Bait casting boat

Abstract

The invention provides a bait casting boat. The bait casting boat comprises a boat body, a wheel shaft, a walking mechanism, a driving mechanism and a transmission mechanism. The transmission mechanism comprises a first mechanism and two second mechanisms, and the first mechanism and the two second mechanisms are respectively connected with one driving mechanism; the walking mechanism comprises a wheel disc, wheel claws and a spoke, the wheel disc comprises an outer shaft and inner shafts rotationally arranged at the two ends of the outer shaft, the transmission mechanism is connected with the inner shafts, the inner shafts, the spoke and the wheel disc are coaxially installed, the wheel disc is provided with a plurality of wheel claws in a circumferential mode, the spoke is provided with supporting rods in one-to-one correspondence with the wheel claws, and the supporting rods are connected with the transmission mechanism. The supporting rods are hinged to the wheel claws; pins in one-to-one correspondence with the wheel claws are arranged on the inner surface of the wheel disc, and sliding grooves matched with the pins are formed in one ends of the wheel claws. Good ground gripping force can be achieved, efficient obstacle crossing is achieved, the size can be reduced, and the robot is adaptive to the limited loading space of a boat.

Description

Technical Field

[0001] The present invention relates to the technical field of aquaculture, and particularly to a feeding boat. Background Art

[0002] In aquaculture, generally a feeding boat is used to feed fish. It is required to transport food and walk from one fishpond to another fishpond, and release the food during the walking process.

[0003] Most of the existing feeding boats adopt wheel-leg robots, that is, four ordinary wheels are installed on the hull, such as a non-shaking multi-purpose operation boat for aquaculture disclosed in Chinese Patent Application Publication No. CN115649368A. This structure has the following problems: (1) The diameter of the wheels cannot be changed, and the volume is large in the non-working state, making it difficult to be used on small feeding boats; (2) The terrain for cross-fishpond operation is relatively complex, such as having slopes, and the wheel-leg robot has poor crossing ability; (3) The wheels are made of 45# steel or ordinary aluminum alloy, which are easily oxidized or softened in a humid and muddy environment, shortening the service life.

[0004] In addition, for the orientation names involved in the present invention, the following is generally recognized in the art: Front: refers to the forward direction of the feeding boat when the wheel claws are in the open state; Rear: the direction opposite to the forward direction of the feeding boat described above; Left: on the left side in the forward direction of the feeding boat described above; Right: on the right side in the forward direction of the feeding boat described above. Summary of the Invention

[0005] The purpose of the present invention is to provide a feeding boat with better obstacle-crossing ability and a smaller occupied space in the non-working state.

[0006] The technical solution of the present invention is: a feeding boat, including a hull, a wheel shaft, a traveling mechanism installed around the hull, a driving mechanism for outputting driving force, and a transmission mechanism for transmitting the driving force of the driving mechanism to the traveling mechanism; the transmission mechanism includes a first mechanism connected to two traveling mechanisms at the front end of the hull, and a second mechanism respectively connected to two traveling mechanisms at the rear end of the hull, and a driving mechanism is respectively connected to one of the first mechanism and the two second mechanisms; the two traveling mechanisms at the rear end are respectively driven by independent driving mechanisms; The walking mechanism includes a wheel disc, wheel claws and wheel spokes. The wheel shaft includes an outer shaft and inner shafts rotatably provided at both ends of the outer shaft. The transmission mechanism is connected to the inner shafts. The inner shafts, wheel spokes and wheel disc are coaxially installed. A plurality of wheel claws are circumferentially arranged on the wheel disc. Support rods corresponding to the wheel claws one by one are provided on the wheel spokes, and the support rods are hinged to the wheel claws. On the inner surface of the wheel disc, pins corresponding to the wheel claws one by one are provided, and a chute adapted to the pins is provided at one end of the wheel claw. When the transmission mechanism drives the wheel shaft, wheel spokes and wheel disc to rotate, it drives the plurality of wheel claws to contract or expand along the circumference.

