Scallop cage underwater cleaning device based on layer difference circular brush and application

Abstract

The application discloses a scallop cage underwater cleaning device based on a layer-difference circular rolling brush and application. The aforementioned cleaning device comprises a rolling brush system, a flushing system, a frame body for bearing the rolling brush system and the flushing system, a buoyancy system fixedly installed on the frame body, a posture stabilizing system fixedly installed at the top of the frame body, a magnetic signal sensor, a strong permanent magnet for identifying the position of the scallop cage, and a central shaft. The rolling brush system comprises four rotating rollers, brush pieces fixedly installed on the corresponding rotating rollers, bevel gear sets and a driving mechanism. The four rotating rollers form a frame structure, and four groups of brush pieces form a hollow circle in the center of the frame structure. The application has the advantages of simple and compact structure, convenience and practicality, can independently run underwater in raft culture water areas, efficiently brushes and cleans various types of attached fouling organisms on the suspended scallop cage, improves the culture ecological environment, and improves the raft cage culture production benefit.

Description

Technical Field

[0001] This invention relates to the field of fishery engineering equipment, specifically to an underwater cleaning device for scallop cages based on a layered circular roller brush, and also to the application of the cleaning 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 types of 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. During raft-type cage culture, scallop cages often become covered with a large number of fouling organisms, including barnacles, mussels, oysters, and hydroids. This leads to various adverse consequences, such as clogged mesh, poor water exchange, competition for food by fouling organisms, and the spread of diseases. Therefore, it is essential to clean and remove the fouling organisms from the scallop cages during raft-type cage culture.

[0003] For cleaning up fouling organisms on scallop cages, the general practice is to clean and treat the accumulated cages on the shore after harvesting the cultured scallops. This includes various methods and techniques such as piling to kill fouling organisms, sun exposure, crushing, and beating. In some cases, fouling organisms are removed while the scallops are still inside the cages, using methods such as manual cleaning, high-pressure water jet washing, or other methods of friction or squeezing. However, currently, there is a lack of technology and equipment for the immediate underwater removal of fouling organisms from cultured scallop cages in offshore raft-style hanging cage culture. Summary of the Invention

[0004] The purpose of this invention is to provide an underwater cleaning device and application for scallop cages based on a layered circular roller brush, so as to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: an underwater cleaning device for scallop cages based on a layered circular roller brush, comprising:

[0006] The roller brush system includes four rotating rollers, brushes fixedly mounted on the corresponding rotating rollers, a helical gear set and a drive mechanism; wherein, the four rotating rollers form a frame-shaped structure, and the four sets of brushes form a hollow circle in the center of the frame-shaped structure;

[0007] A flushing system located above the roller brush system, which includes a water pump and a spray ring;

[0008] The frame, which supports the roller brush system and the flushing system;

[0009] The buoyancy system is fixedly installed on the frame.

[0010] The attitude stabilization system is fixedly installed at the top of the frame.

[0011] Magnetic signal sensor used to detect the location of scallop cages;

[0012] And strong permanent magnets used to mark the location of scallop cages.

[0013] As a further improvement to the above scheme, each set of brushes consists of several layers of uneven rubber brushes. The rubber brushes have a rod-shaped structure, and the lengths of several rubber brushes are matched with each other, gradually shortening from both ends to the middle to form a set of 1 / 4 arcs.

[0014] As a further improvement to the above scheme, the number of helical gear sets is three, and the three helical gear sets are respectively arranged between two adjacent rotating rollers.

[0015] As a further improvement to the above solution, the drive mechanism uses a rotary motor to drive one of the helical gear sets, and drives other rotating rollers through the transmission of other helical gear sets.

[0016] As a further improvement to the above solution, the cleaning device also includes a central shaft for supporting the corresponding rotating roller.

[0017] As a further improvement to the above solution, the rotating roller is sleeved on the central shaft through rolling bearings. The central shaft does not rotate, and the four central shafts are interconnected to form a support system.

[0018] As a further improvement to the above scheme, the central shaft is fixed at the bottom of the frame, and the buoyancy system adopts at least two symmetrically arranged buoyancy columns.

[0019] As a further improvement to the above scheme, the attitude stabilization system consists of four underwater rotor mechanisms symmetrically mounted at the corners of the frame above the structure.

[0020] As a further improvement to the above solution, the number of magnetic signal sensors is four. The four magnetic signal sensors are evenly fixed around the top of the frame, and the magnetic signal sensors are located above the buoyancy column.

