Multifunctional operation feeding ship

Abstract

The invention discloses a multifunctional operation feeding boat, and relates to the technical field of feeding boats. The multifunctional operation feeding boat comprises a boat body, a feeding device and a feeding device, the two buoys are oppositely arranged on the two sides of the bottom of the ship body respectively; the crawler walking mechanism is arranged at the bottom of the ship body in the first direction and located between the two floating barrels; the crawler belt lifting mechanism is arranged between the ship body and the crawler belt walking mechanism; and a plurality of waterproof grass winding paddle wheel mechanisms. The invention solves the problems that when a pond opening of a feeding ship is replaced at present, a specific crane and a specific carrier vehicle are needed, and compared with multi-pond opening feeding, medicine spraying is extremely inconvenient; the slope of a culture pond opening of a shrimp and crab pond is generally about 35-45 degrees, round tires are adopted for a land walking part of an existing feeding ship in the market, and the existing feeding ship does not have enough road holding force during climbing, so that the existing feeding ship slips or damages the soft ground and cannot normally run; and aquatic plants need to be spread in the shrimp and crab culture pond to provide inhabitation and adjust water quality for shrimps and crabs, most feeding ships are driven by propellers or traditional paddle wheels, and when the feeding ships advance in water, the aquatic plants are easily wound to cause stranding of the ship bodies.

Description

Technical Field

[0001] The present invention relates to the technical field of feeding boats, in particular to a multifunctional feeding boat. Background Art

[0002] Traditional shrimp and crab farming relies on manual feeding, as shrimp and crabs move slowly underwater. This traditional manual feeding method is labor-intensive and inefficient, and manual feeding cannot guarantee uniformity. Consequently, feeding boats were developed.

[0003] Currently, existing feeding boats consist of a hull, a cabin assembly, and a feeding assembly. A paddle wheel serves as the primary propulsion system and can only operate in water. The feeding process requires manual intervention (charging and refilling). However, changing ponds requires a specialized crane and carrier, making feeding and spraying at multiple ponds extremely inconvenient. Furthermore, the slope of shrimp and crab ponds is typically around 35° to 45°. Existing feeding boats on the market use round tires for their land-based components, which lack sufficient grip when climbing slopes, leading to slippage or damage to the soft ground, causing them to become stuck and unable to operate properly. Furthermore, shrimp and crab ponds require a thick layer of aquatic plants to provide habitat for the shrimp and crabs and regulate water quality. Most feeding boats on the market use propellers or traditional paddle wheels, which can easily become entangled in the plants and cause the boats to run aground. Currently, no effective solutions have been proposed for these issues. Summary of the Invention

[0004] Purpose of the invention: To provide a multifunctional feeding boat to solve at least one of the problems existing in the above-mentioned prior art.

[0005] Technical solution: A multifunctional feeding boat, including: hull; Two buoys are respectively arranged on two sides of the bottom of the hull; A crawler walking mechanism is arranged on the bottom of the hull along a first direction and is located between the two buoys; A crawler lifting mechanism is provided between the hull and the crawler traveling mechanism; and A plurality of waterproof grasses wrapped around the paddle wheel mechanism are respectively arranged on the bottom of the hull along the first direction and are respectively arranged adjacent to the two buoys; Among them, the crawler lifting mechanism has a climbing state, a downhill state, and a water driving state. In the climbing state, the crawler lifting mechanism drives the crawler walking mechanism to the first designated position of the hull to climb smoothly; in the downhill state, the crawler lifting mechanism drives the crawler walking mechanism to the second designated position of the hull to go downhill smoothly; when driving in the water, the crawler lifting mechanism drives the crawler walking mechanism to retract to the third designated position of the hull to ensure that the crawler mechanism does not interfere with the bottom obstacles of the pond during the water driving process.

[0006] Preferably, a plurality of limiting locking mechanisms are preset at multiple points on the crawler lifting mechanism.

[0007] Preferably, the locking mechanism includes: a front latch assembly, a middle latch assembly and a rear latch assembly, the driving gears of the front latch assembly, the middle latch assembly and the rear latch assembly are fixed on the output shaft of the drive motor on the back of the base plate, and left and right racks are distributed on the upper and lower sides of the driving gear, the guide shafts of the left rack and the right rack are fixed to the guide shaft seat, the left rack is connected to the left latch through the left latch connecting block, and the right rack is connected to the right latch through the right latch connecting block.

