, and a second spacing adjuster 25 acting on the rear arc-shaped support groove 23.

[0040] In this embodiment, the front arc-shaped support groove 22 and the rear arc-shaped support groove 23 can rotate continuously by 180° with controllable rotation angle. When the conventional scallop cage unit 3 is transported to the inverted position, the first spacing adjuster 24 and the second spacing adjuster 25 extend, causing the front arc-shaped support groove 22 and the rear arc-shaped support groove 23 to clamp the square rigid ring at the bottom of the conventional scallop cage unit 3. Further, the control system instructs five waterproof flexible robotic arms to release the four O-ring hooks 4 and the double-hole drawstring hooks. At this time, the robotic arms are in an idle state and can be returned to the position to be picked up. Then, the control system further instructs the front arc-shaped support groove 22 and the rear arc-shaped support groove 23 to rotate 180°, thereby inverting the picked conventional scallop cage unit 3 and dumping the cultured object inside into the cultured object harvesting box 26.

[0041] Furthermore, the control system instructs the vibration system to begin operation. The vibration system flips to the vibration operation position, and then, under the vibration of the flexible vibrating rod 27, the remaining attachments in the scallop cage are completely removed and fall into the harvesting box 26 below. In this embodiment, during vibration operation, the vibration system rotates to the vibration operation position, and the flexible vibrating rod 27 vibrates the inverted conventional scallop cage unit 3. During non-vibration operation, the flexible vibrating rod 27 stops vibrating and rotates to the waiting position.

[0042] After the vibration operation is completed, the first spacing adjuster 24 and the second spacing adjuster 25 retract, releasing the conventional scallop cage unit 3 that was held. The conventional scallop cage unit 3, after being emptied, falls into the conventional scallop cage unit discharge system and is discharged outside the discharge device, waiting for further recycling.

[0043] In this embodiment, the aquaculture harvesting box 26 receives the aquaculture objects that have been dumped out and provides necessary temporary holding conditions such as water supply, watering, or aeration. Once a sufficient number of aquaculture objects have been accumulated, the aquaculture harvesting box 26 can be replaced in a timely manner.

[0044] In summary, the device of this embodiment has the following advantages: it can conveniently and quickly unwrap the nested scallop cages, automate the harvesting process in raft cage culture, overcome the problems of manually removing the mesh seams and forcefully shaking the cultured objects during harvesting in current raft cage culture, and greatly improve the production efficiency of the harvesting process in cage culture. Example 2

[0045] This embodiment provides a method for harvesting using an automated cage-turning device as described in Embodiment 1, which includes the following steps: S1 Debugging and Setting Control System: Based on the actual application requirements, environmental conditions, and specifications of the farmed objects, debug the functions of each subsystem of the automated cage turning device to ensure that they can smoothly complete their respective actions. Set various corresponding operating parameters in the control system, as follows: 1) If the layer height of the scallop cage is L1, then the vertical lifting height of the crane system 6 each time is L1; 2) Test the smooth cooperation between the control system, crane system 6, three-dimensional magnetic coordinate positioning system 19, robotic arm system, flipping system, and vibration system to ensure that the robotic arm system and crane system 6 can pick up the bottom conventional scallop cage unit 3 at the appropriate position, the flipping system can hold the bottom square rigid ring of the conventional scallop cage unit 3 at the appropriate position and flip it, and the vibration system has sufficient vibration operation time to effectively remove the farmed objects attached to the scallop cage.

