Mudflat hard-shell clam harvesting device

Abstract

The utility model provides a mud flat hard-shell clam harvesting device. The mud flat hard-shell clam harvesting device comprises an amphibious ship body, a rolling assembly and an excavating assembly, the amphibious ship body comprises an outdoor cabin, and the cabin is divided into at least two spaces through baffles. Wherein one space is a collecting space, and an excavating assembly is arranged above the collecting space in a sliding mode; the excavating assembly comprises an excavating mechanical arm and a leakage net bucket connected with the arm end of the excavating mechanical arm in a swinging mode, the leakage net bucket is located at one end of the ship body, the end is a collecting end, the other end of the ship body is a rummaging end, and the leakage net bucket can move between the outside of the ship body and the upper portion of the collecting space through the excavating mechanical arm and plays a role in screening and filtering; a rolling assembly is arranged at the rummaging end and comprises a brush roller and a rolling hydraulic rod. According to the clam collecting device, the clam collecting efficiency in a mud flat environment can be improved.

Description

A device for harvesting hard-shelled clams from mudflats Technical Field

[0001] This utility model belongs to the field of aquaculture and shellfish harvesting, and in particular relates to a device for harvesting hard-shelled clams in tidal flats. Background Technology

[0002] Depending on the habitat of burrowing shellfish, harvesting methods can be categorized into tidal flat, shallow water, and deep water types. Deep water harvesting is the most mechanized, involving boats towing large nets and using paddles or water guns to churn up the shellfish and mud. The shellfish are then filtered through the net and hauled onto the boat. Because tidal flats lack sufficient depth to provide buoyancy for boats and, unlike hard sandy areas, cannot support mechanical equipment, tidal flat harvesting currently relies solely on manual labor and cannot be mechanized. However, the extremely harsh working environment of tidal flats and the high cost of manual harvesting, coupled with the scarcity of suitable ecological equipment, contribute to the high cost of shellfish harvesting in tidal flats, further increasing their market price.

[0003] Currently, there is no commercially available equipment for harvesting and shaping tidal flats; all harvesting is done manually. The working time is greatly affected by the weather, and harvesting can only be done after low tide, resulting in short working hours. There is an urgent need to replace manual harvesting with mechanized equipment that is unaffected by the environment, allows for longer working hours, and is expected to achieve a finished product recovery rate of >90% with a sand content of <5% inside the shell. Summary of the Invention

[0004] In view of this, the present invention aims to propose a device for harvesting hard-shelled clams in tidal flats, in order to solve the problem of the difficulty of manually harvesting shellfish in tidal flat environments and the great impact of environmental factors.

[0005] To achieve the above objectives, the technical solution of this utility model is implemented as follows:

[0006] A device for harvesting hard-shelled clams in tidal flats, comprising an amphibious hull, a tumbling assembly, and a digging assembly;

[0007] The amphibious vessel hull includes an open cabin, which is divided into at least two spaces by a partition.

[0008] One of the spaces is a collection space, and a digging component is slidably installed above the collection space;

[0009] The excavation assembly includes an excavation robotic arm and a swivel-connected strainer bucket to the end of the excavation robotic arm. The strainer bucket is located at one end of the hull, which is the collection end, and the other end of the hull is the scouring end. The strainer bucket can move between the hull body and the collection space above the excavation robotic arm and plays a screening role.

[0010] A tumbling assembly is provided at the tumbling end. The tumbling assembly includes a brush roller and a tumbling hydraulic rod. One end of the tumbling hydraulic rod is connected to the tumbling end, and the telescopic end of the tumbling hydraulic rod is rotatably connected to the brush roller. The tumbling hydraulic rod is set at an inclined angle to the horizontal plane on which the hull travels.

[0011] The search end is also rotatably connected to a disturbance robotic arm, and the movable end of the disturbance robotic arm is equipped with a disturbance vibration motor. The disturbance robotic arm drives the disturbance vibration motor to move closer to or away from the ground.