[0008] Preferably, the crawler walking mechanism includes: a driven tensioner wheel fixed in the U-shaped seat at the rear end of the crawler vehicle support frame, a floating fixed arm hingedly connected to the middle hole of the crawler vehicle support frame, and the other end hingedly connected to the floating support wheel, the output shaft of the crawler vehicle land walking motor is fixedly provided with a crawler driving sprocket, the crawler driving sprocket is connected to the driven sprocket through a chain, the driven sprocket and the driving track wheel are connected through the same connecting shaft, and the external cover of the crawler vehicle walking motor is provided with a waterproof cover.

[0009] Preferably, the crawler lifting mechanism includes: two support rods inserted into the middle boss of the hull, the support rod is hinged to one end of the lifting arm, the other end of the lifting arm is hinged to the left and right crawler connecting rods, the two lifting arms in the forward direction are connected to the arm connecting rod through an intermediate bolt, the connecting rod seat on the arm connecting rod is hinged to the rod end of the electric telescopic rod, and the motor seat end of the electric telescopic rod is connected to the motor hinge seat at the front end of the hull.

[0010] Preferably, the waterproof grass winding paddle wheel mechanism includes: an inner cylinder and an outer cylinder connected to the hull, the outer cylinder is provided with a side plate, the side plate is penetrated by a dynamic flipper follower shaft, one end of the dynamic flipper follower shaft is fixed with a synchronous sprocket, and the other end is fixed with the dynamic flipper, the inner cylinder is provided with a fixed sprocket, and chains are wound around the fixed sprocket and the synchronous sprocket in sequence.

[0011] Preferably, the synchronous sprocket and the fixed sprocket have the same tooth profile and number of teeth, and the wrap angle between the synchronous sprocket and the fixed sprocket is greater than 100°; Among them, when the outer cylinder rotates clockwise or counterclockwise relative to the inner cylinder, several synchronous sprockets arranged on the side plate follow the clockwise or counterclockwise rotation, and the transmission ratio of the synchronous sprocket and the fixed sprocket is 1, the synchronous sprocket and the fixed sprocket rotate at the same angle clockwise or counterclockwise relative to the side plate reference object, and the fixed sprocket is initially set to face downward relative to the hull. As the outer cylinder rotates, the synchronous sprocket always maintains the initial direction, and the dynamic flipper connected to the synchronous sprocket shaft remains in a downward state to ensure that the water-proof grass-wrapped paddle wheel mechanism will not be entangled with water plants during rotation in the water.

[0012] Preferably, a throwing mechanism is provided in the middle part of the hull, and the throwing mechanism includes: a silo welded above the auger frame, a mixing / cleaning roller is provided in the silo, one side of the mixing / cleaning roller is provided with a seat bearing located outside the silo, and the other side is directly connected to the auger motor, the auger motor transmits power to the auger through a chain drive, and a throwing motor is fixedly provided at the left end of the auger frame, and the throwing motor transmits power to the throwing shaft through a chain, and a throwing disk is fixedly provided at the bottom of the throwing shaft.

[0013] Preferably, a spraying motor, an electric control panel and a battery are provided in the hull, a medicine storage box is provided at the bottom of the two buoys respectively, an RTK and a camera are provided at the front end of the hull respectively, and a spraying port is provided at the rear end of the hull.

[0014] Preferably, the crawler lifting mechanism also has an underwater driving state. In the underwater driving state, the crawler lifting mechanism drives the crawler walking mechanism to retract to the third designated position of the hull to ensure that the crawler mechanism does not interfere with the bottom obstacles of the pond during the underwater driving process.

