Transport device for plastic fishing nets and method of operation thereof

Abstract

The application provides a transport device for plastic fishing rafts and an operation method thereof, comprising a plastic fishing raft body; a track assembly fixedly installed on a walkway plate of the plastic fishing raft body through a track fixing frame, the track assembly comprising a cross track and a straight track cross-installed, a positioning groove and a climbing block being arranged at the cross; a cargo carrying assembly comprising a conveying frame, a handrail and a cargo body, the cargo carrying assembly being movably installed on the track assembly through a power assembly, the power assembly comprising travel motors symmetrically arranged at front and rear ends of a bottom of the conveying frame, each travel motor driving a wheel on an axle to rotate through a drive gear, a tread surface of the wheel being matched with a track contact surface, and a rim of the wheel being matched with a side of the track assembly. The application significantly improves the mechanization level of offshore aquaculture operation and solves the problems of low efficiency and poor safety of traditional manual carrying.

Description

Technical Field

[0001] This invention relates to a transport device for plastic fish rafts and its operating method. Background Technology

[0002] Traditional wooden fish rafts are unsafe, prone to aging, and pollute the sea. To address the environmental pressure caused by traditional fish rafts, new plastic fish rafts have been introduced to replace them. These new plastic fish rafts offer numerous advantages, including strong resistance to wind and waves, resistance to seawater corrosion, environmental friendliness (recyclable), long service life, and a neat and aesthetically pleasing appearance. This has led to a new wave of upgrading and transforming marine aquaculture along the coast of China. However, this transformation mainly focuses on the frame and buoys of the aquaculture facilities, with little attention paid to the mechanization and automation equipment. Coupled with technical limitations, this has resulted in challenges in the production operations of the transformed plastic fish rafts. The methods are still largely similar to those of traditional wooden fish rafts, and the aquaculture operation mode remains relatively primitive and extensive. The level of mechanization in aquaculture is low. Even the most basic tasks such as moving fishing gear, nets, feed, and harvested goods still rely on manual labor. The labor intensity is high, the amount of labor required is large, and there is a serious lack of high-end aquaculture equipment such as mechanized transportation systems. In addition, the wind and sun at sea, high waves and strong currents cause the fish rafts to sway violently, making manual handling inefficient. Incidents of people falling into the water during the handling process occur frequently. All of the above reasons have led to an increase in aquaculture costs year by year and poor aquaculture benefits, which is not conducive to the sustainable development of my country's marine aquaculture industry.

[0003] Therefore, the present invention aims to provide a transportation device and its operation method for plastic fish rafts, so as to realize the mechanical, efficient and safe transportation of fishing gear, fishing nets, feed and harvested goods on plastic fish rafts, meet the transportation needs of large-scale marine plastic fish raft aquaculture, improve the degree of mechanization of aquaculture, improve the aquaculture effect and economic benefits, and promote the further transformation and upgrading of the plastic fish raft aquaculture industry. Summary of the Invention

[0004] This invention provides a transportation device and its operation method for plastic fish rafts, which can effectively solve the above-mentioned problems.

[0005] This invention is implemented as follows:

[0006] A transport device for plastic fish rafts, comprising:

[0007] Plastic fish raft body;

[0008] The track assembly is fixedly installed on the walkway plate of the plastic fish raft body by a track fixing frame. The track assembly includes cross-mounted cross rails and straight rails, and positioning grooves and climbing blocks are provided at the intersections.

[0009] A cargo-carrying assembly includes a conveyor frame, railings, and a cargo body. The railings are installed on top of the conveyor frame to prevent the cargo body from falling. The cargo-carrying assembly is movably mounted on the track assembly via a power assembly. The power assembly includes travel motors symmetrically arranged at the front and rear ends of the bottom of the conveyor frame. Each travel motor drives a wheel on its axle to rotate forward, backward, or infinitely fast via a drive gear. The tread of the wheel mates with the contact surface of the track, and the rim of the wheel mates with the side of the track assembly.