[0007] In the above solution, by providing wheel claws that can expand or retract under the drive of the rotation of the wheel disc and wheel spokes, when they expand, good ground gripping force can be achieved to realize efficient obstacle crossing. When they retract, the volume can be reduced to adapt to the limited loading space of the small boat.

[0008] Preferably, a claw tip is formed at one end of the wheel claw away from the wheel spoke. A plurality of hook teeth are provided on the claw tip, and the plurality of hook teeth are arranged on the reverse side of the opening direction of the wheel claw.

[0009] Preferably, the wheel claw is arc-shaped. A first arc surface is formed on the inner side of the arc-shaped wheel claw, and a second arc surface and an inclined surface are formed on the outer side of the arc-shaped wheel claw. The chute is provided at the end of the wheel claw forming the first arc surface and the inclined surface. The support rod is hinged at the intersection of the inclined surface and the second arc surface. A plurality of hook teeth are provided at the end of the first arc surface away from the chute. The second arc surface is arranged in the opening direction of the wheel claw.

[0010] Preferably, the first mechanism includes a first transmission shaft, a first belt pulley, a second belt pulley and a belt. The second mechanism includes a second transmission shaft, a first belt pulley, a second belt pulley and a belt. First belt pulleys are installed on both the first transmission shaft and the second transmission shaft. A second belt pulley is installed on the inner shaft, and the belt winds around the first belt pulley and the second belt pulley at corresponding positions. The power input ends of the first transmission shaft and the power input ends of the two second transmission shafts are respectively connected to the power output ends of the drive mechanisms at corresponding positions.

[0011] Preferably, the drive mechanism includes a motor and a first gear installed on the motor shaft of the motor. Second gears are installed on both the first transmission shaft and the two second transmission shafts, and the first gear meshes with the second gears.

[0012] Preferably, the bait boat further includes a lifting mechanism for lifting or lowering the walking mechanism, and the lifting mechanism is connected between the hull and the outer shaft.

[0013] Preferably, the lifting mechanism includes a bracket and a lifting cylinder having a cylinder barrel and a telescopic rod. One end of the cylinder barrel is mounted on the hull, one end of the telescopic rod is mounted with the bracket, and the other end of the telescopic rod telescopically extends into the other end of the cylinder barrel. The bracket is fork-shaped, and the fork-shaped bracket is coaxially assembled on the outer shaft.

[0014] Preferably, the material of the wheel claw is aluminum-lithium alloy.

[0015] Preferably, three of the wheel claws are circumferentially arranged on the wheel disc.

[0016] Preferably, struts are connected to both ends of the first transmission shaft and the two second transmission shafts, and the struts are connected to the outer shaft through bearings.

[0017] Compared with the related art, the beneficial effects of the present invention are as follows: First, by providing wheel claws that can be opened or retracted under the rotation drive of the wheel disc and the wheel spokes, when the wheel claws are retracted, the volume can be reduced to adapt to the limited loading space of the small boat; when the wheel claws are opened, good ground gripping force can be output to achieve efficient obstacle crossing, and it only takes 18 seconds to successfully land on the shore (when the wheel claws are retracted and running, the original rear end of the hull's forward movement becomes the front end). Second, the wheel claws designed by the present invention have claw tips. During the opening process, the claw tips can quickly insert into the soil and combine with the hook teeth to enhance the grip, ensuring the stability of the bait boat during operation. Third, the wheel claws of the present invention are made of aluminum-lithium alloy, which has better corrosion resistance and a 50% increase in lifespan in a humid environment. Fourth, the added lifting mechanism can change the working height of the traveling mechanism, realize the control of the position of the wheel claws, increase the ground clearance, and increase the passability of complex terrains, so as to extend the service life of the bait boat. Description of the Drawings

[0018] Figure 1 It is a schematic structural diagram of the bait boat provided by the present invention from the first perspective; Figure 2 It is a schematic structural diagram of the bait boat provided by the present invention from the second perspective; Figure 3 It is a schematic structural diagram of the wheel claw; Figure 4 It is a schematic structural diagram of the wheel spoke; Figure 5 It is a schematic diagram when the wheel claw is retracted; Figure 6 It is a schematic diagram when the wheel claw is opened; Figure 7 It is a schematic diagram after the wheel claw is opened; Figure 8 It is a schematic diagram when the lifting mechanism is retracted; Figure 9 Schematic diagram when the lifting mechanism extends Figure 10 Schematic diagram of the swing amplitude of the traveling mechanism when the lifting mechanism is in two telescopic states Figure 11 Schematic diagram (I) of the bait - throwing boat simulating climbing Figure 12 Schematic diagram (II) of the bait - throwing boat simulating climbing