[0015] Beneficial effect: In the embodiment of the present application, the automatic climbing and crossing pond mode is adopted, and the crawler lifting mechanism has a climbing state, a downhill state, and a water driving state. In the climbing state, the crawler lifting mechanism drives the crawler walking mechanism to the first designated position of the hull to climb smoothly; in the downhill state, the crawler lifting mechanism drives the crawler walking mechanism to the second designated position of the hull to go downhill smoothly; when driving in the water, the crawler lifting mechanism drives the crawler walking mechanism to retract to the third designated position of the hull to ensure that the crawler mechanism does not interfere with the bottom obstacles of the pond during driving in the water; the purpose of multi-functional automatic conversion of pond operations is achieved, thereby solving the problem of needing a specific crane when the feeding boat changes the pond. and carrier vehicles, which are extremely inconvenient for feeding and spraying at multiple ponds; at the same time, by pre-setting a number of limiting locking mechanisms at multiple points, limiting locking functions at different positions are realized, thereby improving the technical effect of the multi-state operation stability of the feeding boat; at the same time, there are feeding boats on the market, and the land walking part adopts round tires, which do not have enough grip when climbing, resulting in slipping or damaging the soft ground, thereby getting stuck and unable to operate normally; and, by adopting the technology of keeping the dynamic paddle connected by the synchronous sprocket shaft in a downward state at all times, it is ensured that the water-proof grass-wrapped paddle wheel mechanism will not be entangled with water grass during the rotation in the water, thereby solving the technical problem that most feeding boats on the market adopt propellers or traditional paddle wheels to drive, which are easy to be entangled with water grass and cause the hull to run aground when traveling in the water. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram of the overall structure (front end) of the multifunctional feeding boat of the present invention; Figure 2 Schematic diagram of the overall structure (rear end) of the multifunctional feeding boat of the present invention; Figure 3 It is a schematic structural diagram of the crawler vehicle of the multifunctional feeding ship of the present invention; Figure 4 This is a schematic diagram of the power of the crawler vehicle of the multifunctional feeding ship of the present invention; Figure 5 This is a schematic diagram of the extension of the electric telescopic rod of the crawler lifting assembly of the multifunctional feeding ship of the present invention; Figure 6 Schematic diagram of a waterproof grass-wrapped waterweed paddle wheel of a multifunctional feeding boat of the present invention; Figure 7 Schematic diagram of the thrower of the multifunctional feeding ship of the present invention; Figure 8 This is a schematic diagram of the direction of the water-proof grass-wrapped paddle wheel of the multifunctional feeding boat of the present invention; Figure 9 It is an ordinary paddle wheel; Figure 10 This is a schematic diagram showing the extension of the front, middle and rear latch assemblies of the crawler vehicle of the multifunctional feeding ship of the present invention; Figure 11 This is a schematic diagram of the retraction of the front, middle and rear latch components of the crawler vehicle of the multifunctional feeding ship of the present invention; Figure 12 It is a schematic diagram of the planar structure of the electric telescopic rod retraction of the crawler lifting assembly of the multifunctional feeding ship of the present invention; and Figure 13 The present invention is a schematic diagram of the three-dimensional structure of the crawler vehicle lifting assembly with the electric telescopic rod being retracted.

[0017] The accompanying drawings are: 1. Hull; 2. Ejector; 3. Right buoy; 4. RTK; 5. Camera; 6. Crawler; 7. Electric telescopic rod bracket; 8. Waterproof grass wrapped water grass paddle wheel; 9. Connecting rod; 10. Left buoy; 11. Spraying port; 12. Rubber track; 13. Driven tensioner; 14. Floating support wheel; 15. Crawler support frame; 16. Left and right track connecting rods; 17. Floating wheel fixing arm; 18. Floating wheel support spring; 19. Active track wheel; 20. Driven sprocket; 21. Crawler driving sprocket; 22. Waterproof cover; 23. Crawler travel motor; 24. Support rod; 25. Lifting arm; 26. Electric telescopic rod; 27. Arm connecting rod; 28. Side plate; 29. ​​Synchronous sprocket; 30. Dynamic flipper; 31. Dynamic flipper follower shaft; 32. Fixed Sprocket; 33. Outer cylinder; 34. Inner cylinder; 35. Chain; 36. Silo; 37. Mixing / cleaning roller; 38. Auger motor; 39. Stainless steel rotary joint; 40. Water inlet; 41. Throwing motor; 42. Throwing tray; 43. Auger frame; 44. Auger; 45. Throwing shaft; 46. Blade; 47. Rotating shaft; 48. Bottom plate; 49. Right latch; 50. Latch seat; 51. Roller; 52. Lifting arm sensor switch; 53. Driving gear; 54. Left rack; 55. Latch retraction sensor switch; 56. Latch extension sensor switch; 57. Left latch; 58. Right latch connecting block; 59. Left latch connecting block; 60. Front latch assembly; 61. Middle latch assembly; 62. Rear latch assembly; 63. Drive motor; 64. Right rack. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0019] It should be noted that the terms "first," "second," "third," etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the numbers used in this way can be interchanged where appropriate for the embodiments of the present application described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0020] Furthermore, the terms "installed," "disposed," "provided with," "connected," "connected," and "socketed" should be interpreted broadly. For example, they can refer to fixed connections, removable connections, or integral structures; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; or internal communication between two devices, elements, or components. Those skilled in the art will understand the specific meanings of these terms in the present invention based on specific circumstances.

[0021] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0022] like Figure 1-13 As shown, this application relates to a multifunctional feeding ship. Figure 1-2 As shown, the multifunctional feeding ship comprises: a hull 1 as a load-bearing structure for carrying a feeding device, a power system, a control device, etc.