[0012] Furthermore, the disturbance vibration motor is enclosed in a disturbance waterproof shell, the bottom of which is a cone-shaped disturbance rod with the sharp end of the disturbance rod facing the ground;

[0013] The disturbance robotic arm is powered by a disturbance motor and rotates around the overturning end of the hull.

[0014] Furthermore, the disturbing robotic arm drives a disturbing vibration motor located on the side of the brush roller.

[0015] Furthermore, the strainer bucket includes two screen-like bottom plates connected in an L-shape.

[0016] Furthermore, the screen in the screen-like bottom plate is comb-shaped.

[0017] Furthermore, the strainer bucket is also equipped with a filter vibration motor that provides vibration.

[0018] Furthermore, the top of the slack-hole bucket is elastically connected to a support plate, and the support plate is swayingly connected to the end of the excavating robotic arm.

[0019] A filter vibration motor is installed on the support plate to vibrate the slack-mesh bucket.

[0020] Furthermore, the top of the slack-hole bucket is elastically connected to a support plate via a buffer assembly, and the support plate is swayingly connected to the end of the excavating robotic arm.

[0021] The buffer assembly includes a sliding column one, a sliding column two, and a buffer spring. The sliding column one is connected to the bottom of the support plate, and the sliding column two, which is slidably connected to the sliding column one, is connected to the top of the slack net bucket. A buffer spring is sleeved on the outside of the sliding column one and the sliding column two. One end of the buffer spring is connected to the bottom of the support plate, and the other end is connected to the top of the slack net bucket.

[0022] The four corners of the top of the slack-mesh bucket are each equipped with a buffer component.

[0023] Furthermore, a slide rail is provided on the hull surrounding the collection space, and the excavating robotic arm is connected to a sliding plate, which is slidably mounted on the slide rail;

[0024] The excavating robotic arm includes an excavating boom and an excavating arm. One end of the excavating boom is rotatably connected to a sliding plate, and the other end of the excavating boom is rotatably connected to the excavating arm. The excavating arm is powered by a hydraulic cylinder of the excavating boom and rotates with the excavating boom. The hydraulic cylinder of the excavating boom is mounted on the sliding plate.

[0025] The movable end of the excavating arm is oscillatingly connected to the slack-net bucket via a four-bar linkage structure, and a hydraulic rod of the excavating arm is fixedly connected to the connecting end of the excavating arm.

[0026] The four-bar linkage structure includes a first swing link and a second swing link. One end of the first swing link is hinged to the telescopic end of the hydraulic rod of the excavating arm and one end of the second swing link at the same location. The other end of the first swing link is hinged to the movable end of the excavating arm. The other end of the second swing link is hinged to one end of a connecting plate. The other end of the connecting plate is hinged to the movable end of the excavating arm. The connecting plate is fixedly connected to the sieve bucket.

[0027] Furthermore, the brush roller includes a roller rotatably connected to a tumbling hydraulic rod, and blunt-headed steel micro-pillars are arranged around the surface of the roller. The blunt-headed steel micro-pillars are steel pillars with a small diameter and rounded ends, which can meet the requirements of turning over muddy silt without damaging shellfish products due to their sharp heads.

[0028] Furthermore, the amphibious vessel adopts a tracked hull, and a propeller is installed on the side arm of the hull, with the propeller adjacent to the collection end.

[0029] Furthermore, the cabin space divided by the baffle has a display screen installed in the non-collection space to control the movement of the hull.

[0030] Compared with existing technologies, the tidal flat hard-shell clam harvesting device of this utility model has the following advantages:

[0031] Capable of operating on both land and water, it balances the two key performance aspects of safety and mobility in unpredictable environments such as mudflats. Combining the characteristics of the hull with tumbling and digging components, it achieves the goal of mechanically collecting hard-shell clams, greatly improving collection efficiency.

[0032] In terms of safety, during the harvesting of hard-shell clams in tidal flats, there is a potential threat to personal safety posed by rising tides. The design of this vessel, through specific structural and functional settings, can significantly reduce the risk of drowning for operators during high tide.

