Multi-functional feeding vessel

Abstract

This invention discloses a multi-functional feeding vessel, relating to the field of feeding vessel technology. The multi-functional feeding vessel includes: a hull; two pontoons, respectively disposed opposite each other on the bottom sides of the hull; a tracked walking mechanism disposed along a first direction on the bottom of the hull, located between the two pontoons; a tracked lifting mechanism disposed between the hull and the tracked walking mechanism; and several anti-weed entanglement paddlewheel mechanisms. This invention solves the problems of current feeding vessels requiring specific cranes and vehicles when changing ponds, which is extremely inconvenient for multi-pond feeding and pesticide application; the fact that shrimp and crab ponds typically have slopes of 35° to 45°, and existing feeding vessels on the market use round tires for their land-based walking parts, which lack sufficient traction when climbing slopes, leading to slippage or damage to soft ground, thus preventing normal operation; and the fact that shrimp and crab ponds require abundant aquatic plants to provide habitat and regulate water quality, while most feeding vessels use propellers or traditional paddlewheels, which easily become entangled in aquatic plants and run aground when moving in the water.

Description

Technical Field

[0001] This invention relates to the field of feeding vessel technology, and more particularly to a multi-functional feeding vessel. Background Technology

[0002] Traditional shrimp and crab farming requires manual labor, with boats traversing the ponds to feed the shrimp and crabs, who move slowly underwater. This traditional method of manual feeding is labor-intensive, inefficient, and the even distribution of feed cannot be guaranteed. Therefore, feeding boats were developed to address this need.

[0003] Currently, existing feeding boats consist of a hull, cabin components, and a feeding assembly. They use paddle wheels as the main drive and can only operate in water. The feeding process requires manual intervention (charging and refeeding). Furthermore, when changing ponds, specific cranes and vehicles are needed, making multi-pond feeding and medication application extremely inconvenient. Additionally, shrimp and crab ponds typically have slopes of 35° to 45°. Existing feeding boats use round tires for their land-based movement, which lack sufficient traction when climbing slopes, leading to slippage or damage to soft ground, causing them to become stuck and unable to operate normally. Moreover, shrimp and crab ponds require abundant aquatic plants to provide habitat and regulate water quality. Most feeding boats on the market use propellers or traditional paddle wheels, which easily become entangled in aquatic plants, causing the boats to run aground. Currently, no effective solutions have been proposed to address these problems. Summary of the Invention

[0004] Purpose of the invention: To provide a multi-functional feeding vessel to at least solve one of the problems existing in the prior art.

[0005] Technical solution: A multi-functional operation and feeding vessel, comprising: hull; Two pontoons are respectively positioned opposite each other on both sides of the bottom of the hull; The tracked walking mechanism is disposed at the bottom of the hull along the first direction and located between the two pontoons; A track lifting mechanism is disposed between the hull and the track traveling mechanism; and Several waterproof grass-wrapping paddle wheel mechanisms are respectively arranged at the bottom of the hull along the first direction and are respectively arranged adjacent to the two pontoons; The tracked lifting mechanism has climbing, descending, and water-traveling states. In the climbing state, the tracked lifting mechanism drives the tracked traveling mechanism to a first designated position on the hull for smooth climbing. In the descending state, the tracked lifting mechanism drives the tracked traveling mechanism to a second designated position on the hull for smooth descending. In the water-traveling state, the tracked lifting mechanism drives the tracked traveling mechanism to retract to a third designated position on the hull to ensure that the tracked mechanism does not interfere with underwater obstacles during water-traveling.

[0006] Preferably, the track lifting mechanism is equipped with several locking mechanisms at multiple points.

[0007] Preferably, the locking mechanism includes a front pin assembly, a middle pin assembly, and a rear pin assembly. The drive gears of the front pin assembly, the middle pin assembly, and the rear pin assembly are fixed on the output shaft of the drive motor on the back of the base plate. A left rack and a right rack are distributed on the upper and lower sides of the drive 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 pin through a left pin connecting block, and the right rack is connected to the right pin through a right pin connecting block.