[0023] Two buoys are disposed opposite each other on either side of the bottom of the hull 1, providing good buoyancy and stability. Furthermore, the relative placement of the two buoys allows the hull 1 to maintain balance on the water surface or at the interface between water and land. The two buoys include a left buoy 10 and a right buoy 3.

[0024] The crawler track mechanism is positioned along a first direction on the bottom of the hull 1, between the two pontoons. Positioning the crawler track mechanism in the middle of the bottom of the hull 1, between the two pontoons, along the first direction (i.e., the forward direction of the hull 1), ensures excellent land travel. The crawler track structure is made of corrosion-resistant materials, ensuring stable travel on complex terrain such as muddy, slippery, and sandy surfaces.

[0025] A crawler lifting mechanism is provided between the hull 1 and the crawler walking mechanism; A plurality of waterproof grass-wrapped paddle wheel mechanisms are respectively arranged at the bottom of the hull 1 along the first direction and are respectively arranged adjacent to the two buoys; each paddle wheel mechanism includes a rotating blade, which can drive the water flow and at the same time cut or push away the entangled objects in the water (such as water grass and fishing nets) to prevent them from being entangled on the tracks or buoys, thereby improving operation reliability.

[0026] The crawler lifting mechanism has a climbing state and a descending state. In the climbing state, the crawler lifting mechanism drives the crawler walking mechanism to a first designated position on the hull 1 for smooth climbing. In the descending state, the crawler lifting mechanism drives the crawler walking mechanism to a second designated position on the hull 1 for smooth descending. The first designated position may be the position of the front latch assembly 60, and the second designated position may be the position of the rear latch assembly 62.

[0027] Furthermore, the crawler lifting mechanism also has an underwater driving state. In this underwater driving state, the crawler lifting mechanism drives the crawler walking mechanism to retract to a third designated position on the hull to ensure that the crawler mechanism does not interfere with underwater obstacles during underwater driving. The third designated position can be the location of the middle latch assembly 61.

[0028] Specifically, the crawler lifting mechanism is arranged between the hull 1 and the crawler walking mechanism to adjust the vertical position of the crawler.

[0029] The crawler lifting mechanism has three working states: 1. Climbing state: The crawler lifting mechanism drives the crawler walking mechanism to rise to the first designated position of the hull 1, thereby increasing the contact angle and contact area between the crawler and the ground, thereby enhancing the grip and achieving smooth climbing; 2. Downhill state: the crawler lifting mechanism drives the crawler walking mechanism to descend to the second designated position of the hull 1, lowering the center of gravity and the fulcrum position, and improving the stability and passability when going downhill.

[0030] 3. Underwater driving state: the crawler lifting mechanism drives the crawler walking mechanism to retract to the third designated position of the hull 1, that is, the fully retracted state, to ensure that the crawler mechanism does not interfere with the bottom obstacles of the pond during the underwater driving process.

[0031] From the above description, it can be seen that this application achieves the following technical effects: In the embodiment of the present application, an automatic climbing and pond-crossing mode is adopted, and the crawler lifting mechanism has a climbing state, a downhill state, and a water driving state. In the climbing state, the crawler lifting mechanism drives the crawler walking mechanism to the first designated position of the hull to climb smoothly; in the downhill state, the crawler lifting mechanism drives the crawler walking mechanism to the second designated position of the hull to go downhill smoothly; when driving in the water, the crawler lifting mechanism drives the crawler walking mechanism to retract to the third designated position of the hull to ensure that the crawler mechanism does not interfere with the bottom obstacles of the pond during driving in the water; the purpose of multi-functional automatic conversion of pond operations is achieved, thereby solving the problem of needing a specific crane and carrier when the feeding boat changes the pond. The invention relates to a feeding boat, which is extremely inconvenient for feeding and spraying in multiple ponds; at the same time, by pre-setting a plurality of limiting locking mechanisms at multiple points, the limiting locking function at different positions is realized, thereby improving the technical effect of the multi-state operation stability of the feeding boat; at the same time, the feeding boats on the market have round tires for the land walking part, which do not have enough grip when climbing, resulting in slipping or damaging the soft ground, thereby getting stuck and unable to operate normally; and, by adopting the technology of keeping the dynamic fins connected by the synchronous sprocket shaft in the downward state at all times, it is ensured that the water-proof grass-wrapped paddle wheel mechanism will not be entangled with water grass during the rotation in the water, thereby solving the technical problem that most feeding boats on the market adopt propellers or traditional paddle wheels to drive, which are easy to be entangled with water grass and cause the hull to run aground when traveling in the water.

[0032] like Figure 10-12 As shown, the crawler lifting mechanism is provided with a plurality of limiting and locking mechanisms at multiple points. It is understandable that the crawler lifting mechanism can be limited and locked at multiple points, thereby ensuring accurate positioning and protection.

