Transportation device for plastic fishing raft and operation method of transportation device

Abstract

The invention provides a transporting device for a plastic fishing raft and an operation method of the transporting device. The transporting device comprises a plastic fishing raft body. The rail assembly is fixedly installed on a walkway plate of the plastic fishing raft body through a rail fixing frame, the rail assembly comprises a cross rail and a linear rail which are installed in a crossed mode, and a positioning groove and a climbing block are arranged at the crossed position; the cargo carrying assembly comprises a conveying frame, a handrail and a cargo body, the cargo carrying assembly is movably installed on the rail assembly through a power assembly, the power assembly comprises driving motors symmetrically arranged at the front end and the rear end of the bottom of the conveying frame, and each driving motor drives wheels on a wheel shaft to rotate through a driving gear; the treads of the wheels are matched with the track contact surfaces, and the rims of the wheels are matched with the side edges of the track assembly. The mechanical level of mariculture operation is remarkably improved, and the problems that traditional manual carrying is low in efficiency and poor in safety are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of transport device for plastic fishing raft and its operation method. BACKGROUND

[0002] Traditional wooden fishing raft is poor in safety, easy to age, and pollutes the sea area. In order to cope with the environmental pressure brought by traditional fishing raft, in recent years, Fujian Province and even the whole country actively promote the comprehensive regulation and transformation and upgrading of offshore aquaculture, introduce new plastic fishing raft to replace traditional wooden fishing raft, and new plastic fishing raft has many advantages such as strong wind and wave resistance, seawater corrosion resistance, environmental protection (recyclable), long service life and neat and beautiful appearance, which has been affirmed and recognized by the competent department of government and the aquaculture farmers. Therefore, the whole country has ushered in a new climax of upgrading and reconstruction of offshore aquaculture, but this reconstruction mainly aims at the frame and floating ball part of the aquaculture facility, and the mechanical and automatic equipment matched with it is not required and reconstructed too much. In addition, due to technical reasons, the production and operation mode of the reconstructed plastic fishing raft is still similar to that of the traditional wooden fishing raft, and the aquaculture mode is still relatively primitive and extensive. The degree of aquaculture mechanization is low. Even the most basic operation such as carrying fishing gear, fishing net, feed and harvested materials still relies on manual labor. The labor intensity is high, the labor quantity required is large, and there is a serious lack of high-end aquaculture equipment such as mechanical transportation system. In addition, the fishing raft shakes violently under the influence of sea wind, sunlight, high waves and strong currents. The manual carrying efficiency is low, and the situation of personnel falling into water during carrying process occurs from time to time. The above reasons lead to the increase of aquaculture cost year by year, poor aquaculture benefit, and are not conducive to the sustainable development of China's marine aquaculture industry.

[0003] Therefore, the present application aims to provide a kind of transport device for plastic fishing raft and its operation method, realize the mechanical, efficient and safe transportation of fishing gear, fishing net, feed and harvested materials on plastic fishing raft, meet the large-scale offshore plastic fishing raft aquaculture carrying demand, improve the degree of aquaculture mechanization, improve the aquaculture effect and economic benefit, and promote the further transformation and upgrading of plastic fishing raft aquaculture industry. SUMMARY

[0004] The present application provides a kind of transport device for plastic fishing raft and its operation method, which can effectively solve the above problems.

[0005] The present application is realized as follows: A kind of transport device for plastic fishing raft, comprising plastic fishing raft body; rail assembly, which is fixedly installed on the walkway plate of the plastic fishing raft body through rail fixing frame, the rail assembly includes cross rail and straight rail installed in cross, and positioning groove and climbing block are arranged at the cross. A load assembly includes a conveying frame, a guardrail mounted on the conveying frame to prevent the load body from falling, and a load body, the load assembly is movably mounted on the track assembly by a power assembly, the power assembly includes travel motors symmetrically arranged at the front and rear ends of the bottom of the conveying frame, each of the travel motors drives the wheels on the wheel shaft to rotate forward, reverse or infinitely variable speed through the drive gear, the tread of the wheels cooperates with the track contact surface, and the flanges of the wheels cooperate with the side edges of the track assembly; A steering assembly includes a chassis rotatably mounted below the conveying frame, a rotary support arranged at the center of the top of the chassis, and the rotary support is rotatably connected with the load assembly; the steering assembly further includes a jacking mechanism mounted at the bottom of the chassis for jacking the conveying frame, the jacking mechanism includes a first jacking support and a second jacking support symmetrically arranged and driven by a jacking electric push rod, and a jacking wheel located between the first jacking support and the second jacking support.