[0008] Preferably, the tracked walking mechanism includes: a driven tensioning wheel fixed in a U-shaped seat at the rear end of the tracked vehicle support frame; a floating fixed arm hinged to the middle hole of the tracked vehicle support frame, and a floating support wheel hinged to the other end; a track drive sprocket fixedly mounted on the output shaft of the tracked vehicle land walking motor; the track drive sprocket connected to the driven sprocket via a chain; the driven sprocket and the drive track wheel connected via the same connecting shaft; and a waterproof cover provided on the outer casing of the tracked vehicle walking motor.

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

[0010] Preferably, the waterproof grass-wrapping paddle wheel mechanism includes: an inner cylinder and an outer cylinder connected to the hull; a side plate is provided on the outer cylinder; a moving web plate follower shaft is passed through the side plate; a synchronous sprocket is fixed at one end of the moving web plate follower shaft; and the moving web plate is fixed at the other end; a fixed sprocket is provided on the inner cylinder; and a chain is wound sequentially on the fixed sprocket and the synchronous sprocket.

[0011] Preferably, the synchronizing sprocket and the fixed sprocket have the same number of teeth, and the wrap angle between the synchronizing sprocket and the fixed sprocket is greater than 100°. When the outer cylinder rotates clockwise or counterclockwise relative to the inner cylinder, several synchronous sprockets on the side plate rotate clockwise or counterclockwise accordingly. The transmission ratio between the synchronous sprockets and the fixed sprockets is 1. The synchronous sprockets and the fixed sprockets rotate at the same angle clockwise or counterclockwise relative to the side plate reference. The fixed sprockets are initially oriented downwards relative to the hull. As the outer cylinder rotates, the synchronous sprockets always maintain their initial orientation. The movable fin plate connected to the synchronous sprocket shaft always remains downwards to ensure that the waterproof weed entanglement mechanism does not become entangled with aquatic plants during its rotation in the water.

[0012] Preferably, a material throwing mechanism is provided in the middle of the hull. The material throwing mechanism includes: a hopper welded above the auger frame, a mixing / washing roller provided in the hopper, a seated bearing provided on one side of the mixing / washing roller located outside the hopper, and the other side directly connected to the auger motor. The auger motor transmits power to the auger through chain drive. A material throwing motor is fixedly provided at the left end of the auger frame. The material throwing motor transmits power to the material throwing shaft through the chain. A material throwing disc is fixedly provided at the bottom of the material throwing shaft.

[0013] Preferably, the hull is equipped with a spraying motor, an electronic control board and a battery, the bottom of the two pontoons is respectively equipped with a medicine storage tank, the front end of the hull is respectively equipped with an RTK and a camera, and the rear end of the hull is equipped with a spraying nozzle.

[0014] Preferably, the track lifting mechanism also has a water travel mode. In the water travel mode, the track lifting mechanism drives the track walking mechanism to retract to a third designated position on the hull, so as to ensure that the track mechanism does not interfere with obstacles on the bottom of the pond during water travel.