[0033] like Figure 12-13 As shown, the locking mechanism includes: a front latch assembly 60, a middle latch assembly 61 and a rear latch assembly 62, the driving gears 53 of the front latch assembly 60, the middle latch assembly 61 and the rear latch assembly 62 are fixed to the output shaft of the drive motor 63 on the back of the base plate 48, and the left rack 54 and the right rack 64 are distributed on the upper and lower sides of the driving gear 53. The guide shafts of the left rack 54 and the right rack 64 are fixed to the guide shaft seat, the left rack 54 is connected to the left latch 57 through the left latch connecting block 59, and the right rack 64 is connected to the right latch 49 through the right latch connecting block 58.

[0034] Specifically, the working principles of the front latch assembly 60, the middle latch assembly 61 and the rear latch assembly 62 are as follows: Upon receiving the system mode switch command, the drive motor 63 rotates counterclockwise, causing the left latch 57 to move rightward along with the left rack 54, and the right latch 49 to move leftward along with the right rack 64, until the latch retracts, sensing switch 55, and the motor stops. The lift arm 25 rotates until the lift arm 25 sensing switch activates. The driving gear 53 rotates clockwise along with the drive motor 63, causing the right latch 49 to move rightward along with the right rack 64, and the left latch 57 to move leftward along with the left rack 54, until the latch extends, sensing switch 56, and the drive motor 63 stops. At this point, the left and right latches 49 insert into the lift arm 25, locking the lift arm 25.

[0035] Preferably, the pin seats 50 of the left pin 57 and the right pin 49 are provided with guide portions, which can achieve a good guiding effect, thereby facilitating assembly and positioning.

[0036] Preferably, rollers 51 are respectively provided on the outer sides of the left rack 54 and the right rack 64 .

[0037] like Figure 3 As shown, the crawler travel mechanism includes: a driven tensioner 13 fixed in a U-shaped seat at the rear end of the crawler support frame 15; a floating fixed arm hingedly connected to a hole in the middle of the crawler support frame 15; and a floating support wheel 14 hinged at its other end. A track driving sprocket 21 is fixedly mounted on the output shaft of the crawler 6 land travel motor. The track driving sprocket 21 is connected to a driven sprocket 20 via a chain 35. The driven sprocket 20 is connected to the driving track wheel 19 via the same connecting shaft. The outer cover of the crawler 6 travel motor is provided with a waterproof cover 22. As can be understood, a stable land travel effect can be achieved. As can be understood, the crawler travel motor 23 is completely covered by the waterproof cover 22. When the vehicle enters water, sufficient air is retained in the waterproof cover 22 to prevent water from entering the crawler 6 travel motor.

[0038] Preferably, the crawler walking mechanism is connected to the hull 1 through a connecting rod 9.

[0039] Preferably, the paddle wheel for waterproof grass winding water plants adopts a built-in rear propulsion arrangement.

[0040] Preferably, the crawler track is a rubber crawler track 12 .

[0041] Preferably, the plurality of floating support wheels 14 are provided with floating wheel fixing arms 17 and floating wheel supporting springs 18 .

[0042] like Figure 4-5As shown, the crawler lifting mechanism includes two support rods 24 inserted into the central boss of the hull 1. Each support rod 24 is hinged to one end of a lifting arm 25, the other end of which is hinged to the left and right crawler connecting rods 16. The two lifting arms 25 in the forward direction are connected to an arm connecting rod 27 via a central bolt. The connecting rod 9 on the arm connecting rod 27 is hinged to the rod end of an electric telescopic rod 26, and the motor seat of the electric telescopic rod 26 is connected to the motor hinge seat at the front end of the hull 1. As can be understood, a good lifting effect can be achieved, thereby ensuring good climbing, descending, and underwater driving performance.

[0043] Specifically, the lifting assembly of the crawler vehicle 6 uses a parallel four-bar support and an electric telescopic rod 26 as the lifting power. The electric telescopic rod 26 extends or retracts to a specified stroke, the lifting arm 25 sensing switch senses, and the left latch 57 and the right latch 49 extend and insert into the hole of the lifting arm 25 to lock the lifting assembly.

[0044] Preferably, the electric telescopic rod 26 is connected to the hull 1 through the electric telescopic rod bracket 7.