[0021] As a further improvement to the above solution, two strong permanent magnets are used on each scallop cage, one fixed at the top of the cage and the other at the bottom. The magnetic field strength of the strong permanent magnets is not less than 3000 Gauss, and they are used to mark the position of the scallop cages.

[0022] When the roller brush system brushes the scallop cages from bottom to top, this is the brushing operation. Viewed from above, all four sets of rotating roller brushes rotate from the outside to the inside of the rollers, not in the opposite direction. That is, while brushing, the roller brushes simultaneously pull the scallop cages downwards to straighten and tighten them, acting in the opposite direction to the buoyancy provided by the culture floats and buoys. This allows the brushing operation to tighten the scallop cages at the same time. Simultaneously, while the roller brush system brushes the scallop cages downwards, the four sets of rotors in the attitude stabilization system drain water downwards, driving the entire device to gradually move upwards until the entire scallop cage is brushed.

[0023] When a scallop cage is cleaned, the entire device moves downwards to detach from the cage. From a top-down view, all four sets of rotating roller brushes rotate from the inside to the outside of the rollers. At this point, since the fouling organisms in the scallop cage have been removed, the roller brush system pushes the scallop cage upwards. Simultaneously, the four sets of rotor mechanisms of the attitude stabilization system drain water upwards, driving the entire device to gradually move downwards. This makes it easy to detach the scallop cage from the circular roller brushes. This process is called the exit operation.

[0024] The identification and operational logic of the scallop cage cleaning process is as follows: The permanent magnet with the strongest magnetic signal among the magnetic signal sensors is the nearest permanent magnet, representing the nearest scallop cage. After the cleaning device submerges, it adjusts its position so that the magnetic signals of the nearest permanent magnet are approximately the same across the four magnetic signal sensors (difference <1%). This means the scallop cage is directly above the cleaning device, and the device begins to move upwards. When the permanent magnet signal reaches its strongest value for the first time, it means the scallop cage has entered the center of the upper frame of the cleaning device, and the device continues to move upwards to begin the scrubbing operation. When the permanent magnet signal reaches its strongest value for the second time, it means the cleaning is about to end. Let the height of the scallop cage be d. The cleaning device continues to move upwards a distance of 2d, completing the scrubbing operation. Then, the cleaning device stops scrubbing and begins to move downwards to exit the cleaning process. When the permanent magnet signal reaches its strongest value twice consecutively among the four magnetic signal sensors, it means the exit operation is complete. The cleaning device continues to move downwards a distance of 2d, completely detaching from the cleaned scallop cage, and can begin the next round of cleaning.

[0025] Application of the cleaning device as described in underwater cleaning operations of scallop cages.

[0026] Compared with the prior art, the beneficial effects of the present invention are:

[0027] 1. A novel underwater online cleaning process for fouling organisms in scallop cages was proposed. The device is installed underwater to continuously clean the suspended scallop cages from bottom to top. The ingenious design ensures no blind spots during the entire process and enables efficient online removal of fouling organisms from the suspended scallop cages.

[0028] 2. The device consists of a single cubic frame consisting of a roller brush system, a rinsing system, a buoyancy system, and an attitude stabilization system. It has a simple and compact structure and can operate autonomously underwater without having to lift the scallop cages out of the water. The technology is ingenious and efficient.

[0029] 3. Scallop cages are flexible mesh structures, lacking rigidity. Traditional cleaning methods either involve cleaning the stacked scallop cages after harvesting the farmed scallops, or fixing the cages in some way, such as stretching both ends, to maintain their cylindrical shape before cleaning. This invention innovatively proposes a new solution: the device cleans the scallop cages from bottom to top while simultaneously acting in the opposite direction to the buoyancy of the floats and buoys, effectively pulling the scallop cages downwards and straightening them. This avoids the problem of deformation of the flexible scallop cages, which would hinder effective cleaning. The solution is ingenious. Exiting the cleaning process eliminates the need to consider the deformation of the flexible scallop cages; simply push the cages upwards. Attached Figure Description

[0030] Figure 1 The diagram shows a schematic of an underwater cleaning device for scallop cages based on a layered circular roller brush provided by the present invention. In the diagram, A indicates the bottom of the water, B indicates the water surface, D indicates the rotation direction of the roller brush during the brushing operation, and E indicates the rotation direction of the roller brush when the operation is stopped.

[0031] Figure 2 As shown Figure 1 A diagram showing the uplink status when idle.