[0015] Beneficial Effects: In this embodiment, an automatic climbing and pond-crossing mechanism is adopted. The tracked lifting mechanism has climbing, descending, and water-traveling states. In the climbing state, the tracked lifting mechanism drives the tracked walking mechanism to a first designated position on the hull for smooth ascent. In the descending state, the tracked lifting mechanism drives the tracked walking mechanism to a second designated position on the hull for smooth descent. In the water-traveling state, the tracked lifting mechanism drives the tracked walking mechanism back to a third designated position on the hull to ensure that the tracked mechanism does not interfere with underwater obstacles during water-traveling. This achieves the goal of multi-functional automatic pond-switching operations, thereby solving the problem of needing a specific crane when the feeding boat changes ponds. Compared to other vehicles, feeding and spraying at multiple ponds is extremely inconvenient. Meanwhile, by pre-setting several locking mechanisms at multiple points, the system achieves locking functions at different locations, improving the stability of the feeding boat in various operating states. Furthermore, existing feeding boats on the market use round tires for their land-based walking parts, which lack sufficient traction when climbing slopes, leading to slippage or damage to soft ground, causing them to get stuck and unable to operate normally. Additionally, by using the synchronous sprocket shaft to keep the finned plate always facing downwards, the system ensures that the anti-weed paddle wheel mechanism will not become entangled in weeds during water rotation, solving the problem that most feeding boats on the market use propellers or traditional paddle wheels, which easily become entangled in weeds and run aground when moving in water. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure (front end) of the multi-functional operation and feeding vessel of the present invention; Figure 2 This is a schematic diagram of the overall structure (rear end) of the multi-functional operation and feeding vessel of the present invention; Figure 3 This is a schematic diagram of the tracked vehicle structure of the multi-functional operation and feeding vessel of the present invention; Figure 4 This is a schematic diagram of the tracked vehicle power system of the multi-functional operation and feeding vessel of the present invention; Figure 5 This is a schematic diagram of the electric telescopic rod extending from the tracked vehicle lifting assembly of the multi-functional operation and feeding vessel of the present invention; Figure 6 This is a schematic diagram of the waterproof weed-wrapping paddle wheel of the multi-functional operation and feeding vessel of the present invention; Figure 7 This is a schematic diagram of the feeder of the multi-functional operation and feeding vessel of the present invention; Figure 8 This is a schematic diagram of the direction of the paddle wheel for waterproofing aquatic plants entangled in the multi-functional operation and feeding vessel of the present invention; Figure 9 It is a regular paddlewheel; Figure 10 This is a schematic diagram showing the extension of the front, middle, and rear pin assemblies of the tracked vehicle of the multi-functional operation and feeding vessel of the present invention; Figure 11 This is a schematic diagram of the retraction of the front, middle and rear pin assemblies of the tracked vehicle of the multi-functional operation and feeding vessel of the present invention. Figure 12 This is a schematic diagram of the electric telescopic boom retraction structure of the tracked vehicle lifting assembly of the multi-functional operation and feeding vessel of the present invention; and Figure 13 This is a three-dimensional structural diagram of the electric telescopic boom retraction of the tracked vehicle lifting assembly of the multi-functional operation and feeding vessel of the present invention.

[0017] The attached figures are labeled as follows: 1. Hull; 2. Feeder; 3. Right float; 4. RTK; 5. Camera; 6. Tracked vehicle; 7. Electric telescopic rod bracket; 8. Waterproof weed wrapping paddle wheel; 9. Connecting rod; 10. Left float; 11. Spray nozzle; 12. Rubber track; 13. Driven tension wheel; 14. Floating support wheel; 15. Tracked vehicle support frame; 16. Left and right track connecting rods; 17. Floating wheel fixing arm; 18. Floating wheel support spring; 19. Driven track wheel; 20. Driven sprocket; 21. Track drive sprocket; 22. Waterproof cover; 23. Tracked vehicle travel motor; 24. Support rod; 25. Lifting arm; 26. Electric telescopic rod; 27. Arm connecting rod; 28. Side plate; 29. ​​Synchronous sprocket; 30. Movable fin plate; 31. Movable fin plate follower shaft; 32. Fixed... 33. Sprocket; 34. Outer cylinder; 35. Inner cylinder; 36. Chain; 37. Hopper; 38. Mixing / washing roller; 39. Screw motor; 40. Stainless steel rotary joint; 41. Water inlet; 42. Throwing motor; 43. Throwing disc; 44. Screw frame; 45. Screw; 46. Throwing shaft; 47. Blade; 48. Shaft; 49. Base plate; 50. Right pin; 51. Pin seat; 52. Idler roller; 53. Lifting arm induction switch; 54. Drive gear; 55. Left rack; 56. Pin retraction induction switch; 57. Pin extension induction switch; 58. Left pin; 59. Right pin connecting block; 60. Left pin connecting block; 61. Front pin assembly; 62. Middle pin assembly; 63. Rear pin assembly; 64. Drive motor; 65. Right rack. Detailed Implementation

[0018] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0019] It should be noted that the terms "first," "second," "third," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0020] Furthermore, the terms "installation," "setup," "equipped with," "connection," "linking," and "socketing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; 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, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this invention based on the specific circumstances.