[0019] In the attached drawings: 1. Hull; 11. Hopper cabin; 12. Mounting plate; 2. Traveling mechanism; 21. Disk; 211. Pin; 22. Wheel claw; 221. Chute; 222. Claw tip; 223. Hook tooth; 224. First arc surface; 225. Second arc surface; 226. Inclined plane; 227. Second pin hole; 23. Spoke; 231. Support rod; 232. Mounting hole; 233. First pin hole; 24. Wheel axle; 241. Outer axle; 242. Inner axle; 3. Driving mechanism; 31. Motor; 32. First gear; 4. Transmission mechanism; 401. First mechanism; 402. Second mechanism; 41. First transmission shaft; 42. Second gear; 43. First pulley; 44. Second pulley; 45. Belt; 46. Second transmission shaft; 5. Lifting mechanism; 51. Lifting cylinder; 52. Bracket; 6. Strut. Detailed implementation mode

[0020] The present invention will be described in detail below with reference to the attached drawings and in conjunction with embodiments. It should be noted that, without conflict, the embodiments and features in the embodiments of the present invention can be combined with each other. For the convenience of narration, words such as "upper", "lower", "left", and "right" hereinafter only represent the same directions as the upper, lower, left, and right directions of the attached drawings themselves, and do not limit the structure.

[0021] As Figure 1 、 Figure 2 shown, a bait - throwing boat provided in this embodiment includes a hull 1, a traveling mechanism 2, a driving mechanism 3, a transmission mechanism 4, a lifting mechanism 5, a strut 6, and a wheel axle 24. The transmission mechanism 4 includes a first mechanism 401 and a second mechanism 402.

[0022] The hull 1 has a hopper cabin 11, and a mounting plate 12 is arranged in the hopper cabin 11. The hopper cabin 11 is used for placing bait food.

[0023] The walking mechanisms 2 are arranged around the hull 1, with a total of four. The walking mechanism 2 includes a wheel disc 21, wheel claws 22 and spokes 23. The driving mechanism 3 includes a motor 31 installed on the mounting plate 12 and a first gear 32 connected to the motor shaft of the motor 31. One driving mechanism 3 is provided on the mounting plate 12 at the front end of the hull 1, and two driving mechanisms 3 are provided on the mounting plate 12 at the rear end of the hull 1.

[0024] The first mechanism 401 is connected to the two walking mechanisms 2 at the front end of the hull 1. The first mechanism 401 includes a first transmission shaft 41, a second gear 42, a first pulley 43, a second pulley 44 and a belt 45. The second mechanism 402 is located at the rear end of the hull 1. The second mechanism 402 includes a second transmission shaft 46, a first pulley 43, a second pulley 44 and a belt 45.

[0025] The first transmission shaft 41 penetrates through the left and right side walls of the hull 1 and extends to the outside of the hull 1. A first pulley 43 is installed on the part of the first transmission shaft 41 extending to the outside of the hull 1. The first transmission shaft 41 is rotatably connected to the side wall of the hull 1 through parts such as bearings and end covers. A second gear 42 is installed on the first transmission shaft 41, and the second gear 42 meshes with the first gear 32.

[0026] There are two second transmission shafts 46. One second transmission shaft 46 penetrates through the left side wall of the hull 1 and extends to the outside of the hull 1 and then installs a first pulley 43. The other second transmission shaft 46 penetrates through the right side wall of the hull 1 and extends to the outside of the hull 1 and then installs another first pulley 43. Correspondingly, each first pulley 43 is sleeved with a belt 45. The belt 45 winds around the first pulley 43 and the second pulley 44 at the corresponding positions. A second gear 42 meshing with the first gear 32 is installed on each second transmission shaft 46.