[0032] Figure 3 As shown Figure 1 A diagram showing the downlink status when the device is idle.

[0033] Explanation of main component symbols

[0034] 1. Rotating roller; 2. Brush; 3. Helical gear set; 4. Drive mechanism; 5. Water pump; 6. Spray ring; 7. Scallop cage; 8. Buoyancy column; 9. Underwater rotor mechanism; 10. Magnetic signal sensor; 11. Strong permanent magnet; 12. Float; 13. Rope; 14. Buoy; 15. Central shaft.

[0035] 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

[0036] 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.

[0037] The specific embodiments of the present invention will be described in detail below.

[0038] Example 1

[0039] Please see Figures 1-3 This embodiment provides an underwater cleaning device for scallop cages based on a layered circular roller brush. It includes a roller brush system, a rinsing system located above the roller brush system, a frame supporting the roller brush system and the rinsing system, a buoyancy system fixedly mounted on the frame, an attitude stabilization system fixedly mounted at the top of the frame, a magnetic signal sensor 10 for detecting the position of the scallop cage 7, a strong permanent magnet 11 for identifying the position of the scallop cage 7, and a central shaft 15 for supporting the corresponding rotating roller 1. The central shaft 15 is fixed at the bottom of the frame.

[0040] like Figure 1 As shown, in raft-type suspended cage aquaculture production, the floating stalk 12 is fixed by a seabed peg (to resist ocean currents and typhoon attacks), the floating stalk 12 is suspended by a buoy 14, and the scallop cage 7 is suspended below the floating stalk 12. The scallop cage 7 and the buoy 14 are all fixed to the floating stalk 12 by ropes 13. In this way, the scallop cage 7 is suspended underwater for aquaculture.

[0041] The roller brush system includes four rotating rollers 1, brush pieces 2 fixedly mounted on the corresponding rotating rollers 1, helical gear sets 3, and a drive mechanism 4. The four rotating rollers 1 form a frame-like structure, with the four sets of brush pieces 2 forming a hollow circle in the center of the frame. There are three helical gear sets 3, each positioned between two adjacent rotating rollers 1. The drive mechanism 4 uses a rotary motor to drive one of the helical gear sets 3, and through the transmission of the other helical gear sets 3, drives the other rotating rollers 1. The rotating rollers 1 are mounted on a central shaft 15 via rolling bearings. The central shaft 15 does not rotate, and the four central shafts 15 are interconnected to form a support system.

[0042] In this embodiment, in the center of the frame formed by the four rotating rollers 1, the four sets of brushes 2 form a virtual hollow circle. The diameter of the virtual hollow circle is the same as the diameter of the scallop cage 7 to be cleaned, thus enabling rolling brushing of the cylindrical object, i.e., the scallop cage 7. The specific process is as follows: The four rotating rollers 1 are driven by the interconnection of helical gear sets 3. A rotary motor drives a helical gear set 3, which, under the action of meshing transmission, drives the brushes 2 to rotate. From a top view, during the brushing operation, all four sets of brushes 2 rotate from the outside to the inside of the rollers, and during the exit operation, all four sets of brushes 2 rotate from the inside to the outside of the rollers.

[0043] When the roller brush system brushes the scallop cage 7 from bottom to top, all four sets of brushes 2 rotate from the outside to the inside of the roller, not in the opposite direction. That is, while the roller brush is brushing, it pulls the scallop cage 7 downwards to straighten and tighten it, which is opposite to the buoyancy provided by the float 14 on the float stalk 12, thus tightening the scallop cage 7 while brushing. While the roller brush system is brushing the scallop cage 7 downwards, the four sets of rotor mechanisms 9 drain water downwards, driving the entire device to move upwards step by step until the entire brushing operation of one scallop cage 7 is completed.

[0044] When the washing of one scallop cage 7 is completed, and the entire device moves downward to detach from the scallop cage 7, from a top-down view, all four sets of brushes 2 rotate from the inside to the outside of the rollers. At this time, since the fouling organisms in the scallop cage 7 have been cleaned, the roller brush system pushes the scallop cage 7 upward, while the four sets of rotor mechanisms 9 drain water upward, driving the entire device to gradually move downward, thus easily detaching the scallop cage 7 from the device. This process is called the withdrawal operation.

[0045] In actual design, a C-shaped mesh protective cover can be installed on the outside of the roller brush system. The opening of the C-shaped mesh protective cover faces the virtual hollow circle inside the roller brush system, thus leaving space for the scallop cage 7 to pass through in the center. The protective cover can prevent the splashing of brushed materials and also prevent the roller brush system from accidentally injuring the operator. The bottom of the protective cover is tilted at an angle of more than 20° to facilitate the sliding of brushed materials, which will not be elaborated here.