[0021] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] like Figure 1-13 As shown, this application relates to a multi-functional feeding vessel. Figure 1-2 As shown, the multi-functional feeding vessel includes: hull 1; serving as a load-bearing structure, it is used to carry the feeding device, power system, control equipment, etc.

[0023] Two pontoons are respectively positioned opposite each other on the bottom sides of the hull 1; the two pontoons, respectively positioned on the bottom sides of the hull 1, provide good buoyancy and stability; at the same time, the opposite arrangement of the two pontoons allows the hull 1 to maintain balance on the water surface or at the water-land interface. The two pontoons include: a left pontoon 10 and a right pontoon 3.

[0024] The tracked walking mechanism is disposed at the bottom of the hull 1 along the first direction and between the two pontoons. By disposing the tracked walking mechanism at the middle of the bottom of the hull 1 along the first direction (i.e., the forward direction of the hull 1) and between the two pontoons, good land walking performance can be ensured. The track structure is made of corrosion-resistant material and can walk stably in complex terrains such as mud, slippery, and sandy areas.

[0025] A track lifting mechanism is disposed between the hull 1 and the track traveling mechanism; Several waterproof weed-wrapping 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 cut or push away the entangled objects (such as weeds, fishing nets) in the water to prevent them from getting tangled on the tracks or buoys, thereby improving the reliability of operation.

[0026] The track lifting mechanism has an uphill mode and a downhill mode. In the uphill mode, the track lifting mechanism drives the track traveling mechanism to a first designated position on the hull 1 for smooth climbing. In the downhill mode, the track lifting mechanism drives the track traveling mechanism to a second designated position on the hull 1 for smooth descent. The first designated position can be the location of the front pin assembly 60, and the second designated position can be the location of the rear pin assembly 62.

[0027] Furthermore, the track lifting mechanism also has a water-traveling mode. In this mode, the track lifting mechanism drives the track walking mechanism to retract to a third designated position on the hull, ensuring that the track mechanism does not interfere with underwater obstacles during water travel. The third designated position can be the location of the center pin assembly 61.

[0028] Specifically, a track lifting mechanism is installed between the hull 1 and the track traveling mechanism to adjust the vertical position of the tracks.

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

[0030] 3. Water travel state: The track lifting mechanism drives the track walking mechanism to retract to the third designated position of the hull 1, that is, the fully retracted state, so as to ensure that the track mechanism does not interfere with obstacles on the bottom of the pond during water travel.

[0031] As can be seen from the above description, this application achieves the following technical effects: In this embodiment, an automatic climbing and pond-crossing mechanism is employed. The tracked lifting mechanism has climbing, descending, and water-traveling states. In the climbing state, the tracked lifting mechanism drives the tracked walking mechanism to a first designated position on the hull for smooth ascent. In the descending state, the tracked lifting mechanism drives the tracked walking mechanism to a second designated position on the hull for smooth descent. In the water-traveling state, the tracked lifting mechanism drives the tracked walking mechanism back to a third designated position on the hull to ensure that the tracked mechanism does not interfere with underwater obstacles during water-traveling. This achieves the goal of multi-functional automatic pond-switching operations, thereby solving the problem of needing specific cranes and loads when the feeding boat changes ponds. The vehicle is extremely inconvenient for feeding and spraying medicine at multiple ponds. Meanwhile, by pre-setting several locking mechanisms at multiple points, it achieves locking functions at different locations, improving the stability of the feeding boat in various operating states. Furthermore, existing feeding boats on the market use round tires for their land-based walking parts, which lack sufficient traction when climbing slopes, leading to slippage or damage to soft ground, causing them to get stuck and unable to operate normally. Additionally, by using the synchronous sprocket shaft to keep the finned plate always facing downwards, it ensures that the anti-weed paddle wheel mechanism will not get entangled in weeds during water rotation, solving the problem that most feeding boats on the market use propellers or traditional paddle wheels, which easily get entangled in weeds and run aground when moving in water.