[0033] In terms of mobility, marine mudflats are usually distributed in multiple patches, and there are water areas of varying sizes between the mudflats. Through specific structural and functional settings, the design of this vessel can greatly expand the range of operations and effectively improve production efficiency. Attached Figure Description

[0034] The accompanying drawings, which form part of this utility model, are used to provide a further understanding of the utility model. The illustrative embodiments of the utility model and their descriptions are used to explain the utility model and do not constitute an undue limitation of the utility model. In the drawings:

[0035] Figure 1 is a perspective view of a mudflat hard-shell clam harvesting device according to an embodiment of the present invention;

[0036] Figure 2 is a top view of a mudflat hard-shell clam harvesting device according to an embodiment of the present invention;

[0037] Figure 3 is a right view of a mudflat hard-shell clam harvesting device according to an embodiment of the present invention;

[0038] Figure 4 is a left view of a mudflat hard-shell clam harvesting device according to an embodiment of the present invention;

[0039] Figure 5 is a schematic diagram of the mesh-slip bucket connection structure according to an embodiment of the present invention;

[0040] Figure 6 is a schematic diagram of the internal structure of the mesh-slipping bucket according to an embodiment of the present invention;

[0041] Figure 7 is a schematic diagram of the internal structure of the buffer assembly according to an embodiment of the present invention;

[0042] Figure 8 is a flowchart of the operation of a tidal flat hard-shell clam harvesting device according to an embodiment of the present invention.

[0043] Explanation of reference numerals in the attached figures:

[0044] 1. Hull; 2. Display screen; 3. Disturbing robotic arm; 4. Disturbing vibration motor; 5. Brush roller; 6. Tilting hydraulic rod; 7. Track wheel; 8. Track; 9. Propeller; 10. Strainer bucket; 101. Mesh-like bottom plate; 11. Buffer spring; 12. Filtering vibration motor; 13. Digging arm; 131. Digging arm hydraulic cylinder; 14. Digging boom; 141. Digging boom hydraulic cylinder; 15. Slide plate; 16. Slide rail; 17. Baffle; 18. Support plate; 181. Swing link one; 182. Swing link two; 19. Buffer assembly; 191. Sliding column one; 192. Sliding column two. Detailed Implementation

[0045] It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0046] In the description of this utility model, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, unless otherwise stated, "a plurality of" means two or more.

[0047] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0048] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0049] As shown in Figures 1-7, a device for harvesting hard-shelled clams in tidal flats includes an amphibious hull 1, a tumbling assembly, and a digging assembly.

[0050] The amphibious hull 1 described here is already available in the market, so there is no need to provide a further detailed description of how it achieves amphibious use.

[0051] The amphibious vessel hull 1 includes an open cabin, which is divided into at least two spaces by a baffle 17; one of these spaces is a collection space, above which a digging component is slidably mounted. The divided spaces are intended to separate the clam collection space from the operating space, preventing mutual contamination or interference.

[0052] The excavation assembly includes an excavation robotic arm and a strainer bucket 10 that is sway-connected to the end of the excavation robotic arm. The strainer bucket 10 is located at one end of the hull 1, which is the collection end, and the other end of the hull 1 is the scouring end. The strainer bucket 10 can move between the outside of the hull 1 and the upper part of the collection space through the excavation robotic arm and plays a screening role.

[0053] The top of the slack-mesh bucket 10 is elastically connected to a support plate 18, and the support plate 18 is sway-connected to the end of the excavating robot arm; the slack-mesh bucket 10 can be connected to the support plate 18 via a buffer spring 11.

[0054] A filter vibration motor 12 is installed on the support plate 18 to vibrate the strainer bucket 10.

[0055] The strainer bucket 10 includes two screen-shaped bottom plates 101, which are connected in an L-shape. The screen in the screen-shaped bottom plate 101 is comb-shaped to facilitate the outflow of mud and sand.