[0027] As Figure 1 、 Figure 2 shown, the wheel shaft 24 includes an outer shaft 241 and an inner shaft 242 rotatably arranged at both ends inside the outer shaft 241 through bearings. The inner shaft 242, the spoke 23, the wheel disc 21 and the second pulley 44 are coaxially installed. The wheel claws 22 are arranged in a circle on the wheel disc 21. In this embodiment, the number of the wheel claws 22 is three. The obstacle-crossing height of the three wheel claws 22 is 0.252 m, which can better adapt to the complex terrain of the fish pond, and the center-of-mass fluctuation difference △H = 0.127 m, meeting the stability requirements. Three pins 211 corresponding to the wheel claws 22 are provided on the inner surface of the wheel disc 21. As Figure 1 、 Figure 4As shown, three support rods 231 corresponding to the wheel claws 22 one by one are provided on the spoke 23. An installation hole 232 for inserting the wheel axle 24 is provided in the middle where the three support rods 231 intersect. First pin holes 233 are provided at the ends of the three support rods 231.

[0028] As Figure 3 shown, the wheel claw 22 is arc-shaped. A first arc surface 224 is formed on the inner side (referring to the inner side of the bending direction) of the arc-shaped wheel claw 22, and a second arc surface 225 and an inclined surface 226 are formed on the outer side of the arc-shaped wheel claw 22. The sliding groove 221 is provided at the end of the wheel claw 22 where the first arc surface 224 and the inclined surface 226 are formed. The pin 211 is fitted in the sliding groove 221 (as Figure 1 shown). A claw tip 222 is formed at one end of the wheel claw 22 away from the sliding groove 221. A plurality of hook teeth 223 are provided on the claw tip 222, and the hook teeth 223 are provided on the first arc surface 224. A second pin hole 227 is provided at the intersection of the inclined surface 226 and the second arc surface 225. The first pin hole 233 on the support rod 231 and the second pin hole 227 are hinged by a bolt.

[0029] The motor 31 of the driving mechanism 3 outputs torque, and drives the first transmission shaft 41 and the second transmission shaft 46 at corresponding positions to rotate through the meshed first gear 32 and second gear 42; the rotating first transmission shaft 41 and second transmission shaft 46 respectively drive the inner shaft 242 to rotate through belt pulleys, thereby causing the spoke 23 and the wheel disc 21 to rotate followingly, so as to drive the plurality of wheel claws 22 to contract or expand along the circumference.

[0030] As Figure 5 、 Figure 6 、 Figure 7 shown, when the wheel disc 21 rotates clockwise in the direction shown in the figure, the pin 211 slides to the right along the sliding groove 221, thereby applying a rightward force to the wheel claw 22, driving the wheel claw 22 to rotate counterclockwise along its hinge point with the support rod 231, so as to realize the expansion of the wheel claw 22. After expanding to the state shown in Figure 7 the figure, the wheel claw 22 rotates together with the wheel disc 21 and the wheel axle 24. When the motor 31 rotates in reverse, the wheel claw 22 retracts to the state shown in Figure 5 the figure.

[0031] It is set that the diameter of the projected circular surface after the wheel claw 22 expands is 0.503 m, and the radius r1 = 0.252 m. Substituting it into the circular area formula, we get: S1 = πr1 2 = 0.199 m 2 .

[0032] It is set that the diameter of the projected circular surface after the wheel claw 22 retracts is 0.255 m, and the radius r2 = 0.127 m. Substituting it into the circular area formula, we get: S2 = πr2 2 = 0.051 m2 。

[0033] According to the above calculation results, the area △S that can be saved after the retraction of the wheel claw 22 is △S = S1 - S2 = 0.148m 2 。The walking mechanism 2 has two states during walking and can be switched appropriately according to actual needs, which not only improves the obstacle-crossing ability of the bait-feeding boat during walking, but also can reduce the occupied space, shrink the volume, and meet the use in restricted spaces.