[0032] like Figure 10-12 As shown, the track lifting mechanism has several locking mechanisms preset at multiple points. This allows for multi-point limiting and locking of the track lifting mechanism, ensuring accurate positioning and protection.

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

[0034] Specifically, the working principles of the front pin assembly 60, the middle pin assembly 61, and the rear pin assembly 62 are as follows: Upon receiving the system mode switching command, the drive motor 63 rotates counterclockwise. The left pin 57 moves to the right with the left rack 54, and the right pin 49 moves to the left with the right rack 64, until the pins retract and the induction switch 55 is activated, at which point the motor stops rotating. The lifting arm 25 rotates until the induction switch of the lifting arm 25 is activated, and the drive gear 53 rotates clockwise with the drive motor 63. The right pin 49 moves to the right with the right rack 64, and the left pin 57 moves to the left with the left rack 54, until the pins extend and the induction switch 56 is activated, at which point the drive motor 63 stops rotating. At this point, the left and right pins 49 are inserted into the lifting arm 25, locking the lifting arm 25.

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

[0036] Preferably, idler 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 tracked walking mechanism includes: a driven tensioning wheel 13 fixed in the U-shaped seat at the rear end of the tracked vehicle support frame 15; a floating fixed arm hinged to the middle hole of the tracked vehicle support frame 15, and the other end hinged to a floating support wheel 14; a track drive sprocket 21 fixedly mounted on the output shaft of the tracked vehicle 6 land walking motor; the track drive sprocket 21 connected to a driven sprocket 20 via a chain 35; the driven sprocket 20 and the drive track wheel 19 connected via the same connecting shaft; and a waterproof cover 22 covering the tracked vehicle 6 walking motor. This design allows for stable land walking. The tracked vehicle walking motor 23 is completely covered by the waterproof cover 22, ensuring sufficient air in the waterproof cover 22 when the vehicle enters water, preventing water from entering the tracked vehicle 6 walking motor.

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

[0039] Preferably, the paddle wheel for preventing water plants from tangling with aquatic plants adopts a built-in rear-propulsion arrangement.

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

[0041] Preferably, each of the multiple floating support wheels 14 is provided with a floating wheel fixing arm 17 and a floating wheel support spring 18.

[0042] like Figure 4-5As shown, the track lifting mechanism includes two support rods 24 inserted into the central boss of the hull 1. One end of each support rod 24 is hinged to a lifting arm 25, and the other end of each lifting arm 25 is hinged to left and right track connecting rods 16. The two lifting arms 25 in the forward direction are connected to an arm connecting rod 27 via a central bolt. A connecting rod 9 seat on the arm connecting rod 27 is hinged to the end of an electric telescopic rod 26. The motor seat of the electric telescopic rod 26 is connected to the motor hinge seat at the front end of the hull 1. This mechanism achieves good lifting performance, ensuring good climbing, descending, and water movement capabilities.

[0043] Specifically, the tracked vehicle 6 lifting assembly uses parallel four bars as support and electric telescopic rod 26 as lifting power. When the electric telescopic rod 26 extends or retracts to a specified stroke, the lifting arm 25 senses the switch, and the left pin 57 and right pin 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 via the electric telescopic rod bracket 7.