[0006] A transportation device operation method for plastic fishing nets, the operation method comprising: S1, start the travel motor by the vehicle-mounted controller to drive the wheels to run linearly on the straight track, during the travel process, the tread of the wheels keeps linear contact with the track contact surface, and the flanges keep a gap of 1-3mm with the side edges of the track, the vehicle-mounted controller monitors the current change of the travel motor in real time, and automatically adjusts the output power when the current fluctuation exceeds the set threshold value; S2, when the transportation device approaches the track intersection, if the transportation device does not need to change direction and change track, the wheels can be controlled to climb out of the positioning groove to continue straight travel, if the transportation device needs to change direction and change track, the front wheels can first enter the positioning groove to trigger the positioning sensor, the vehicle-mounted controller automatically reduces the travel speed to 0.1-0.3m / s after receiving the positioning signal, and the vehicle-mounted controller cuts off the power supply of the travel motor when the front wheels completely enter the positioning groove; S3, start the jacking electric push rod to extend at a uniform speed of 10-20mm / s, drive the jacking wheels to move downward by swinging the first jacking support and the second jacking support outward, the jacking wheels contact the track contact surface, and the wheels are lifted off the track, when the jacking electric push rod extends to 100% of the stroke, the wheels completely separate from the track assembly, at this time, the first jacking support and the second jacking support are perpendicular to the track assembly, and the jacking wheels are in full contact with the track assembly; S4, the steering motor is started, the first steering bevel gear and the second steering bevel gear are engaged, the load assembly rotates at a speed of 2-5 r / min relative to the chassis, when the rotation angle reaches 85°, the steering motor enters a deceleration mode, the first limit block contacts the second limit block, and the steering motor stops running, and steering is completed; S5, the jacking electric push rod is retracted at a uniform speed of 8-15 mm / s, the jacking wheel is lifted, the wheel is lowered, and when the jacking electric push rod is fully retracted, the jacking wheel is completely separated from the track assembly, and the wheel is fully contacted with the track assembly again; S6, the steering motor is started in reverse, the first steering bevel gear and the second steering bevel gear are engaged, the chassis rotates at a speed of 2-5 r / min relative to the load assembly, when the rotation angle reaches 85°, the steering motor enters a deceleration mode, the first limit block contacts the second limit block in reverse, and the steering motor stops running, so that the chassis rotates back to the original position, that is, the jacking wheel and the wheel are in the same direction; S7, the vehicle-mounted controller detects the state of each component, and after the state is normal, the driving motor is restarted and runs along the new straight track.

[0007] The present application has the following advantages: The present application realizes the mechanization and high efficiency of the marine plastic fishing net breeding and transportation operation through the design of the track system and the steering mechanism. The unique design of the wheel and rail matching system enables the transportation device to automatically maintain the stability of the running track. The intelligent jacking and steering mechanism ensures the smooth and reliable operation of the track changing. The modular load platform and the segmented track design perfectly adapt to the flexible characteristics of the plastic fishing net. The positioning groove at the intersection ensures that the transportation device can quickly, conveniently and accurately reach the predetermined position of the track changing. The climbing block at the intersection ensures that the transportation device is more stable and smooth when passing through the intersection track position. The design of the front and rear power wheels and the load platform structure increases the stability of the transportation device on the fishing net, thereby effectively preventing the overturning of the transportation device. The setting of the on-board battery and the controller improves the automation and safety of the transportation operation. The whole system significantly improves the mechanization level of the marine breeding operation, and solves the problems of low efficiency and poor safety of the traditional manual transportation. BRIEF DESCRIPTION OF DRAWINGS

[0008] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. Other related drawings can also be obtained by those skilled in the art without creative labor.

[0009] Figure 1 is the front view of the present application.

[0010] Figure 2 is the three-dimensional view of the running state of the transport device of the present application.

[0011] Figure 3 is the structural schematic view of the power assembly of the present application.

[0012] Figure 4 is the plane schematic view of the transport device of the present application.

[0013] Figure 5 is the explosion Figure 1 of the present application.

[0014] Figure 6 is the explosion Figure 2 of the present application.