[0010] The steering assembly includes a chassis rotatably mounted below the conveyor frame, a rotating support disposed at the top center of the chassis, the rotating support being rotatably connected to the cargo assembly; the steering assembly also includes a lifting mechanism mounted at the bottom of the chassis for lifting the conveyor frame, the lifting mechanism including a first lifting support frame and a second lifting support frame symmetrically arranged and driven by a lifting electric push rod, and lifting wheels located on the first lifting support frame and the second lifting support frame.

[0011] A method for operating a transport device for plastic fish rafts, the method comprising:

[0012] S1. The vehicle controller starts the driving motor and drives the wheels to run in a straight line on the straight track. During the driving process, the tread of the wheel maintains linear contact with the track contact surface, and the wheel flange maintains a gap of 1-3mm with the side of the track. The vehicle controller monitors the current change of the driving motor in real time and automatically adjusts the output power when the current fluctuation exceeds the set threshold.

[0013] S2. When the transport device approaches the track intersection, if the transport device does not need to change direction or change track, the wheels can be controlled to climb out of the positioning groove and continue to travel in a straight line. If it needs to change direction or change track, the following operation can be performed: the front wheels first enter the positioning groove, triggering the positioning sensor. After receiving the positioning signal, the vehicle controller automatically reduces the driving speed to 0.1-0.3 m / s. When the front wheels are completely in the positioning groove, the vehicle controller cuts off the power to the driving motor.

[0014] S3. Activate the electric lifting push rod, which extends at a constant speed of 10-20 mm / s. By swinging the first and second lifting support frames outward, the lifting wheel moves downward, and the lifting wheel contacts the track contact surface. At the same time, the wheel is lifted off the track. When the electric lifting push rod extends to 100% of its stroke, the wheel is completely disengaged from the track assembly. At this time, the first and second lifting support frames are perpendicular to the track assembly, and the lifting wheel is in complete contact with the track assembly.

[0015] S4. The steering motor starts, and through the meshing transmission of the first steering bevel gear and the second steering bevel gear, the cargo assembly rotates relative to the chassis at a speed of 2-5 r / min. When the rotation angle reaches 85°, the steering motor enters the deceleration mode. When the first limit block contacts the second limit block, the steering motor stops running and the steering is in place.

[0016] S5. The lifting electric push rod retracts at a constant speed of 8-15mm / s, the lifting wheel is raised, the wheel moves down, and when the lifting electric push rod is fully retracted back to its original position, the lifting wheel is completely disengaged from the track assembly, and the wheel is fully in contact with the track assembly again.

[0017] S6. The steering motor starts in reverse. Through the meshing transmission of the first steering bevel gear and the second steering bevel gear, the chassis rotates back relative to the cargo component at a speed of 2-5 r / min. When the rotation angle reaches 85°, the steering motor enters the deceleration mode. When the first limit block contacts the second limit block in the reverse direction, the steering motor stops running, so that the chassis returns to its original position, that is, the lifting wheel and the wheel are in the same direction.

[0018] S7. The vehicle controller detects the status of each component. After the status is normal, the driving motor restarts and runs along the new straight track direction.

[0019] The beneficial effects of this invention are:

[0020] This invention achieves mechanization and efficiency in the transportation of aquaculture equipment on plastic fish rafts through the design of a track system and steering mechanism. Its uniquely designed wheel-rail system enables the transport device to automatically maintain a stable travel trajectory, while the intelligent lifting and steering mechanism ensures smooth and reliable track-changing operations. The modular cargo platform and segmented track design perfectly adapt to the flexible characteristics of plastic fish rafts. Positioning slots at intersections ensure that the transport device can quickly, conveniently, and accurately reach the predetermined track-changing position. Climbing blocks at intersections ensure that the transport device is more stable and smooth when crossing intersections. The design of the front and rear power wheels and cargo platform structure increases the stability of the transport device on the fish raft, effectively preventing it from tipping over. The built-in onboard battery and controller improve the automation and safety of the transportation operation. The entire system significantly improves the mechanization level of marine aquaculture operations and solves the problems of low efficiency and poor safety of traditional manual handling. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0022] Figure 1 This is the front view of the present invention.

[0023] Figure 2 This is a three-dimensional diagram showing the operating status of the transportation device of the present invention.