[0046] Each brush component 2 consists of several layers of uneven rubber brushes. The rubber brushes have a rod-like structure, and the lengths of several rubber brushes are matched with each other, gradually shortening from both ends to the middle to form a 1 / 4 arc shape. In this embodiment, the brush component 2 is made of wear-resistant rubber material made of polyurethane or other polymer materials, which gives the brush component 2 high strength and toughness, and makes it resistant to cutting by oysters and marine fouling organisms such as barnacles attached to aquatic pillars.

[0047] The rinsing system includes a water pump 5 and a spray ring 6. In this embodiment, the water pump 5 is a submersible pump, which is mounted on the frame. The water pump 5 draws aquaculture water from the same area as the aquaculture production and supplies it to the spray ring 6. The spray ring 6 is installed in the center of the upper frame of the frame. While the roller brush system is rolling and brushing the scallop cages 7, it sprays water onto the contact area between the roller brush and the scallop cages 7, promoting the removal of shed material.

[0048] The buoyancy system employs at least two symmetrically arranged buoyancy columns 8. In this embodiment, the buoyancy columns 8 are made of pressure-resistant buoyancy material. Based on the buoyancy system, the density of the overall device is close to the density of the aquaculture water, meaning its overall buoyancy is close to zero. It is important to note that the arrangement of the buoyancy columns 8 must also ensure the overall device's attitude balance; that is, the center of gravity and center of buoyancy of the overall device are located on the same vertical line, and the center of gravity is lower than the center of buoyancy, ensuring the underwater static balance of the overall device and preventing it from capsizing. In the actual design, attitude sensors, such as gyroscopes, are installed on all four columns of the frame and electrically connected to the control system. The cleaning device can be powered by a battery installed in the frame, which is waterproofed, or by the operating vessel via an umbilical cable.

[0049] The attitude stabilization system consists of four underwater rotor mechanisms 9 symmetrically mounted at the corners of the upper frame. In this embodiment, the underwater rotor mechanisms 9 can rotate clockwise and counterclockwise, and their tilt angle and speed can be flexibly adjusted. They are electrically connected to the control system, which, based on attitude sensors and operational commands, controls the operation of the underwater rotor mechanisms 9, thereby controlling the overall upward, downward, and horizontal movement of the device. The control system in this embodiment employs a general-purpose industrial automatic control device based on a microprocessor, integrating computer technology, automatic control technology, and communication technology. After pressure-resistant and waterproof treatment, it is embedded in the buoyancy column 8, which will not be described in detail here.

[0050] There are four magnetic signal sensors 10, which are evenly fixed around the perimeter of the frame and located above the buoyancy column 8. There are two strong permanent magnets 11 on each scallop cage, one fixed at the top and the other at the bottom. The magnetic field strength of each strong permanent magnet 11 is no less than 3000 Gauss, used to indicate the specific location of the scallop cage.

[0051] In this embodiment, the identification and operation logic of the scallop cage 7 cleaning process is as follows: the permanent magnet with the strongest magnetic signal in the magnetic signal sensor 10 is the nearest permanent magnet, which represents the nearest scallop cage 7; when the magnetic signal of the nearest permanent magnet is basically the same in the four magnetic signal sensors 10 (difference value <1%), it means that the scallop cage 7 is located directly above the cleaning device, and then the cleaning device begins to move upward; when the permanent magnet signal reaches its strongest value for the first time, it means that the scallop cage 7 has entered the center of the upper frame of the cleaning device, and the cleaning device continues to move upward and begins to enter the cleaning process. The scallop cage 7 is being scrubbed. When the permanent magnet signal reaches its strongest value for the second time, it means that the cleaning of the scallop cage 7 is about to end. Let the height of the scallop cage 7 be d. The cleaning device continues to move upward a distance of 2d to complete the scrubbing operation of the scallop cage 7. Then the cleaning device stops the scrubbing operation and begins to move downward to perform the exit operation. When the permanent magnet signal reaches its strongest value twice in a row among the four magnetic signal sensors 10, it means that the exit operation is completed. The cleaning device continues to move downward a distance of 2d to completely detach from the cleaned scallop cage 7, and the next round of cleaning operation can begin.