[0015] Figure 7 is the running state view of the transport device of the present application.

[0016] Figure 8 is the jacking state view of the transport device of the present application.

[0017] Figure 9 is the jacking and steering in place state view of the transport device of the present application.

[0018] BRIEF DESCRIPTION OF DRAWINGS 10, plastic fishing pen body; 20, walkway plate; 40, track fixing frame; 50, cross track; 500, positioning groove; 502, straight track; 504, climbing block; 60, conveying frame; 600, power assembly; 6000, wheel shaft; 6002, bearing seat; 6004, wheel bearing; 6006, driving gear; 6008, running motor; 6010, wheel; 6012, tread; 6014, rim; 602, upper plate; 604, lower plate; 606, side plate; 70, cargo body; 80, steering assembly; 800, support; 8002, vehicle-mounted controller; 8004, steering motor; 8006, first steering bevel gear; 8008, second steering bevel gear; 8010, vehicle-mounted battery; 8012, steering upper bearing; 802, chassis; 8020, first jacking support frame; 8022, second jacking support frame; 8024, jacking wheel; 8026, universal ball groove; 8028, first limiting block; 8030, steering shaft; 8032, steering lower bearing; 8034, jacking electric push rod; 8036, universal ball; 8038, second limiting block. DETAILED DESCRIPTION

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention.

[0020] In the description of this invention, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0021] Reference Figures 1-9 As shown, a transport device for plastic fish rafts includes... 10 plastic fish rafts; The track assembly is fixedly installed on the walkway plate 20 of the plastic fish raft body 10 by the track fixing frame 40. The track assembly includes a cross track 50 and a straight track 502 installed in a cross pattern. A positioning groove 500 and a climbing block 504 are provided at the intersection. The straight track 502 is assembled by modular segmentation with a gap of 5-15mm.

[0022] The climbing block 504 has an inclination angle A, 15°≤A≤30°. In one embodiment, preferably, A is approximately 22°. The advantage of this design is that under a standard load of 200kg, the 22° incline generates a tangential force of 735N, which perfectly matches the 1500N thrust of the electric actuator (considering 50% mechanical efficiency), ensuring that the lifting action is both stable and efficient. Furthermore, if the angle A is less than 15°, it will result in insufficient lifting force. Under a standard load of 200kg, the tangential force generated by the 15° incline is only about 507N, requiring the electric actuator to output a larger thrust, which not only increases energy consumption by 45% but also significantly reduces system reliability. If the angle A is greater than 30°, the 0.5g acceleration generated by the 30° incline will result in an instantaneous impact force of 1000N. This will not only increase the loosening rate of the track fixing bolts by 5 times and reduce the bearing life by 60%, but also make it very easy for mud and sand to jam due to the gap between the lifting wheel and the side of the track being less than 2mm.

[0023] Specifically, when the load is 200 kg, the tangent component force F = mg · sin22° ≈ 735 N generated by the 22° slope is best matched with the thrust of the electric push rod 1500 N (the actual output efficiency of the push rod is about 50%), and under the condition that the diameter of the jacking wheel (8024) is 80 mm, the contact arc length of the 22° slope = 80 x p x (22 / 360) ≈ 15.3 mm, which is best matched with the elastic deformation amount (about 2 mm) of the polyurethane material; while the tangent component force F = mg · sin15° ≈ 507 N of the 15° slope needs an electric push rod output of >1000 N to overcome, and the push rod size needs to be increased by 30% and the energy consumption increases by 45%; the 30° slope acceleration a = g · sin30° = 0.5g generates a transient impact force of up to 1000 N (when the load is 200 kg), which increases the loosening rate of the track fixing bolt by 5 times and reduces the bearing life by 60%. Furthermore, when A = 35°, the gap between the jacking wheel 8024 and the side of the track is <2 mm, and after the accumulation of sand, it will inevitably cause jamming. For specific reference, see the chart below:

[0024] Further, the climbing block 504 is in contact with the flange of the wheel 6010. The 22° climbing block 504 slope angle is verified by dynamic simulation. When the angle is less than 15°, the flange cannot be smoothly contacted, and when the angle is greater than 30°, the flange is difficult to climb. The setting of the climbing block 504 ensures that the transport device is more stable and smooth when passing through the cross-rail position.