[0024] Figure 3 This is a schematic diagram of the power component of the present invention.

[0025] Figure 4 This is a plan view of the transport device of the present invention.

[0026] Figure 5 The explosion of the present invention Figure 1 .

[0027] Figure 6 The explosion of the present invention Figure 2 .

[0028] Figure 7 This is a diagram showing the operational status of the transportation device of the present invention.

[0029] Figure 8 This is a diagram showing the lifting state of the transport device of the present invention.

[0030] Figure 9 This is a diagram showing the lifting and turning state of the transport device of the present invention.

[0031] Explanation of icon numbers:

[0032] 10. Plastic fish raft body; 20. Walkway slab; 40. Track fixing frame;

[0033] 50. Cross track; 500. Positioning groove; 502. Linear track; 504. Climbing block;

[0034] 60. Conveyor frame; 600. Power unit; 6000. Axle; 6002. Bearing housing; 6004. Wheel bearing; 6006. Drive gear; 6008. Travel motor; 6010. Wheel; 6012. Tread; 6014. Wheel flange; 602. Upper plate; 604. Lower plate; 606. Side plate;

[0035] 70. The cargo itself;

[0036] 80. Steering assembly; 800. Support component; 8002. Vehicle controller; 8004. Steering motor; 8006. First steering bevel gear; 8008. Second steering bevel gear; 8010. Vehicle battery; 8012. Upper steering bearing; 802. Chassis; 8020. First lifting support frame; 8022. Second lifting support frame; 8024. Lifting wheel; 8026. Universal ball joint groove; 8028. First limiting block; 8030. Steering shaft; 8032. Lower steering bearing; 8034. Lifting electric push rod; 8036. Universal ball joint; 8038. Second limiting block. Detailed Implementation

[0037] 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.

[0038] 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.

[0039] Reference Figure 1-9 As shown, a transport device for plastic fish rafts includes...

[0040] 10 plastic fish rafts;

[0041] 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.

[0042] 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.

[0043] Specifically, with a load of 200kg, the tangential component force generated by the 22° inclined plane is F = mg·sin22°≈735N. This component force has the best matching degree with the 1500N thrust of the electric actuator (the actual output efficiency of the actuator is about 50%). Furthermore, with the lifting wheel (8024) having a diameter of 80mm, the contact arc length of the 22° inclined plane is 80×π×(22 / 360)≈15.3mm, which forms an optimal match with the elastic deformation of the polyurethane material (about 2mm). On the other hand, the tangential component force of the 15° inclined plane is F = mg·sin15°≈507N, which requires an electric actuator output of >1000N to overcome. The actuator size needs to be increased by 30%, and the energy consumption increases by 45%. The acceleration of the 30° inclined plane is a = g·sin30° = 0.5g, which generates an instantaneous impact force of 1000N (with a 200kg load). This results in a 5-fold increase in the loosening rate of the track fixing bolts and a 60% reduction in bearing life. Furthermore, when A=35°, the gap between the 8024 lifting wheel and the side of the track is less than 2mm, and the accumulation of mud and sand will inevitably lead to jamming. Please refer to the chart below for details:

[0044]

[0045] Furthermore, the climbing block 504 contacts and engages with the wheel flange of the wheel 6010. The 22° ramp angle of the climbing block 504 has been verified by dynamic simulation. When the angle is less than 15°, the wheel flange cannot make smooth contact, and when it is greater than 30°, the wheel flange has difficulty climbing. The setting of the climbing block 504 ensures that the transport device is more stable and smooth when crossing the cross track position.

[0046] Furthermore, the track assembly adopts a segmented design and assembly, with each track section ranging from 1.0 to 2.5 meters in length, and a 5-15 mm expansion gap between sections. Specifically, the track uses a single section length design of 1500 mm (based on existing technology and actual marine measurements). When the section length is less than 1000 mm, too many track joints can lead to bumpy rides; exceeding 2500 mm makes it difficult to accommodate the wave deformation of the plastic fish raft, causing the track to easily develop internal stress and deform. The 10 mm expansion gap is set based on the calculation of the material's thermal expansion coefficient (the linear expansion coefficient of aluminum alloy is 23.1 × 10⁻⁶ per degree Celsius), which can avoid thermal stress accumulation within the operating temperature range of -20℃ to 60℃.