[0056] The slack-mesh bucket 10 is also equipped with a filter vibration motor 12 that provides vibration.

[0057] To reinforce the connection between the slack-mesh bucket 10 and the support plate 18, the top of the slack-mesh bucket is elastically connected to the support plate 18 via a buffer assembly 19, and the support plate 18 is sway-connected to the end of the excavating robotic arm.

[0058] The buffer assembly includes a sliding column 191, a sliding column 192, and a buffer spring 11. The sliding column 191 is connected to the bottom of the support plate 18, and the sliding column 192, which is slidably connected to the sliding column 191, is connected to the top of the strainer bucket 10. The buffer spring 11 is sleeved on the outside of the sliding column 191 and the sliding column 192. One end of the buffer spring 11 is connected to the bottom of the support plate 18, and the other end is connected to the top of the strainer bucket 10. The connection between the sliding column 191 and the sliding column 192 can ensure that the distance between the strainer bucket 10 and the support plate 18 is within a limited range. At the same time, when digging into a solid object, the strainer bucket 10 will not detach from the support plate 18, causing machine failure.

[0059] The four corners of the top of the mesh-slipping bucket are each equipped with a buffer component 19 to increase connection stability.

[0060] A tumbling assembly is provided at the tumbling end. The tumbling assembly includes a brush roller 5 and a tumbling hydraulic rod 6. One end of the tumbling hydraulic rod 6 is connected to the tumbling end, and the retractable end of the tumbling hydraulic rod 6 is rotatably connected to the brush roller 5. The tumbling hydraulic rod 6 is set at an inclined angle to the horizontal plane on which the hull 1 travels.

[0061] The brush roller 5 includes a roller rotatably connected to the tumbling hydraulic rod 6, and a blunt-headed steel miniature column is arranged around the surface of the roller. The brush roller 5 is rotated by power provided by a motor.

[0062] The search end is also rotatably connected to a disturbance robotic arm 3, and the movable end of the disturbance robotic arm 3 is equipped with a disturbance vibration motor 4. The disturbance robotic arm 3 drives the disturbance vibration motor 4 to move closer to or away from the ground.

[0063] The disturbance vibration motor 4 is enclosed in a disturbance waterproof shell, the bottom of which is a cone-shaped disturbance rod with the sharp end of the disturbance rod facing the ground.

[0064] The disturbance robotic arm 3 is powered by a disturbance motor and rotates around the overturning end of the hull 1.

[0065] The disturbing robotic arm 3 drives the disturbing vibration motor 4 located on the side of the brush roller 5.

[0066] A slide rail 16 is provided on the hull 1 surrounding the collection space, and the excavating robotic arm is connected to a slide plate 15, which is slidably mounted on the slide rail 16.

[0067] The excavating robotic arm includes an excavating boom 14 and an excavating arm 13. One end of the excavating boom 14 is rotatably connected to a slide plate 15, and the other end of the excavating boom 14 is rotatably connected to the excavating arm 13. The excavating arm 13 is powered by a hydraulic cylinder of the excavating boom 14 and rotates with the excavating boom 14. The hydraulic cylinder of the excavating boom 14 is mounted on the slide plate 15.

[0068] The movable end of the excavating arm 13 is oscillatingly connected to the mesh bucket 10 via a four-bar linkage structure, and a hydraulic rod of the excavating arm 13 is fixedly connected to the connecting end of the excavating arm 13.

[0069] The four-bar linkage structure includes a first swing link 181 and a second swing link 182. One end of the first swing link 181 is hinged to the telescopic end of the hydraulic rod of the excavating arm 13 and one end of the second swing link 182 at the same location. The other end of the first swing link 181 is hinged to the movable end of the excavating arm 13. The other end of the second swing link 182 is hinged to one end of the connecting plate. The other end of the connecting plate is hinged to the movable end of the excavating arm 13. The connecting plate is fixedly connected to the strainer bucket 10.

[0070] The amphibious vessel hull 1 adopts a tracked hull 1, and a propeller 9 is installed on the side arm of the hull 1, with the propeller 9 adjacent to the collection end.