[0034] The material of the wheel claw 22 is aluminum-lithium alloy, which is an alloy material based on aluminum and added with elements such as lithium, making the wheel claw 22 have higher strength than traditional aluminum alloys, and at the same time being lighter than titanium alloys and magnesium alloys. The density of aluminum-lithium alloy is only 2.47g / cm 3 。Using aluminum-lithium alloy improves the corrosion resistance of the wheel claw 22 and is suitable for working in harsh environments (such as acid rain). The wheel spokes 23, wheel shafts 24, and wheel discs 21 can be selected from 45 steel, aluminum alloy, or aluminum-lithium alloy according to actual situations.

[0035] For example, when the bait-feeding boat is sailing on the water surface, the wheel claw 22 can be in a retracted state (as Figure 5 shown), the projected diameter of the wheel disc 21 is reduced to 0.255m, and the hook teeth 223 of the wheel claw 22 are completely retracted to avoid generating resistance with the water. At this time, the wheel disc 21 is driven to rotate through the driving mechanism 3 and the transmission mechanism 4, and thrust is generated through rotation to push the bait-feeding boat forward on the water surface. During the forward movement, the motors 31 of the three driving mechanisms 3 rotate at the same speed.

[0036] The circular motion of the wheel disc 21 is converted into a linear propulsion force through the cooperation of the chute 221 of the wheel claw 22 and the pin 211, and its principle is similar to that of a paddle blade rowing water. Furthermore, the struts 231 of the wheel spokes 23 form an effect similar to that of a waterwheel blade during rotation, further improving the water surface propulsion efficiency.

[0037] When steering is required, the rotational speeds of the motors 31 of the two driving mechanisms 3 located at the rear end of the hull 1 are set differently, so that the left and right walking mechanisms 2 at the rear end achieve differential motion, thereby achieving steering.

[0038] Such as Figure 1 、 Figure 2 shown, the lifting mechanism 5 includes a bracket 52 and a lifting cylinder 51 having a cylinder barrel and a telescopic rod (such as using a hydraulic cylinder). One end of the cylinder barrel is installed on the front and rear side walls of the hull 1, and one end of the telescopic rod is installed with the bracket 52. The other end of the telescopic rod telescopically extends into the other end of the cylinder barrel, and the bracket 52 is fork-shaped, and the fork-shaped bracket 52 is coaxially fitted on the outer shaft 241 of the wheel shaft 24. Struts 6 are connected to both ends of the first transmission shaft 41 and the two second transmission shafts 46, and the struts 6 are connected to the outer shaft 241 through bearings. Such asFigure 1 , Figure 8 As shown, when the lifting cylinder 51 expands and contracts, the support 52 can rotate around the outer shaft 241 of the wheel shaft 24, and the wheel shaft 24 swings up and down relative to the first transmission shaft 41 through the stay rod 6 to lift or lower the traveling mechanism 2 (such as Figure 9 , Figure 10 shown). For example, when the lifting cylinder 51 extends outwards by 10 mm, it drives the traveling mechanism 2 to swing downwards, and the swinging angle D1 is 30°, so that the clearance between the bottom of the ship and the ground is 163 mm.

[0039] Set the rotational speed of the motor 31 to 24 r / min. Through simulation, it is shown that the bait - throwing boat can start from the bottom of the shore, cross a 45° slope, and successfully reach the shore in only 18 seconds (such as Figure 11 , Figure 12 shown).

[0040] The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be included in the patent protection scope of the present invention by the same token.