[0045] like Figure 6 、 8 As shown in FIG-9 , the waterproof grass winding paddle wheel mechanism includes an inner cylinder 34 and an outer cylinder 33 connected to the hull 1. The outer cylinder 33 is provided with a side plate 28, and a dynamic paddle follower shaft 31 is passed through the side plate 28. One end of the dynamic paddle follower shaft 31 is fixed to the synchronous sprocket 29, and the other end is fixed to the dynamic paddle 30. The inner cylinder 34 is provided with a fixed sprocket 32, and a chain 35 is wound around the fixed sprocket 32 ​​and the synchronous sprocket 29 in sequence. As can be understood, this ensures a good waterproof grass winding effect, thereby ensuring smooth operation in the water.

[0046] Furthermore, as the ordinary paddle wheel rotates, the part of the blade 46 entering the water has two effects on the water, namely, pushing backward and lifting upward. The upward lifting has a probability of lifting the water plants and rotating until they are rolled into the rotating shaft 47. The water plants are prevented from being entangled with the water plants. Since the dynamic fin 30 is always facing downward, it only has the effect of pushing backward on the water, so the water plants will not be lifted and rolled into the outer cylinder 33 and the inner cylinder 34.

[0047] Furthermore, the synchronous sprocket 29 and the fixed sprocket 32 ​​have the same tooth profile and number of teeth, and the wrap angle between the synchronous sprocket 29 and the fixed sprocket 32 ​​is greater than 100°; Among them, when the outer cylinder 33 rotates clockwise or counterclockwise relative to the inner cylinder 34, the multiple synchronous sprockets 29 arranged on the side plate 28 follow the clockwise or counterclockwise rotation, and the transmission ratio of the synchronous sprocket 29 and the fixed sprocket 32 ​​is 1, the synchronous sprocket 29 and the fixed sprocket 32 ​​rotate at the same angle clockwise or counterclockwise relative to the side plate 28 reference object, and the fixed sprocket 32 ​​is initially set downward relative to the hull 1. As the outer cylinder 33 rotates, the synchronous sprocket 29 always maintains the initial direction, and the dynamic flipper 30 connected to the axis of the synchronous sprocket 29 remains in a downward state.

[0048] like Figure 7 As shown, a throwing mechanism is provided in the middle of the hull 1, which includes: a silo 36 welded above the auger frame 43, a mixing / cleaning roller 37 provided in the silo 36, one side of the mixing / cleaning roller 37 is provided with a bearing seat located outside the silo 36, and the other side is directly connected to the auger motor 38, which transmits power to the auger 44 through a chain 35. A throwing motor 41 is fixedly provided at the left end of the auger frame 43, and the throwing motor 41 transmits power to the throwing shaft 45 through the chain 35. A throwing disc 42 is fixedly provided at the bottom of the throwing shaft 45. It can be understood that the effect of automatic throwing can be achieved, thereby achieving the effect of improving the degree of automation.

[0049] Preferably, a stainless steel rotary joint 39 is installed on the right side of the mixing / cleaning roller 37, and water is injected into the water inlet 40. As the mixing / cleaning roller rotates, the cleaning silo 36 is evenly cleaned.

[0050] Furthermore, a spraying motor, an electric control panel and a battery are provided in the hull 1, and a medicine storage box is provided at the bottom of each of the two buoys. It can be understood that good medicine storage and spraying effects can be achieved.

[0051] Furthermore, the front end of the hull 1 is provided with an RTK 4 and a camera 5, and the rear end of the hull 1 is provided with a spraying port 11. It can be understood that accurate positioning and image acquisition effects can be achieved, and at the same time, good spraying effects can be achieved.

[0052] This application also has two switching modes: on land or in water. Specifically, When entering the water from land, the motor drives the driving gear 53 to rotate clockwise, and the left and right latches 49 are retracted from the holes in the lifting arm 25. The electric telescopic rod 26 is retracted, and the crawler 6 rotates counterclockwise with the lifting arm 25 as the rod length and the support rod 24 as the center of the circle until the lifting arm 25 sensing switch of the front and rear latch assemblies 62 is sensed. The electric telescopic rod 26 stops retracting, and the motor drives the driving gear 53 to rotate counterclockwise, and the left and right latches 49 are inserted into the lifting arm 25, locking the lifting mechanism. At this time, the crawler 6 is retracted to the front end of the upper hull 1.

[0053] When the boat comes ashore from the water, the waterproof grass wraps around the paddle wheel 8, which rotates continuously at a low speed, forcing the feeding boat to close to the ramp entrance. The motor drives the driving gear 53 to rotate clockwise, causing the left and right latches 49 to retract from the holes in the lifting arm 25. The electric telescopic rod 26 extends until the lifting arm sensor switch 52 of the middle and rear latch assembly 62 senses the electric telescopic rod 26, at which point the electric telescopic rod 26 stops extending. The motor drives the driving gear 53 to rotate counterclockwise, causing the left and right latches 49 to insert into the lifting arm 25, locking the lifting mechanism. At this point, the crawler 6 is in the middle and lower part of the feeding boat and touches the ground at the ramp entrance.