[0046] S2 suspended installation of harvested scallop cages; The specific process of positioning the scallop cage string to be unwound by S3 is as follows: The three-dimensional magnetic coordinate positioning system 19 provides specific position information, and the control system sends an action command to the crane system 6 so that the bottom layer of conventional scallop cage unit 3 is in the position to be picked, that is, the soft netting 5 on the next layer of conventional scallop cage unit 3 is suitable for the robot arm to pick it, allowing a certain error, and the double hole drawstring buckle of the soft netting 5 of the scallop cage unit faces the side with three waterproof flexible robot arms. S4 retrieves the bottommost conventional scallop cage unit 3 from the scallop cage string positioned by S3. The specific process is as follows: Five waterproof flexible robotic arms each identify and approach the nearest O-ring pull tab 4 or double-hole drawstring tab. During the approach, the magnetic field emitter and sensor 20 at the front end of the waterproof flexible robotic arm magnetizes the soft magnet inside the O-ring pull tab 4 or double-hole drawstring tab, thereby attracting the O-ring pull tab 4 or double-hole drawstring tab and lifting it from the mesh of the corresponding conventional scallop cage unit 3. Further, the double-claw dexterous hand 21 at the front end of the waterproof flexible robotic arm precisely picks up the O-ring pull tab 4 or double-hole drawstring tab after it has been magnetized. Then, the robotic arm that picks up the double-hole drawstring buckle presses its locking head, making the double-hole drawstring buckle unlocked. The other four robotic arms then push outwards to open the O-ring lifting buckles 4 they have picked up, so that the net opening of the picked-up conventional scallop cage 3 is larger than the square rigid ring. Therefore, the bottom rigid ring of the upper layer of scallop cage can be smoothly removed from the net opening of the bottom conventional scallop cage. At this time, the control system instructs the overhead crane system 6 to lift the scallop cage string, thus completing the removal of the bottom conventional scallop cage from the scallop cage string. The process of S5 inverting the conventional scallop cage unit 3, which was removed in S4, is as follows: The removed conventional scallop cage unit 3 is transported to the inverted position. The control system issues a command, and a pair of arc-shaped support grooves of the inverting system extend to clamp the square rigid ring at the bottom of the conventional scallop cage unit 3. The control system further commands five waterproof flexible robotic arms to release the four O-ring lifting buckles 4 and the double-hole drawstring buckles, so the robotic arms are in an idle state and can return to the position to be removed. Then, the control system further commands the pair of arc-shaped support grooves of the inverting system to rotate 180°, thereby inverting the removed conventional scallop cage unit 3. The specific process of vibration of the conventional scallop cage unit 3 after S5 inversion is as follows: The control system commands the vibration system to rotate to the vibration position and start the vibration action. Then the flexible vibration rod 27 of the vibration system acts on the bottom of the inverted conventional scallop cage unit 3, forcing all the cultured objects in it to fall off and fall into the cultured object harvesting box 26 below. The process of discharging the conventional scallop cage unit 3 after the vibration and emptying operation is as follows: After the vibration operation has been completed for a sufficient period of time, the control system commands the vibration operation to end. The vibration system stops vibrating and rotates to the waiting position. Then, a pair of arc-shaped support grooves retract, releasing the inverted conventional scallop cage unit 3 that it is holding. The emptied conventional scallop cage unit 3 falls onto a pair of toothed conveyor belts of the discharge system below and is discharged by the conveyor belt outside the whole device, waiting for further recycling. S8 adjusts the position of the scallop cage string after the bottom layer of regular scallop cages has been removed, so that the remaining bottom layer of regular scallop cages are once again in the position to be removed. S9 repeats S4~S8 to complete the harvesting of all conventional scallop cages 3 except for the head scallop cage 2 and the harvesting of the cultured organisms. S10 removes the head of scallop cage 2, harvests the cultured scallops inside, and replaces it with another new string of scallop cages awaiting harvest.

[0047] S11 repeats S2~S10 to complete the batch harvest of scallop farming operations using square nested quick-connection, sewing-free scallop cages. Example 3

[0048] This embodiment provides an application of an automated cage-turning device based on a square nested, sewn-free scallop cage in the marine harvesting of adult scallops. In application, the automated cage-turning device as described in Embodiment 1 is fixedly installed on the aquaculture vessel to carry out the marine harvesting operation during the adult scallop aquaculture process. The specific process of the marine harvesting operation is the same as in Embodiment 2, and will not be repeated here. Example 4

[0049] This embodiment provides an application of an automated trap-turning device based on a square nested, sewn-free scallop cage in the harvesting of adult oysters in a nearshore land site. In application, the automated trap-turning device as described in Embodiment 1 is fixedly installed in the nearshore land site for harvesting adult oysters. The specific process of the nearshore land harvesting operation is the same as in Embodiment 2, and will not be repeated here.

[0050] The above embodiments are merely preferred embodiments of the present invention. Any simple modifications, alterations, and substitutions made to the above embodiments based on the technical essence of the present invention shall fall within the scope of the technical solution of the present invention.