[0045] like Figure 6 , 8 As shown in Figure 9, the waterproof weed winding paddlewheel mechanism includes an inner cylinder 34 and an outer cylinder 33 connected to the hull 1. A side plate 28 is provided on the outer cylinder 33, and a fin-mounted follower shaft 31 passes through the side plate 28. One end of the fin-mounted follower shaft 31 is fixed to a synchronizing sprocket 29, and the other end is fixed to a fin-mounted plate 30. A fixed sprocket 32 ​​is provided on the inner cylinder 34, and chains 35 are wound sequentially around the fixed sprocket 32 ​​and the synchronizing sprocket 29. This mechanism ensures a good waterproof weed winding effect, thereby ensuring smooth operation in the water.

[0046] Furthermore, as the ordinary paddle wheel rotates, the part of the blade 46 that enters the water has two effects on the water: pushing it backward and lifting it upward. The upward lifting has a chance to lift the aquatic plants until they are rolled into the axle 47 as it rotates. To prevent the aquatic plants from getting tangled, the paddle wheel 8, because the fin plate 30 is always facing downward, only has a pushing effect on the water. Therefore, the aquatic plants will not be lifted and rolled into the outer tube 33 and inner tube 34.

[0047] Furthermore, the synchronous sprocket 29 and the fixed sprocket 32 ​​have the same number of teeth, and the wrap angle of the synchronous sprocket 29 and the fixed sprocket 32 ​​is greater than 100°; When the outer cylinder 33 rotates clockwise or counterclockwise relative to the inner cylinder 34, a plurality of synchronous sprockets 29 disposed on the side plate 28 rotate clockwise or counterclockwise accordingly. The transmission ratio between the synchronous sprockets 29 and the fixed sprockets 32 is 1. The synchronous sprockets 29 and the fixed sprockets 32 rotate at the same angle clockwise or counterclockwise relative to the reference object of the side plate 28. The fixed sprockets 32 are initially oriented downward relative to the hull 1. As the outer cylinder 33 rotates, the synchronous sprockets 29 always maintain their initial orientation. The movable fin plate 30 connected to the shaft of the synchronous sprockets 29 always remains in a downward state.

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

[0049] Preferably, a stainless steel rotary joint 39 is installed on the right side of the mixing / washing roller 37 to inject water into the water inlet 40. As the mixing / washing roller rotates, it evenly cleans the washing hopper 36.

[0050] Furthermore, the hull 1 is equipped with a spraying motor, an electronic control board, and a battery, and the bottom of each of the two pontoons is equipped with a pesticide storage tank. This allows for effective pesticide storage and spraying.

[0051] Furthermore, an RTK4 and a camera 5 are respectively installed at the front end of the hull 1, and a spray nozzle 11 is installed at the rear end of the hull 1. It is understood that this enables precise positioning and image acquisition, while also achieving good spraying results.

[0052] This application also features two switching modes: land or water, specifically including: As the vehicle enters the water from land, the motor drives the drive gear 53 to rotate clockwise, causing the left and right pins 49 to retract from the holes in the lifting arm 25. The electric telescopic rod 26 retracts, and the tracked vehicle 6 rotates counterclockwise around the lifting arm 25 as the length of the rod and the support rod 24 as the center, until the lifting arm 25 induction switches of the front and rear pin assemblies 62 are activated. The electric telescopic rod 26 stops retracting, and the motor drives the drive gear 53 to rotate counterclockwise, inserting the left and right pins 49 into the lifting arm 25 and locking the lifting mechanism. At this point, the tracked vehicle 6 retracts to the front end of the upper hull 1.

[0053] As the boat moves from the water onto land, the waterweed entangles around the aquatic plant, causing the paddle wheel 8 to rotate at a low speed, forcing the feeding boat to press against the ramp. The motor drives the drive gear 53 to rotate clockwise, causing the left and right pins 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 pin assembly 62 is activated, stopping the extension of the electric telescopic rod 26. The motor drives the drive gear 53 to rotate counterclockwise, causing the left and right pins 49 to insert into the lifting arm 25, locking the lifting mechanism. At this point, the tracked vehicle 6 is in the lower middle part of the feeding boat and has touched the ground at the ramp.