[0052] The cleaning device in this embodiment is assembled from a roller brush system, a rinsing system, a buoyancy system, and a posture stabilization system, forming a cubic frame structure capable of autonomous underwater operation in raft-style suspended cage aquaculture areas. At the center of this frame structure is a virtual cylindrical space through which the scallop cage 7 can pass. When the posture control system drives the entire device to move upwards along the scallop cage 7, the roller brush system pulls down and scrubs the scallop cage 7, performing the scrubbing operation. After the scrubbing operation is completed, the posture control system drives the entire device to move downwards along the scallop cage 7, and the roller brush system pushes the scallop cage 7 upwards, performing the exit operation. The scrubbing and exit operations are repeated alternately to clean each of the underwater suspended scallop cages. In actual operation, the upward and downward movement speed of the entire device during the scrubbing and exit operations does not exceed 20 cm / s and can be adjusted.

[0053] It should be noted that the center of the virtual hollow circle in the roller brush system, the center of the spray ring 6 in the rinsing system, and the center of gravity and buoyancy of the entire device are all located on the same vertical virtual straight line. According to operational requirements, after the control system identifies the nearest hanging scallop cage 7, it drives the entire device to move directly beneath the nearest hanging scallop cage 7 and performs the brushing operation from bottom to top. After completing the brushing operation of one scallop cage 7, it exits the operation from top to bottom and then searches for the next scallop cage 7 to operate on. During the aforementioned operation, the vertical virtual straight line is basically coincident with the vertical central axis of the currently operating scallop cage 7.

[0054] The cleaning device in this embodiment is transported to the raft-type cage aquaculture area by the production operation vessel. After being hoisted into the water, it operates autonomously to clean the fouling organisms from each of the suspended scallop cages 7. It has the following advantages: all the scallop cages 7 to be cleaned are equipped with permanent magnet markers on the top and bottom. The suspended scallop cages 7 do not need to be lifted out of the water. The cleaning device autonomously identifies the scallop cages 7 based on magnetic signals, thereby removing various fouling organisms attached to the scallop cages 7 one by one. This reduces competition for food, improves the water exchange effect inside and outside the scallop cages 7, and greatly improves the efficiency of cage aquaculture production.

[0055] Example 2

[0056] This embodiment provides a method for underwater cleaning of scallop cages using a cleaning device as described in Embodiment 1, which includes the following steps:

[0057] S1 is used to install, debug, and set up the control system to ensure the normal operation of each subsystem, set the operating mode, and input operating parameters, including the length a of the scallop cage 7 to be cleaned, the water depth b, the scallop cage spacing c, and the scallop cage layer height d, etc.

[0058] S2 hoists the entire device into the water, and the entire device is submerged below the scallop cage culture depth b.

[0059] Based on the strong permanent magnets 11 on the top and bottom of the hanging scallop cages 7 and four magnetic signal sensors 10, the S3 control system identifies the nearest hanging scallop cage 7 and moves to directly below it.

[0060] The S4 control system starts the cleaning operation mode and cleans the suspended scallop cages 7 from bottom to top. At this time, all four sets of roller brushes rotate from the outside to the inside of the rollers. While the roller brushes are cleaning, they pull down and straighten the scallop cages 7. The rinsing system sprays water at the contact point between the roller brushes and the scallop cages 7. The four sets of rotor mechanisms 9 drain water downwards and drive the entire device to move upwards gradually. The movement length is not less than a until the overall cleaning operation of one scallop cage 7 is completed.

[0061] S5 When the entire device moves upward to the top of a scallop cage 7, the washing operation of one scallop cage 7 is completed, and the exit operation mode is activated. At this time, the rinsing system stops spraying, and the four sets of roller brushes rotate from the inside to the outside of the rollers, thereby pushing the scallop cage 7 that has completed the washing operation upward. The four sets of rotor mechanisms 9 drain water upward and drive the entire device to move downward gradually, with a movement length of not less than a, until it completely separates from the scallop cage 7 that has completed the washing operation.

[0062] S6 The device that completes the exit from the operation mode moves horizontally along the direction of the floating stem 12 by a distance c between the hanging scallop cages, and re-detects and identifies the nearest hanging scallop cage 7, repeating steps S4 to S5.

[0063] S7 repeats S6 to complete the cleaning of all the suspended scallop cages. The entire device floats to the surface for recycling and maintenance, ready for the next operation. Alternatively, if the battery power supply alarm is triggered, the operation stops, the device floats to the surface, returns for charging, and is ready for the next operation. Or, if the device is powered by an umbilical cable, and the operator needs to return due to time constraints or the length of the umbilical cable, the operation needs to be stopped. In this case, the device floats to the surface and is recycled for the next operation.