[0025] Further, the track assembly is designed and assembled in sections, with a single track length of 1.0-2.5 m and a stretching gap of 5-15 mm between sections. Specifically, the track is designed with a single section length of 1500 mm (based on existing technology and actual data measured at sea), when the section length is less than 1000 mm, too many track joints will cause bumpy travel; and when the section length exceeds 2500 mm, it is difficult to adapt to the wave-shaped deformation of the plastic fishing net, causing the track to easily generate internal stress and deform. The 10 mm stretching gap is set based on the material thermal expansion coefficient calculation (aluminum alloy linear expansion coefficient 23.1 x 10 of negative sixth power per degree Celsius), which can avoid the accumulation of thermal stress within the temperature range of -20°C to 60°C.

[0026] The depth of the positioning groove 500 is 1 / 5-1 / 3 of the diameter of the wheel 6010. Specifically, the minimum depth of 1 / 5 diameter ensures that the wheel 6010 has sufficient embedding amount when falling into the positioning groove 500, and when the diameter of the wheel 6010 is 100 mm, the positioning groove 500 depth of 20 mm can effectively clamp the wheel 6010, produce obvious mechanical positioning feeling, and at the same time, will not cause unstable positioning due to too shallow (the probability of dislocation under wave impact increases by 5 times when the depth is less than 15 mm); secondly, the maximum depth limit of 1 / 3 diameter avoids the operation difficulty caused by excessive sinking, when the groove depth is more than 35 mm, the wheel 6010 needs to do extra work to climb out of the positioning groove 500, and will increase the climbing difficulty and significantly prolong the steering operation time; in addition, the ratio design of 1 / 5-1 / 3 has the advantage of self-adaptation, no matter how the diameter of the wheel 6010 changes, it can maintain consistent positioning effect and operation feel. The setting of the positioning groove ensures that the transportation device can quickly, conveniently and accurately reach the predetermined position of the track change.

[0027] The cargo carrying assembly includes a conveying frame 60, a guardrail and a cargo body 70, the guardrail is installed on the upper surface of the conveying frame 60 to prevent the cargo body 70 from falling, and the cargo carrying assembly is movably installed on the track assembly by the power assembly 600.

[0028] The conveying frame 60 includes an upper plate 602, a lower plate 604, a detachable side plate 606 and a support 800, the side plate 606 is connected with the upper plate 602 and the lower plate 604 through a quick release structure, and a plurality of supports 800 are supported between the upper plate 602 and the lower plate 604 to play a reinforcing role and create a certain space to accommodate instruments and equipment, and the lower plate 604 is provided with a vehicle-mounted controller 8002 and a detachable vehicle-mounted battery 8010. A sealed space is formed by the upper plate 602, the lower plate 604, the detachable side plate 606 and the support 800 to protect the vehicle-mounted controller 8002 and the detachable vehicle-mounted battery 8010 inside from being corroded and damaged by seawater, and the detachable side plate 606 and the modular battery 8010 design facilitate maintenance. Preferably, the width dimension of the conveying frame 60 is not much different from the width dimension of the walkway plate 20, and the length dimension of the conveying frame 60 is 2-3 times the width dimension of the conveying frame 60. The advantage of this design is that more cargo bodies can be transported, and at the same time, the cargo bodies can be concentrated above the walkway plate 20, so that the transportation device is not easy to overturn.

[0029] The power assembly 600 includes symmetrical driving motors 6008 arranged at the front and rear ends of the bottom of the conveying frame 60, each of which drives the wheels 6010 on the wheel shaft 6000 to rotate forward, reverse or infinitely variable speed. The advantage of this design is that each wheel 6010 is a powered wheel, which can provide greater driving force to transport heavier goods, and the gear transmission realizes stable transmission power. When encountering strong wind and waves, causing the fishing net to rise and fall seriously, some wheels 6010 will be in a suspended state, and the structure and measures of double motors, double powered wheels, 2 groups of front and rear wheels, and an ultra-long front and rear wheel track can ensure that even if some wheels are suspended and idle, the remaining wheels still contact the track and continue to drive the transport device to travel, thereby realizing stable transportation. The tread surface 6012 of the wheel 6010 cooperates with the track contact surface, and the rim 6014 of the wheel 6010 cooperates with the side of the track assembly.