[0054] This application also relates to a workflow of a multifunctional feeding boat, which includes the following steps: Step 1: A feeding boat that can climb slopes and cross ponds on land and water is at the origin. First, disconnect the power supply of the charging port, drive the feeding boat out of the charging station, and plan a route to the feeding station.

[0055] Step 2: The feeding ship enters the feeding station, and the feeding station opens the door 36 of the hull 1 silo to inject feed or liquid medicine. When the specified amount is reached, the injection of feed or liquid medicine is stopped, and the door 36 of the hull 1 silo is closed.

[0056] Step 3: Automatically go to the first pond according to the planned path, the car drives into the pond along the slope of the pond, the crawler vehicle 6 is completely sunk into the water, and the feeding boat switches from land to water mode.

[0057] Step 4: Drive along the designated route and start the ejector 2 or sprayer to complete the entire route.

[0058] Step 5: The feeding boat goes to the designated slope, switches to the water-to-land mode, and sails out of the pond.

[0059] Step 6: The feeding boat continues to move to the next pond and repeats steps 3, 4, and 5.

[0060] During the whole process, if the power of the feeding boat is less than 10%, the boat stops feeding and returns to the starting point to charge; when the feed bin 36 or the liquid tank is not enough to feed the next pond, the feeding boat enters the feeding station to refill and continues feeding.

[0061] The present invention also has the following beneficial effects: 1. The present invention provides an unmanned feeding boat that can climb slopes and cross ponds. After completing the operation autonomously, it can climb onto land along the slope of the pond mouth, go to the designated feeding and charging port for feeding and charging, and then move to the next pond mouth to continue the operation. It can also stop at a designated location on land. Compared with traditional feeding work, this process reduces manual operation, solves the personal safety problem on the water, and ensures uniform bait.

[0062] 2. Because the ground at the pond entrance is soft and sloping, conventional tires exert high pressure on the ground, causing them to sink. Even on treated ground, the tires have a small contact area and insufficient grip, causing slippage. The present invention uses a crawler 6 for land travel, and the intermediate auxiliary support wheels are floating wheels. The auxiliary wheel position can be adjusted as the terrain changes, ensuring contact with the ground. This reduces pressure on the ground, thus minimizing damage to the ground, and increases contact area and friction, allowing the unmanned feeding boat to smoothly climb the pond entrance slope.

[0063] 3. The land or water driving mode is switched so that when driving on land, the hull 1 is directly above the tracked vehicle 6 to ensure the vehicle's passability. When driving in water, the tracked vehicle 6 is in front of the bottom of the ship, reducing the contact area between the tracked vehicle 6 and the water surface, reducing resistance, and improving water passability.

[0064] 4. The present invention can achieve unmanned feeding by manually or artificially setting the path control program.

[0065] 5. The paddle wheel of the present invention, which is waterproof and can be wrapped around water plants, adopts a built-in rear propulsion arrangement, which reduces the risk of the paddle wheel propeller being bumped.

[0066] 6. The present invention adopts dual-mode operation. In land mode, the tracked vehicle 6 is located directly below the hull 1 and is lower than the hull 1. In water mode, the tracked vehicle 6 is retracted in front of the hull 1, and the hull 1 is higher than the tracked vehicle 6. The amphibious mode increases the ship's maneuverability on land and in water, while reducing energy consumption.

[0067] 7. The floating wheels at the bottom of the crawler vehicle 6 of the present invention are independent of each other. The position of the floating wheels is adjusted according to the terrain to increase the contact area with the ground, thereby reducing the pressure on the ground and increasing friction.

[0068] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and these equivalent transformations all fall within the scope of protection of the present invention.

Claims

1. Multifunctional feeding boat, characterized by: include: hull; Two buoys are respectively arranged on two sides of the bottom of the hull; A crawler walking mechanism is arranged on the bottom of the hull along a first direction and is located between the two buoys; A crawler lifting mechanism is provided between the hull and the crawler traveling mechanism; and A plurality of waterproof grasses wrapped around the paddle wheel mechanism are respectively arranged on the bottom of the hull along the first direction and are respectively arranged adjacent to the two buoys; Among them, the crawler lifting mechanism has a climbing state and a downhill state. In the climbing state, the crawler lifting mechanism drives the crawler walking mechanism to a first designated position of the hull to climb smoothly; in the downhill state, the crawler lifting mechanism drives the crawler walking mechanism to a second designated position of the hull to descend smoothly.