[0071] The cabin space divided by the baffle 17 has a display screen 2 installed in the non-collection space to control the movement of the hull 1.

[0072] The motors, hydraulic cylinders, and other power components that control the movement of the machine can be connected to a unified industrial control computer through their own set electrical control signals. The movement time and mode of the power components can be controlled through signal interaction.

[0073] Figure 8 shows the specific operation method of a device for harvesting hard-shelled clams in tidal flats:

[0074] First, start propeller 9. Propeller 9 rotates rapidly, driving hull 1 to move smoothly forward in the water and successfully reach the designated mudflat operation location where hard-shell clams are densely distributed.

[0075] Upon arrival, technicians proceed to the operating area and operate the equipment's display screen 2. Commands are issued via display screen 2 to activate various functional modules. First, the disturbing robotic arm 3 is operated to lower the disturbing vibration motor 4. An eccentric wheel type vibration motor can be selected. Its vibrations disturb the clams, emitting vibrations at a specific frequency, causing the clams to close their shells. After a period of time, the disturbing robotic arm 3 is operated again to retract the disturbing vibration motor 4. During continuous soil turning, the disturbing vibration motor 4 is placed back on the ground as needed, prompting subsequently discovered clams to close their shells as well. Closed shells reduce the likelihood of collected clams carrying mud and sand, improving the quality of the collection.

[0076] Then, the technicians controlled the hydraulic rod 6 to extend, so that the brush roller 5 contacted the area of ​​land that needed to be turned over. The brush roller 5 rotated, and the high-speed rotation of the brush roller 5 could clear away obstacles such as water plants and debris in the work area. At the same time, in the silt area of ​​the water, the rolling of the roller would turn over the clams buried deep in the silt.

[0077] Simultaneously, the digging assembly installed at the collection end of the hull 1 is activated, extending the digging boom 14 and lowering the digging arm 13, causing the rear-mounted strainer bucket 10 to be lowered. The strainer bucket 10 employs a unique design combining a buffer spring 11 and a bucket structure; the spring's elasticity ensures the bucket remains firmly in contact with the ground during operation. As the hull 1 moves slowly forward using the tracks 8 and wheels 7, the coordinated movements of the digging boom 14 and digging arm 13 collect the overturned clams into the strainer bucket 10. Due to the strainer bucket 10's mesh design, soil continuously leaks out through the mesh during movement, leaving only the clams.

[0078] After the sludge bucket 10 is full, the technicians stop the movement of the vessel 1 via the display screen 2. Next, the excavating robotic arm (the large excavating arm 14 and the small excavating arm 13 work together) lifts the sludge bucket 10 into the air, and the filter vibration motor 12 is activated. The vibration generated by the filter vibration motor 12 shakes off the small amount of mud attached to the clams in the bucket. Then, the excavating robotic arm moves the sludge bucket 10 above the collection space (above the clam loading compartment separated by the baffle 17), and the small excavating arm 13 is controlled to tilt the sludge bucket 10, pouring the clams into the compartment, thus completing one harvesting cycle. Immediately afterwards, the technicians operate the harvesting vessel again to move to the next area for the next harvesting operation.

[0079] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A device for harvesting hard-shelled clams from tidal flats, characterized in that: The system includes an amphibious hull, a tumbling assembly, and a digging assembly. The amphibious hull includes an open cabin, which is divided into at least two spaces by a baffle. One space is a collection space, and the digging assembly is slidably mounted above the collection space. The digging assembly includes a digging robotic arm and a strainer bucket oscillatingly connected to the end of the robotic arm. The strainer bucket is located at one end of the hull, which is the collection end, and the other end of the hull is the flipping end. The strainer bucket can move between the hull and the collection space via the digging robotic arm and serves a screening function. A tumbling assembly is located at the flipping end. The tumbling assembly includes a brush roller and a tumbling hydraulic rod. One end of the tumbling hydraulic rod is connected to the flipping end, and the extendable end of the tumbling hydraulic rod is rotatably connected to the brush roller. The tumbling hydraulic rod is set at an inclined angle to the horizontal plane on which the hull travels. A disturbance robotic arm is also rotatably connected to the flipping end. A disturbance vibration motor is installed at the movable end of the disturbance robotic arm, and the disturbance robotic arm drives the disturbance vibration motor to move closer to or away from the ground.