[0030] The power assembly 600 also includes a wheel shaft 6000 installed on the bottom of the conveying frame 60 through a bearing seat 6002 and a wheel bearing 6004; the tread surface 6012 has an inclination angle F, 5°≤F≤15°. In one embodiment, preferably, F is about 10°. The advantage of this design is that the wheel 6010 can automatically maintain driving in the center of the track, and is flexible and stable when turning, while greatly reducing the wear of the wheel 6010 and the track. When the inclination angle F is less than 5°, the wheel is prone to deviation, often derails in wind and waves, and accelerates the wear of the wheel edge; when the inclination angle F is greater than 15°, the wheel 6010 will be overcorrected, causing shaking, and the track and the wheel 6010 surface will be quickly worn due to excessive load.

[0031] The diameter of the rim 6014 is greater than the inner diameter of the tread surface 6012 (usually 3-5 mm larger). Specifically, this structure allows the tread surface 6012 to contact the track first when the wheel 6010 is running, allowing the main load to be transmitted through the tread surface 6012, and the slightly larger rim 6014 acts as a safety barrier, which can maintain a gap of 1-2 mm with the side of the track when the transport device encounters bumps, neither generating additional frictional resistance nor preventing the wheel 6010 from derailing in extreme cases (such as strong wind and waves causing the transport device to deviate); secondly, the diameter difference design allows the rim 6014 to naturally guide the wheel 6010 to travel along the new track direction during the lifting and lowering process of the turning track wheel 6010, like the guide wheel function when a train changes lanes, ensuring a smooth and smooth turning process; finally, such size matching also takes into account the wear compensation of long-term use, even if the tread surface 6012 is worn by 1-2 mm due to long-term use, the rim 6014 can still maintain its original protective function, greatly extending the overall service life of the wheel 6010.

[0032] Specifically, the present application combines the two key technical features of the 10° inclination of the tread 6012 and the 3-5mm diameter difference of the flange 6014, and creatively constructs a set of self-adjusting wheel-rail coordination system. When used together, the 10° inclination of the tread 6012 produces a stable self-centering effect, enabling the wheel 6010 to automatically maintain driving in the center of the track, while the 1-2mm dynamic gap formed by the diameter difference of the flange 6014 not only avoids unnecessary friction resistance, but also provides reliable mechanical blocking under strong wind and wave conditions. This combined design exhibits unique advantages when turning and changing tracks: the inclination of the tread 6012 ensures smooth transition of the wheel 6010 and the track contact surface, while the diameter difference of the flange 6014 forms a gradual guide, making the turning process flexible and stable. In terms of wave resistance, the synergy of the two produces a "1+1>2" effect, when the wave height is 1.5 meters, the inclination of the tread 6012 can compensate for the track deviation, while the diameter difference of the flange 6014 provides secondary protection, reducing the overall derailment rate.

[0033] The height of the flange 6014 is 10-20mm higher than that of the tread 6012. Specifically, the 10-20mm height difference forms a just-right safety redundancy between the wheel 6010 and the track, which can ensure that the flange 6014 contacts the side of the track to form mechanical blocking in time when the transport device shakes in the waves, causing temporary deformation of the track, effectively preventing derailment accidents (actual measurement shows that the derailment risk can be reduced by more than 90%); secondly, this height can provide sufficient protection (the maximum lateral displacement in sea waves is usually not more than 15mm), without increasing unnecessary friction resistance due to being too high (a height of more than 20mm will increase the turning resistance by 35%); thirdly, the 10-20mm height difference and the 10° inclination angle of the tread 6012 form the best cooperation, keeping the flange 6014 and the track with a safety gap of 1-2mm when driving straight, avoiding continuous friction loss and ensuring immediate protection in emergency situations; in addition, this height design also takes into account the factor of long-term wear and tear, even if the tread 6012 is worn down to 5mm, the flange can still maintain an effective protection height; finally, from the perspective of manufacturing process, the 10-20mm height difference is easy to process and form, and can also ensure the structural strength of the flange 6014 (tested to withstand 2000N lateral impact force). The wheel bearing 6004 uses a waterproof deep groove ball bearing.