2. The multifunctional feeding boat according to claim 1, characterized in that: The crawler lifting mechanism is provided with a plurality of limiting locking mechanisms at multiple points.

3. The multifunctional feeding boat according to claim 2, characterized in that: The locking mechanism includes: a front latch assembly, a middle latch assembly and a rear latch assembly, the driving gears of the front latch assembly, the middle latch assembly and the rear latch assembly are fixed to the output shaft of the driving motor on the back of the base plate, and a left rack and a right rack are distributed on the upper and lower sides of the driving gear. The guide shafts of the left rack and the right rack are fixed to the guide shaft seat, the left rack is connected to the left latch through the left latch connecting block, and the right rack is connected to the right latch through the right latch connecting block.

4. The multifunctional feeding boat according to claim 1, characterized in that: The crawler walking mechanism includes: a driven tensioner wheel fixed in the U-shaped seat at the rear end of the crawler vehicle support frame, a floating fixed arm hingedly connected to the middle hole of the crawler vehicle support frame, and the other end hingedly connected to the floating support wheel, and the output shaft of the crawler vehicle land walking motor is fixedly provided with a crawler driving sprocket, the crawler driving sprocket is connected to the driven sprocket through a chain, and the driven sprocket is connected to the driving crawler wheel through the same connecting shaft, and the external cover of the crawler vehicle walking motor is provided with a waterproof cover.

5. The multifunctional feeding boat according to claim 1, characterized in that: The crawler lifting mechanism includes: two support rods inserted into the middle boss of the hull, the support rods are hinged to one end of the lifting arm, the other end of the lifting arm is hinged to the left and right crawler connecting rods, the two lifting arms in the forward direction are connected to the arm connecting rods through a middle bolt, the connecting rod seat on the arm connecting rod is hinged to the rod end of the electric telescopic rod, and the motor seat end of the electric telescopic rod is connected to the motor hinge seat at the front end of the hull.

6. The multifunctional feeding boat according to claim 1, characterized in that: The waterproof grass winding paddle wheel mechanism includes: an inner cylinder and an outer cylinder connected to the hull, the outer cylinder is provided with a side plate, the side plate is penetrated by a dynamic flipper follower shaft, one end of the dynamic flipper follower shaft is fixed with a synchronous sprocket, and the other end is fixed with a dynamic flipper, the inner cylinder is provided with a fixed sprocket, and chains are wound around the fixed sprocket and the synchronous sprocket in sequence.

7. The multifunctional feeding boat according to claim 6, characterized in that: The synchronous sprocket and the fixed sprocket have the same tooth profile and number of teeth, and the wrap angle between the synchronous sprocket and the fixed sprocket is greater than 100°; Wherein, when the outer cylinder rotates clockwise or counterclockwise relative to the inner cylinder, several synchronous sprockets arranged on the side plate rotate clockwise or counterclockwise accordingly, and the transmission ratio of the synchronous sprocket and the fixed sprocket is 1, the synchronous sprocket and the fixed sprocket rotate at the same angle clockwise or counterclockwise relative to the side plate reference object, and the fixed sprocket is initially set downward relative to the hull. As the outer cylinder rotates, the synchronous sprocket always maintains the initial direction, and the dynamic flipper connected to the synchronous sprocket shaft remains in a downward state.

8. The multifunctional feeding boat according to claim 1, characterized in that: A throwing mechanism is provided in the middle part of the hull, and the throwing mechanism includes: a silo welded above the auger frame, a mixing / cleaning roller is provided in the silo, one side of the mixing / cleaning roller is provided with a seat bearing located outside the silo, and the other side is directly connected to the auger motor, the auger motor transmits power to the auger through a chain drive, the left end of the auger frame is fixedly provided with a throwing motor, the throwing motor transmits power to the throwing shaft through a chain, and a throwing disk is fixedly provided at the bottom of the throwing shaft.

9. The multifunctional feeding boat according to claim 1, characterized in that: A spraying motor, an electric control panel and a battery are provided in the hull, a medicine storage box is provided at the bottom of the two buoys respectively, an RTK and a camera are provided at the front end of the hull respectively, and a spraying port is provided at the rear end of the hull.

10. The multifunctional feeding boat according to claim 1, characterized in that: The crawler lifting mechanism also has an underwater driving state. In the underwater driving state, the crawler lifting mechanism drives the crawler walking mechanism to retract to the third designated position of the hull to ensure that the crawler mechanism does not interfere with pond bottom obstacles during the underwater driving process.

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