Claims

1. An automated scallop trap unloading device based on a square nested, sewn-free scallop trap, comprising a frame; Its features are, The device further includes: Square nested quick-connection, stitch-free scallop cage string; A crane system for hoisting square nested quick-connection seamless scallop cages; A conventional scallop cage individual picking and conveying system installed on the frame; The inverted system receives the conventional scallop cages sent out by the picking and conveying system; A vibrating system, used to empty the scallop cages that have been inverted after being processed by the inverting system; The harvesting box for aquaculture is located below the inverting system and the vibrating system; And a conventional scallop cage individual discharge system, which receives the scallop cages after they have been emptied by the vibration system.

2. The automated cage turning device according to claim 1, characterized in that: The square nested quick-connect seamless scallop cage string is composed of a cage head scallop cage and one or more conventional scallop cage units nested together; the conventional scallop cage unit is composed of a square rigid ring covered with a net, and the net is stretched into an inverted truncated cone shape without a top. Four O-rings with soft magnets are fixed at the corners of the square rigid ring at the mesh opening of the conventional scallop cage. The four O-rings correspond to the four corners of the square rigid ring. A soft netting is inserted into the mesh opening of the conventional scallop cage, and a double-hole drawstring buckle (5) is installed on the soft netting.

3. The automated cage turning device according to claim 1, characterized in that: The overhead crane system is installed at the top of the frame, and the frame is equipped with anti-detachment blocks.

4. The automated cage turning device according to claim 1, characterized in that: The conventional scallop cage individual picking and conveying system includes a front slide rail and a rear slide rail installed in parallel in the middle of the frame, a front slide rail slidably set on the front slide rail, a rear slide rail slidably set on the rear slide rail, and five waterproof flexible robotic arms. The five waterproof flexible robotic arms are designated as the first, second, third, fourth, and fifth waterproof flexible robotic arms. The first and second waterproof flexible robotic arms are mounted on the rear slide bar, while the third, fourth, and fifth waterproof flexible robotic arms are mounted on the front slide bar. The waterproof flexible robotic hand consists of a flexible arm, a magnetic field emitter and sensor, and a double-claw dexterous hand.

5. The automated cage turning device according to claim 1, characterized in that: The inverting system includes a rotatable front arc-shaped support groove and a rear arc-shaped support groove, a first spacing adjuster acting on the front arc-shaped support groove, and a second spacing adjuster acting on the rear arc-shaped support groove; The vibration system includes a flexible vibrating rod.

6. The automated cage turning device according to claim 1, characterized in that: The conventional scallop cage individual discharge system is located in the middle of the frame and on the opposite side of the overhead crane system. The conventional scallop cage individual discharge system consists of a front toothed conveyor belt and a rear toothed conveyor belt.

7. The automated cage turning device according to claim 1, characterized in that: The device also includes a three-dimensional magnetic coordinate positioning system installed in the middle of the frame, which consists of a three-dimensional box array of magnetic sensors.

8. A method for harvesting using the automated cage-turning device as described in any one of claims 1 to 7, characterized in that, Includes the following steps: S1 debugging and setting up of the control system; S2 suspended installation of harvested scallop cages; S3 locates the scallop cage string that needs to be untied; S4 removes the bottommost regular scallop cage from the scallop cage string positioned by S3; S5 is a regular scallop cage sample taken from S4 and then reversed; S6 vibration followed by S5 inversion of the conventional scallop cage unit; S7 discharges the conventional scallop cage unit after the vibration and emptying operation is completed; S8 adjusts the position of the scallop cage string that has been removed from the bottom layer of regular scallop cages, so that the remaining bottom layer of regular scallop cages are once again in the position to be removed. S9 repeats S4~S8 to complete the removal of all conventional scallop cages except for the head scallop cage and the harvesting of cultured organisms. S10 removes the scallop cage head, harvests the farmed scallops inside, and replaces it with another new string of scallop cages ready for harvest. S11 repeats S2~S10 to complete the batch harvest of scallop farming operations using square nested quick-connection, sewing-free scallop cages.

9. Application of an automated trap-unloading device based on square nested, sewn-free scallop traps in the harvesting of adult scallops at sea.

10. Application of an automated trap-turning device based on square nested sewn-free scallop traps in the harvesting of adult oysters in nearshore land sites.

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