[0034] Turning to the turning assembly 80, it includes a chassis 802 rotatably mounted below the conveying frame 60, a rotary support arranged at the center of the top of the chassis 802, and connected with the load-carrying assembly; the turning assembly 80 further includes a jacking mechanism mounted at the bottom of the chassis 802 for jacking up the conveying frame 60, the jacking mechanism including a first jacking support 8020 and a second jacking support 8022 symmetrically arranged and driven by a jacking electric push rod 8034, and a jacking wheel 8024 located at the first jacking support 8020 and the second jacking support 8022. When the jacking electric push rod 8034 is extended, the first jacking support 8020 and the second jacking support 8022 are swung downward to press the jacking wheel 8024 to contact the track assembly, while the wheels 6010 are lifted off the track; when the jacking electric push rod 8034 is retracted, the jacking wheel 8024 is away from the track, and the wheels 6010 are in contact with the track again.

[0035] The turning assembly 80 further includes a turning motor 8004, which drives the load-carrying assembly to rotate relative to the chassis 802 through the meshing transmission of a first turning bevel gear 8006 and a second turning bevel gear 8008, while the rotation angle is limited to 90° by a first limiting block 8028 located above the chassis 802 and a second limiting block 8038 located below the conveying frame 60; the rotary support includes a turning shaft 8030, and a turning upper bearing 8012 and a turning lower bearing 8032 mounted on the turning shaft 8030, so as to realize the rotary support of the load-carrying assembly.

[0036] The chassis 802 is provided with a ring-shaped universal ball groove 8026, and the bottom surface of the lower plate 604 of the conveying frame 60 is provided with a universal ball 8036 matched with the universal ball groove 8026. The universal ball 8036 is uniformly and symmetrically arranged in several groups along the universal ball groove 8026, which has the advantages of smoothly connecting the chassis 802 and the conveying frame 60 and supporting the entire load-carrying assembly, while ensuring the free rotation and reversing of the load-carrying assembly on the chassis 802.

[0037] Working principle: when the vehicle controller 8002 starts the running motor 6008, the symmetrically arranged double motors drive the special wheels 6010 on the wheel shaft 6000 to run along the track through the drive gear 6006, wherein the 10° inclination of the tread 6012 and the design that the rim 6014 is higher than the tread 6012 enable the wheels to automatically keep centered and prevent derailment; when the transport device reaches the intersection of the cross track 50, the front wheels fall into the positioning groove 500 to trigger the positioning signal, and the vehicle controller 8002 immediately controls the electric push rod 8034 to push the support frame at a specific uniform speed to lower the lifting wheel 8024, at the same time, the wheels 6010 are lifted off the track, when the lifting is in place, the steering motor 8004 drives the cargo assembly to rotate through the bevel gear set 8006 / 8008, and the limiting block 8028 / 8038 precisely positions the steering at 90°; after the steering is completed, the lifting mechanism and the chassis are reset, the wheels 6010 are in contact with the new track again, and the cooperation of the universal ball 8036 and the ball groove 8026 ensures smooth rotation, the whole system adjusts the wheel-track gap, lifting speed and steering timing dynamically to realize the high performance indicators of steering operation time <8 seconds and derailment rate <1% under the condition of carrying 200kg in a wave environment.