2. The device for harvesting hard-shelled clams in tidal flats according to claim 1, characterized in that: The disturbance vibration motor is encased in a disturbance waterproof shell, the bottom of which is a cone-shaped disturbance rod with its sharp end facing the ground; the disturbance robotic arm is powered by the disturbance motor and rotates around the overturning end of the hull.

3. The device for harvesting hard-shelled clams in tidal flats according to claim 1, characterized in that: The disturbing robotic arm drives a disturbing vibration motor located on the side of the brush roller.

4. The device for harvesting hard-shelled clams in tidal flats according to claim 1, characterized in that: The sieve bucket includes two screen-like bottom plates connected in an L-shape.

5. The device for harvesting hard-shelled clams in tidal flats according to claim 1, characterized in that: The slack-mesh bucket is also equipped with a filter vibration motor that provides vibration.

6. The device for harvesting hard-shelled clams in tidal flats according to claim 1, characterized in that: The top of the slack-mesh bucket is elastically connected to a support plate, which is sway-connected to the end of the excavating arm; a filter vibration motor that vibrates the slack-mesh bucket is installed on the support plate.

7. The device for harvesting hard-shelled clams in tidal flats according to claim 1, characterized in that: The top of the slack-mesh bucket is elastically connected to a support plate via a buffer assembly. The support plate is sway-connected to the end of the excavating arm. The buffer assembly includes a sliding column one, a sliding column two, and a buffer spring. Sliding column one is connected to the bottom of the support plate, and sliding column two, which is slidably connected to sliding column one, is connected to the top of the slack-mesh bucket. A buffer spring is sleeved on the outside of sliding column one and sliding column two. One end of the buffer spring is connected to the bottom of the support plate, and the other end is connected to the top of the slack-mesh bucket. Buffer assemblies are respectively provided at the four corners of the top of the slack-mesh bucket.

8. The device for harvesting hard-shelled clams in tidal flats according to claim 1, characterized in that: A slide rail is provided on the hull surrounding the collection space. The excavating robotic arm is connected to a slide plate, which is slidably mounted on the slide rail. The excavating robotic arm includes a large excavating arm and a small excavating arm. One end of the large excavating arm is rotatably connected to the slide plate, and the other end is rotatably connected to the small excavating arm. The small excavating arm is powered by a hydraulic cylinder of the large excavating arm, which rotates with the large excavating arm. The hydraulic cylinder of the large excavating arm is mounted on the slide plate. The movable end of the small excavating arm is oscillatingly connected to the strainer bucket via a four-bar linkage. A hydraulic rod of the small excavating arm is fixedly connected to the connecting end of the small excavating arm. The four-bar linkage includes a first oscillating link and a second oscillating link. One end of the first oscillating link is hinged to the telescopic end of the hydraulic rod of the small excavating arm and one end of the second oscillating link at the same location. The other end of the first oscillating link is hinged to the movable end of the small excavating arm. The other end of the second oscillating link is hinged to one end of a connecting plate. The other end of the connecting plate is hinged to the movable end of the small excavating arm. The connecting plate is fixedly connected to the strainer bucket.

9. A device for harvesting hard-shelled clams in tidal flats according to claim 1, characterized in that: The brush roller includes a roller rotatably connected to a tumbling hydraulic rod, and blunt-headed steel miniature columns are arranged around the surface of the roller.

10. A device for harvesting hard-shelled clams in tidal flats according to claim 1, characterized in that: The amphibious vessel is a tracked hull, and a propeller is mounted on the side arm of the hull, with the propeller adjacent to the collection end.

Images