[0047] The depth of the positioning groove 500 is 1 / 5 to 1 / 3 of the diameter of the wheel 6010. Specifically, the minimum depth of 1 / 5 of the diameter ensures that the wheel 6010 has sufficient embedment when it falls into the positioning groove 500. When the diameter of the wheel 6010 is 100mm, a positioning groove depth of 20mm in the positioning groove 500 allows the wheel 6010 to be effectively locked in, producing a clear mechanical positioning feel, while avoiding insecure positioning due to excessive shallowness (when the depth is less than 15mm, the probability of dislodging under wave impact increases by 5 times). Secondly, the maximum depth limit of 1 / 3 of the diameter avoids operational difficulties caused by excessive embedment. When the groove depth exceeds 35mm, the wheel 6010 needs to do extra work to climb out of the positioning groove 500, which increases the climbing difficulty and significantly prolongs the steering operation time. In addition, the 1 / 5 to 1 / 3 ratio design has an adaptive advantage, maintaining a consistent positioning effect and operating feel regardless of changes in the diameter of the wheel 6010. The positioning groove ensures that the transport device can quickly, conveniently, and accurately reach the predetermined track-changing position.

[0048] The cargo assembly includes a conveyor frame 60, railings, and cargo body 70. The railings are mounted on top of the conveyor frame 60 to prevent the cargo body 70 from falling off. The cargo assembly is movably mounted on a track assembly via a power assembly 600.

[0049] The transport frame 60 includes an upper plate 602, a lower plate 604, detachable side plates 606, and support members 800. The side plates 606 are connected to the upper plate 602 and the lower plate 604 via a quick-release structure. Several support members 800 provide reinforcement between the upper plate 602 and the lower plate 604, while also creating space to accommodate instruments and equipment. The lower plate 604 houses the vehicle controller 8002 and the detachable vehicle battery 8010. The upper plate 602, lower plate 604, detachable side plates 606, and support members 800 form a sealed space to protect the internal vehicle controller 8002 and detachable vehicle battery 8010 from seawater corrosion and damage. The detachable side plates 606 and modular battery 8010 are designed for easy maintenance. Preferably, the width of the conveyor frame 60 is not much different from the width of the walkway 20, and the length of the conveyor frame 60 is 2-3 times the width. The advantage of this design is that more goods can be transported, and the goods can be concentrated above the walkway 20, making it less likely for the transport device to tip over.

[0050] The power assembly 600 includes symmetrically arranged travel motors 6008 at the front and rear ends of the bottom of the conveyor frame 60. Each travel motor 6008 drives the wheels 6010 on the axle 6000 to rotate forward, backward, or with stepless speed regulation via a drive gear 6006. The advantage of this design is that each wheel 6010 is a powered wheel, providing greater driving force for transporting heavier goods, while gear transmission ensures stable power transmission. In situations where strong winds and waves cause severe up-and-down movement of the fish raft, some wheels 6010 may be suspended in the air. The dual-motor, dual-powered-wheel, two sets of front and rear wheels, and extra-long wheelbase structure ensure that even if some wheels are suspended and spinning freely, the remaining wheels remain in contact with the track and continue to drive the transport device, thus achieving stable transport. The tread surface 6012 of the wheel 6010 mates with the track contact surface, and the wheel flange 6014 of the wheel 6010 mates with the side of the track assembly.

[0051] The power assembly 600 also includes an axle 6000, mounted on the bottom of the transport frame 60 via a bearing housing 6002 and a wheel bearing 6004; the tread 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 stay centered on the track, providing both flexibility and stability during steering, while significantly reducing wear on the wheel 6010 and the track. When the inclination angle F is less than 5°, the wheel is prone to deviation, frequently derailing in wind and waves, and accelerating wear on the wheel edges; when the inclination angle F is greater than 15°, the wheel 6010 overcorrects, causing wobbling, and also causes rapid wear on the track and wheel 6010 surfaces due to excessive load.