[0038] A transport device operation method for plastic fishing nets, the operation method comprising: S1, start the running motor 6008 through the vehicle controller 8002 to drive the wheels 6010 to run linearly on the straight track 502, during the running process, the tread 6012 of the wheels 6010 keeps linear contact with the track contact surface, and the rim 6014 keeps 1-3mm gap with the track side, the vehicle controller 8002 monitors the current change of the running motor 6008 in real time, and automatically adjusts the output power when the current fluctuation exceeds the set threshold value; S2, when the transport device approaches the track intersection, if the transport device does not need to change direction and change track, the wheels 6010 can be controlled to climb out of the positioning groove 500 to continue straight running, if the transport device needs to change direction and change track, the front wheels can first enter the positioning groove 500 to trigger the positioning sensor, the vehicle controller 8002 reduces the running speed to 0.1-0.3m / s after receiving the positioning signal, and the vehicle controller 8002 cuts off the power supply of the running motor 6008 when the front wheels completely enter the positioning groove 500; S3, start the lifting electric push rod 8034 to extend at a uniform speed of 10-20mm / s, drive the first lifting support frame 8020 and the second lifting support frame 8022 to swing outward to lower the lifting wheel 8024, the lifting wheel 8024 contacts the track contact surface to lift the wheels 6010 off the track, when the lifting electric push rod 8034 extends to 100% of the stroke, the wheels 6010 completely separate from the track assembly, at this time, the first lifting support frame 8020 and the second lifting support frame 8022 are perpendicular to the track assembly, and the lifting wheel 8024 is in full contact with the track assembly. S4, the steering motor 8004 is started, and the cargo assembly is rotated at a speed of 2-5 r / min relative to the chassis 802 through the meshing transmission of the first steering bevel gear 8006 and the second steering bevel gear 8008, when the rotation angle reaches 85°, the steering motor 8004 enters the speed reduction mode, when the first limit block 8028 contacts the second limit block 8038, the steering motor 8004 stops running, and the steering is in place; S5, the lifting electric push rod 8034 is uniformly retracted at a speed of 8-15 mm / s, the lifting wheel 8024 is lifted, and the wheel 6010 is lowered, when the lifting electric push rod 8034 is completely retracted and returned to the original position, the lifting wheel 8024 is completely separated from the track assembly, and the wheel 6010 is in contact with the track assembly again; S6, the steering motor 8004 is started in reverse, and the chassis 802 is rotated back at a speed of 2-5 r / min relative to the cargo assembly through the meshing transmission of the first steering bevel gear 8006 and the second steering bevel gear 8008, when the rotation angle reaches 85°, the steering motor 8004 enters the speed reduction mode, and when the first limit block 8028 reversely contacts the second limit block 8038, the steering motor 8004 stops running, so that the chassis 802 is rotated back to the original position, that is, the lifting wheel 8024 and the wheel 6010 are in the same direction; S7, the vehicle-mounted controller 8002 detects the state of each component, and after the state is normal, the driving motor 6008 is restarted and runs in the direction of the new straight track 502.

[0039] Further, in the S1 step, the vehicle-mounted controller 8002 further comprises a wave motion prediction module, which dynamically adjusts the gap between the rim 6014 and the side of the track according to the inertial measurement unit data, and when the wave height is greater than 1 m, the gap is expanded to 3-5 mm.

[0040] In the S2 step, after the vehicle-mounted controller 8002 receives the positioning signal, the wave motion prediction module automatically selects the trough period for operation.

[0041] In the S3 step, the lifting electric push rod 8034 is started, and the wave motion prediction module dynamically adjusts the lifting speed according to the real-time wave height, and when the wave height is less than 0.5 m, the standard speed of 20 mm / s is adopted, and when the wave height is 1.5 m, the speed is reduced to 10 mm / s.

[0042] It should be noted that the operation method in the present application can realize precise control of the transportation operation process through the intelligent control theory and feedback mechanism of the vehicle-mounted controller 8002, real-time monitoring of the transportation device system state through path setting and sensors, and autonomous decision-making, or can receive various instructions such as forward, backward, lifting, steering and the like sent by a handheld wireless remote controller to realize transportation operation.

[0043] The above merely describes the preferred embodiments of the present application and is not used to limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A transport device for plastic fish rafts, characterized in that, include Plastic fish raft body (10); The track assembly is fixedly installed on the walkway plate (20) of the plastic fish raft body (10) by a track fixing frame (40). The track assembly includes a cross track (50) and a straight track (502) installed in a cross pattern, and a positioning groove (500) and a climbing block (504) are provided at the intersection. The cargo assembly includes a conveyor frame (60), railings, and cargo body (70). The railings are installed on the conveyor frame (60) to prevent the cargo body (70) from falling off. The cargo assembly is movably mounted on the track assembly via a power assembly (600). The power assembly (600) includes a drive motor (6008) symmetrically arranged at the front and rear ends of the bottom of the conveyor frame (60). Each drive motor (6008) drives a wheel (6010) on a wheel axle (6000) to rotate forward, backward, or infinitely fast via a drive gear (6006). The tread (6012) of the wheel (6010) mates with the track contact surface, and the rim (6014) of the wheel (6010) mates with the side of the track assembly. The steering assembly (80) includes a chassis (802) rotatably mounted below the conveyor frame (60), a rotating support disposed at the top center of the chassis (802), the rotating support being rotatably connected to the cargo assembly; the steering assembly (80) also includes a lifting mechanism mounted at the bottom of the chassis (802) for lifting the conveyor frame (60), the lifting mechanism including a first lifting support frame (8020) and a second lifting support frame (8022) symmetrically arranged and driven by a lifting electric push rod (8034), and lifting wheels (8024) located on the first lifting support frame (8020) and the second lifting support frame (8022).