Claims

1. A bait - throwing boat, comprising a hull (1), characterized in that, It further includes a wheel axle (24), a traveling mechanism (2) installed around the hull (1), a driving mechanism (3) for outputting driving force, and a transmission mechanism (4) for transmitting the driving force of the driving mechanism (3) to the traveling mechanism (2); the transmission mechanism (4) includes a first mechanism (401) connected to two traveling mechanisms (2) at the front end of the hull (1), and a second mechanism (402) respectively connected to two traveling mechanisms (2) at the rear end of the hull (1), and a driving mechanism (3) is respectively connected to one of the first mechanism (401) and the two second mechanisms (402); the two traveling mechanisms (2) at the rear end are respectively driven by independent driving mechanisms (3). The traveling mechanism (2) includes a wheel disc (21), wheel claws (22) and wheel spokes (23), the wheel axle (24) includes an outer shaft (241) and inner shafts (242) rotatably provided at both ends of the outer shaft (241), the transmission mechanism (4) is connected to the inner shafts (242), the inner shafts (242), the wheel spokes (23) and the wheel disc (21) are coaxially installed, a plurality of wheel claws (22) are circumferentially arranged on the wheel disc (21), and support rods (231) corresponding to the wheel claws (22) one by one are provided on the wheel spokes (23), and the support rods (231) are hinged to the wheel claws (22); pin shafts (211) corresponding to the wheel claws (22) one by one are provided on the inner surface of the wheel disc (21), and a sliding groove (221) adapted to the pin shafts (211) is provided at one end of the wheel claws (22); when the transmission mechanism (4) drives the wheel axle (24), the wheel spokes and the wheel disc (21) to rotate, it drives a plurality of the wheel claws (22) to contract or expand along the circumference.

2. The baiting boat according to claim 1, wherein One end of the wheel claw (22) away from the wheel spoke (23) forms a claw tip (222), and a plurality of hook teeth (223) are provided on the claw tip (222), and the plurality of hook teeth (223) are arranged on the reverse side of the opening direction of the wheel claw (22).

3. The baiting boat according to claim 1, characterized in that, The wheel claw (22) is arc-shaped, a first arc surface (224) is formed on the inner side of the arc-shaped wheel claw (22), a second arc surface (225) and an inclined surface (226) are formed on the outer side of the arc-shaped wheel claw (22), the sliding groove (221) is provided at the end of the wheel claw (22) forming the first arc surface (224) and the inclined surface (226), the support rod (231) is hinged to the intersection of the inclined surface (226) and the second arc surface (225), and a plurality of hook teeth (223) are provided at the end of the first arc surface (224) away from the sliding groove (221); the second arc surface is arranged in the opening direction of the wheel claw (22).

4. The baiting boat according to any one of claims 1-3, characterized in that, The first mechanism (401) includes a first transmission shaft (41), a first pulley (43), a second pulley (44) and a belt (45); the second mechanism (402) includes a second transmission shaft (46), a first pulley (43), a second pulley (44) and a belt (45); the first transmission shaft (41) and the second transmission shaft (46) are both equipped with a first pulley (43); a second pulley (44) is installed on the inner shaft (242), and the belt (45) wraps around the first pulley (43) and the second pulley (44) at corresponding positions; the power input ends of the first transmission shaft (41) and the power input ends of the two second transmission shafts (46) are respectively connected to the power output ends of the drive mechanisms (3) at corresponding positions.

5. The baiting boat according to claim 4, characterized in that, The drive mechanism (3) includes a motor (31) and a first gear (32) installed on the motor shaft of the motor (31), second gears (42) are installed on both the first transmission shaft (41) and the two second transmission shafts (46), and the first gear (32) meshes with the second gears (42).

6. The baiting boat according to any one of claims 1 to 3, characterized in that, It further includes a lifting mechanism (5) for lifting or lowering the traveling mechanism (2), and the lifting mechanism (5) is connected between the hull (1) and the outer shaft (241).

7. The baiting boat according to claim 6, characterized in that, The lifting mechanism (5) includes a bracket (52) and a lifting cylinder (51) having a cylinder barrel and a telescopic rod. One end of the cylinder barrel is installed on the hull (1), one end of the telescopic rod installs the bracket (52), the other end of the telescopic rod telescopically fits into the other end of the cylinder barrel, the bracket (52) is fork-shaped, and the fork-shaped bracket is coaxially assembled on the outer shaft (241).

8. The baiting boat according to any one of claims 1-3, characterized in that, The material of the wheel claw (22) is aluminum-lithium alloy.

9. The baiting boat according to any one of claims 1 to 3, characterized in that, Three of the wheel claws (22) are circumferentially arranged on the wheel disc (21).

10. The baiting boat according to claim 4, characterized in that, Supports (6) are connected to both ends of the first transmission shaft (41) and the two second transmission shafts (46), and the supports (6) are connected to the outer shaft (241) through bearings.

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