[0054] This application also relates to the workflow of a multi-functional feeding vessel, which includes the following steps: Step 1: A feeding boat that can climb slopes and cross ponds is placed at the original position. First, disconnect the power to the charging port, and the feeding boat sails out of the charging station, planning its route to the refueling station.

[0055] Step 2: The feeding vessel enters the feeding station. The feeding station opens door 36 of hull 1 to inject feed or liquid medicine. Once the prescribed amount is reached, the injection of feed or liquid medicine stops, and door 36 of hull 1 is closed.

[0056] Step 3: Automatically proceed to the first pond according to the planned path. The car drives into the pond along the slope. The tracked vehicle 6 is completely submerged in the water. The feeding boat switches to land and enters water mode.

[0057] Step 4: Drive along the specified path and start the feeder 2 or spray the pesticide to complete the entire path.

[0058] Step 5: The feeding boat heads to the designated slope, switches to the water-to-land mode, and leaves the pond.

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

[0060] Throughout the process, if the feeding vessel's battery level drops below 10%, the vessel will stop feeding and return to its original charging point. If the feed bin 36 or liquid bin is insufficient to feed the next pond, the feeding vessel will enter the feeding station to replenish the feed and then continue feeding.

[0061] The present invention also has the following beneficial effects: 1. This invention provides an unmanned feeding boat that can climb slopes and cross ponds. After completing its work autonomously, it can climb up the slope at the pond entrance to land, replenish and recharge at designated feeding and charging ports, and then move to the next pond to continue its work. It can also stop at a designated location on land. Compared with traditional feeding work, this process reduces manual operation, solves the problem of personal safety on the water, and ensures that the feed is evenly distributed.

[0062] 2. Due to the soft soil on the pond slope, traditional tires exert too much pressure on the ground, causing them to sink in. Even on treated surfaces, the small tire contact area results in insufficient grip and slippage. This invention utilizes a tracked vehicle 6 for land movement, with floating auxiliary support wheels in the middle. The position of the auxiliary wheels can be adjusted according to changes in terrain, thereby ensuring contact with the ground, reducing pressure on the ground and thus minimizing damage, increasing the contact area, and increasing friction, allowing the unmanned feeding boat to smoothly climb the pond slope.

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

[0064] 4. This invention can achieve unmanned feeding by manually setting the path control program.

[0065] 5. The paddle wheel of this invention, which prevents water plants from tangling with aquatic plants, adopts a built-in rear-propulsion arrangement, reducing the risk of the paddle wheel propeller being bumped or knocked.

[0066] 6. This invention adopts a dual-mode operation, with the tracked vehicle 6 positioned directly below and lower than the hull 1 in land mode. In water mode, the tracked vehicle 6 is positioned directly in front of the hull 1, with the hull 1 higher than the tracked vehicle 6. This dual-mode operation increases the vessel's mobility on land and in water, while reducing energy consumption.

[0067] 7. The floating wheels at the bottom of the tracked 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 have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various equivalent transformations can be made to the technical solutions of the present invention, and all such equivalent transformations fall within the protection scope of the present invention.