[0064] Example 3

[0065] This embodiment provides an underwater cleaning device for scallop cages based on a layered circular roller brush, as described in Embodiment 1. It is applied to a raft-type suspended cage scallop farming process. Using the operation steps based on Embodiment 2, the suspended scallop cages are cleaned efficiently one by one to remove the attached fouling organisms, increase the permeability and water exchange between the inside and outside of the cages, reduce food competition, and improve the production efficiency of scallop farming.

[0066] If necessary, multiple underwater cleaning devices can be deployed to simultaneously clean multiple scallop cages underwater, thereby improving operational efficiency.

[0067] Example 4

[0068] This embodiment provides an underwater cleaning device for scallop cages based on a layered circular roller brush, as described in Embodiment 1. It is applied to a raft-type hanging cage oyster farming production process. Using the operation steps based on Embodiment 2, the scallop cages for oyster farming are cleaned one by one with high efficiency, removing the fouling organisms attached to them, increasing the permeability and water exchange between the inside and outside of the farming cages, reducing food competition, and improving the production efficiency of oyster farming.

[0069] When necessary, multiple underwater cleaning devices can be deployed to simultaneously clean multiple oyster and scallop cages underwater, improving operational efficiency.

[0070] 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 underwater cleaning device for scallop cages based on a layered circular roller brush, characterized in that, include: The roller brush system includes four rotating rollers (1), brushes (2) fixedly mounted on the corresponding rotating rollers (1), a helical gear set (3) and a drive mechanism (4); wherein the four rotating rollers (1) form a frame structure, and the four sets of brushes (2) form a hollow circle in the center of the frame structure; The flushing system located above the roller brush system includes a water pump (5) and a spray ring (6). The frame, which supports the roller brush system and the flushing system; The buoyancy system is fixedly installed on the frame. The attitude stabilization system is fixedly installed at the top of the frame. A magnetic signal sensor (10) for detecting the position of the scallop cage (7); and a strong permanent magnet (11) for identifying the position of the scallop cage (7).

2. The underwater cleaning device for scallop cages based on a layered circular roller brush according to claim 1, characterized in that: Each set of brushes (2) consists of several layers of uneven rubber brushes. The rubber brushes are rod-shaped, and the lengths of several rubber brushes are matched with each other, gradually shortening from both ends to the middle to form a set of 1 / 4 arcs.

3. The underwater cleaning device for scallop cages based on a layered circular roller brush according to claim 1, characterized in that: The number of helical gear sets (3) is three, and the three helical gear sets (3) are respectively arranged between two adjacent rotating rollers (1); The drive mechanism (4) uses a rotary motor to drive one of the helical gear sets (3) and drive other rotating rollers (1) through the transmission of other helical gear sets (3).

4. The underwater cleaning device for scallop cages based on a layered circular roller brush according to claim 1, characterized in that: The cleaning device also includes a central shaft (15) for supporting the corresponding rotating roller (1).

5. The underwater cleaning device for scallop cages based on a layered circular roller brush according to claim 4, characterized in that: The rotating roller (1) is sleeved on the central shaft (15) through a rolling bearing. The central shaft (15) does not rotate. The four central shafts (15) are connected to each other to form a support system.

6. The underwater cleaning device for scallop cages based on a layered circular roller brush according to claim 5, characterized in that: The central shaft (15) is fixed at the bottom of the frame, and the buoyancy system adopts at least two symmetrically arranged buoyancy columns (8).

7. The underwater cleaning device for scallop cages based on a layered circular roller brush according to claim 6, characterized in that: The attitude stabilization system consists of four underwater rotor mechanisms (9) symmetrically installed at the corners of the frame above the structure.

8. The underwater cleaning device for scallop cages based on a layered circular roller brush according to claim 7, characterized in that: The number of magnetic signal sensors (10) is four. The four magnetic signal sensors (10) are evenly fixed at the four corners of the frame, and the magnetic signal sensors (10) are located above the buoyancy column (8).

9. The underwater cleaning device for scallop cages based on a layered circular roller brush according to claim 1, characterized in that: The number of strong permanent magnets (11) is two, one of which is fixed at the top of the scallop cage (7) and the other is fixed at the bottom of the scallop cage (7).

10. The application of a cleaning device as described in any one of claims 1 to 9 in underwater cleaning operations of scallop cages.

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