2. The transport device for plastic fish rafts according to claim 1, characterized in that, The power assembly (600) also includes an axle (6000) mounted on the bottom of the conveyor frame (60) via a bearing housing (6002) and a wheel bearing (6004); the tread (6012) has an inclination angle F, wherein 5°≤F≤15°, and the diameter of the wheel rim (6014) is greater than the inner diameter of the tread (6012).

3. The transport device for plastic fish rafts according to claim 1, characterized in that, When the lifting electric push rod (8034) extends, it presses the lifting wheel (8024) down to contact the track assembly by swinging the first lifting support frame (8020) and the second lifting support frame (8022) downward, while lifting the wheel (6010) away from the track; when the lifting electric push rod (8034) retracts, the lifting wheel (8024) leaves the track, and the wheel (6010) re-contacts the track.

4. A transport device for plastic fish rafts according to claim 1, characterized in that, It also includes a steering motor (8004), which drives the cargo assembly to rotate relative to the chassis (802) through the meshing of a first steering bevel gear (8006) and a second steering bevel gear (8008), and the rotation angle is limited to 90° by a first limiting block (8028) located above the chassis (802) and a second limiting block (8038) located below the conveyor frame (60); A rotating support includes a steering shaft (8030) and an upper steering bearing (8012) and a lower steering bearing (8032) mounted on the steering shaft (8030) to achieve rotational support for the cargo assembly.

5. A transport device for plastic fish rafts according to claim 1, characterized in that, The chassis (802) is provided with a ring-shaped universal ball groove (8026), and the bottom surface of the lower plate (604) of the conveying frame (60) is provided with a number of universal balls (8036) that cooperate with the universal ball groove (8026).

6. A transport device for plastic fish rafts according to claim 2, characterized in that, The wheel bearing (6004) is a waterproof deep groove ball bearing.

7. A transport device for plastic fish rafts according to claim 1, characterized in that, The depth of the positioning groove (500) is 1 / 5 to 1 / 3 of the diameter of the wheel (6010).

8. A transport device for plastic fish rafts according to claim 1, characterized in that, The conveying frame (60) includes an upper plate (602), a lower plate (604), a detachable side plate (606), and support members (800). The side plate (606) is connected to the upper plate (602) and the lower plate (604) via a quick-release structure. Several support members (800) are supported between the upper plate (602) and the lower plate (604). The lower plate (604) is equipped with an on-board controller (8002) and a detachable on-board battery (8010).

9. A transport device for plastic fish rafts according to claim 1, characterized in that, The climbing block (504) has an inclination angle A, 15°≤A≤30°, and the climbing block (504) is in contact with the rim (6014) of the wheel (6010).

10. A method for operating a transport device for plastic fish rafts, comprising the transport device for plastic fish rafts as described in any one of claims 1-9, characterized in that, The operation method includes: S1. Drive the wheel (6010) to run in a straight line on the straight track (502). During the running process, the tread surface (6012) of the wheel (6010) cooperates with the track contact surface, and the wheel flange (6014) of the wheel (6010) cooperates with the side of the track assembly. S2. When the transport device approaches the track intersection, if it does not need to change direction or change track, the wheels (6010) are controlled to continue traveling in a straight line; if it needs to change direction or change track, the front wheels enter the positioning groove (500) and trigger a signal. After receiving the positioning signal, the travel speed is automatically reduced. When the front wheels are completely in the positioning groove (500), the power supply of the travel motor (6008) is cut off. S3. Start the extension of the lifting electric push rod (8034), and drive the lifting wheel (8024) to move down by swinging the first lifting support frame (8020) and the second lifting support frame (8022) outward, so that the lifting wheel contacts the track contact surface of (8024), and at the same time lift the wheel (6010) away from the track; S4. Start the power source and drive the cargo component to rotate relative to the chassis (802) through the transmission mechanism. When the rotation angle reaches the limit position, stop the operation and turn to the correct position. S5. The lifting electric push rod (8034) retracts, causing the lifting wheel (8024) to leave the track, and the wheel (6010) to re-contact the track; S6. The power source starts in reverse and drives the chassis (802) to rotate back relative to the cargo assembly through the transmission mechanism until the chassis (802) returns to its original position. S7. After the status of each component is checked to be normal, the driving motor (6008) is restarted and runs along the new track direction.

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