Claims

1. A multi-functional operation and feeding vessel, characterized in that: include: hull; Two pontoons are respectively positioned opposite each other on both sides of the bottom of the hull; The tracked walking mechanism is disposed at the bottom of the hull along the first direction and located between the two pontoons; A track lifting mechanism is disposed between the hull and the track traveling mechanism; and Several waterproof grass-wrapping paddle wheel mechanisms are respectively arranged at the bottom of the hull along the first direction and are respectively arranged adjacent to the two pontoons; The track lifting mechanism has a climbing state and a descending state. In the climbing state, the track lifting mechanism drives the track traveling mechanism to a first designated position on the hull to climb smoothly. In the descending state, the track lifting mechanism drives the track traveling mechanism to a second designated position on the hull to descend smoothly. The track lifting mechanism is equipped with several locking mechanisms at multiple points. The locking mechanism includes a front pin assembly, a middle pin assembly, and a rear pin assembly. The drive gears of the front pin assembly, the middle pin assembly, and the rear pin assembly are fixed on the output shaft of the drive motor on the back of the base plate. A left rack and a right rack are distributed on the upper and lower sides of the drive 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 pin through a left pin connecting block, and the right rack is connected to the right pin through a right pin connecting block. The track lifting mechanism includes: two support rods inserted through the central boss of the hull; one end of the support rod is hinged to the lifting arm; the other end of the lifting arm is hinged to the left and right track connecting rods; the two lifting arms in the forward direction are connected to the arm connecting rod by 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 of the hull.

2. The multi-functional feeding vessel according to claim 1, characterized in that, The tracked walking mechanism includes: a driven tensioning wheel fixed in a U-shaped seat at the rear end of the tracked vehicle support frame; a floating fixed arm hinged to the middle hole of the tracked vehicle support frame, and a floating support wheel hinged to the other end; a track drive sprocket fixedly mounted on the output shaft of the tracked vehicle land walking motor; the track drive sprocket connected to the driven sprocket via a chain; the driven sprocket and the drive track wheel connected via the same connecting shaft; and a waterproof cover provided on the exterior of the tracked vehicle land walking motor.

3. The multi-functional feeding vessel according to claim 1, characterized in that, The waterproof grass-wrapping paddle wheel mechanism includes: an inner cylinder and an outer cylinder connected to the hull. The outer cylinder is provided with a side plate, and a moving web plate follower shaft is passed through the side plate. One end of the moving web plate follower shaft is fixed with a synchronous sprocket, and the other end is fixed with the moving web plate. The inner cylinder is provided with a fixed sprocket, and a chain is wound sequentially on the fixed sprocket and the synchronous sprocket.

4. The multi-functional feeding vessel according to claim 3, characterized in that, The synchronous sprocket and the fixed sprocket have the same number of teeth, and the wrap angle between the synchronous sprocket and the fixed sprocket is greater than 100°. When the outer cylinder rotates clockwise or counterclockwise relative to the inner cylinder, several synchronous sprockets on the side plate rotate clockwise or counterclockwise accordingly. The transmission ratio between the synchronous sprockets and the fixed sprockets is 1. The synchronous sprockets and the fixed sprockets rotate at the same angle clockwise or counterclockwise relative to the side plate reference. The fixed sprockets are initially oriented downwards relative to the hull. As the outer cylinder rotates, the synchronous sprockets always maintain their initial orientation. The movable fin plate connected to the synchronous sprocket shaft always remains in a downward orientation.

5. The multi-functional feeding vessel according to claim 1, characterized in that, A material throwing mechanism is provided in the middle of the hull. The material throwing mechanism includes: a hopper welded above the auger frame, a mixing / washing roller provided in the hopper, a bearing with a seat located outside the hopper on one side of the mixing / washing roller, and a direct connection between the other side and the auger motor. The auger motor transmits power to the auger through chain drive. A material throwing motor is fixedly provided at the left end of the auger frame. The material throwing motor transmits power to the material throwing shaft through a chain. A material throwing disc is fixedly provided at the bottom of the material throwing shaft.

6. The multi-functional feeding vessel according to claim 1, characterized in that, The hull is equipped with a spraying motor, an electronic control board, and a battery. The bottom of the two pontoons is equipped with a medicine storage tank. The front of the hull is equipped with an RTK and a camera, and the rear of the hull is equipped with a spray nozzle.

7. The multi-functional feeding vessel according to claim 1, characterized in that, The track lifting mechanism also has a water travel mode. In the water travel mode, the track lifting mechanism drives the track walking mechanism to retract to the third designated position of the hull to ensure that the track walking mechanism does not interfere with obstacles on the bottom of the pond during water travel.

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