[0052] The diameter of the rim 6014 is larger than the inner diameter of the tread 6012 (usually 3-5 mm larger). Specifically, this structure allows the tread 6012 to contact the track first during wheel 6010 operation, enabling the main load to be transmitted through the tread 6012. The slightly larger flange 6014 acts as a safety barrier, maintaining a 1-2mm gap with the track side when the transport device encounters bumps. This prevents additional frictional resistance and, in extreme cases (such as when the transport device deviates due to strong winds and waves), mechanically prevents wheel 6010 from derailing. Secondly, the diameter difference design allows the flange 6014 to naturally guide wheel 6010 along the new track direction during the lifting and lowering of the steering wheel 6010, much like the guide wheel when a train changes tracks, ensuring a smooth and stable steering process. Finally, this dimensional fit also considers wear compensation over long-term use. Even if the tread 6012 wears 1-2mm due to long-term use, the flange 6014 can still maintain its original protective function, greatly extending the overall service life of wheel 6010.

[0053] Specifically, this invention organically combines two key technical features—the 10° inclination angle of the tread 6012 and the 3-5mm diameter difference of the wheel flange—to creatively construct a wheel-rail cooperative system with self-adjusting capabilities. When used together, the 10° inclination angle of the tread 6012 generates a stable self-centering effect, enabling the wheel 6010 to automatically maintain its position in the center of the track. Simultaneously, the 1-2mm dynamic gap formed by the diameter difference of the wheel flange 6014 avoids unnecessary frictional resistance and provides reliable mechanical resistance under strong wind and wave conditions. This combined design exhibits unique advantages during steering and track changes: the inclination angle of the tread 6012 ensures a smooth transition between the wheel 6010 and the track contact surface, while the diameter difference of the wheel flange 6014 provides progressive guidance, making the steering process both flexible and stable. In terms of wave resistance, the synergistic effect of the two produces a "1+1>2" effect. When the wave height is 1.5 meters, the inclination angle of the tread 6012 can compensate for track deviation, while the diameter difference of the wheel flange 6014 provides secondary protection, reducing the overall derailment rate.

[0054] The flange 6014 is 10-20mm higher than the tread 6012. Specifically, this 10-20mm height difference creates a suitable safety margin between the wheel 6010 and the rail. When the transport device sways in waves causing temporary rail deformation, this height difference ensures that the flange 6014 promptly contacts the side of the rail to form a mechanical barrier, effectively preventing derailment (actual tests show it can reduce the risk of derailment by more than 90%). Secondly, this height provides sufficient protection (the maximum lateral displacement in waves is usually no more than 15mm) without increasing unnecessary frictional resistance (a height exceeding 20mm will increase steering resistance by 35%). Furthermore, the 10mm... The -20mm height difference and the 10° inclination angle of the tread 6012 create an optimal fit, maintaining a 1-2mm safety clearance between the wheel flange 6014 and the track during straight-line travel. This avoids continuous frictional wear while ensuring immediate protection in emergencies. Furthermore, this height design considers long-term wear factors; even if the tread 6012 wears to 5mm, the wheel flange still maintains an effective protective height. Finally, from a manufacturing perspective, the 10-20mm height difference facilitates machining and ensures the structural strength of the wheel flange 6014 (tested to withstand a lateral impact force of 2000N). The wheel bearing 6004 uses a waterproof deep groove ball bearing.

[0055] The steering assembly 80 includes a chassis 802 rotatably mounted below the conveyor frame 60, a rotating support member disposed at the top center of the chassis 802, and the rotating support member 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 includes 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 and second lifting support frames 8022. When the lifting electric push rod 8034 extends, it lowers the first and second lifting support frames 8020 and 8022 to press the lifting wheels 8024 into contact with the rail assembly, simultaneously lifting the wheels 6010 off the rail. When the lifting electric push rod 8034 retracts, the lifting wheels 8024 leave the rail, and the wheels 6010 re-enter contact with the rail.

[0056] The steering assembly 80 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; and a rotation support, which includes a steering shaft 8030 and an upper steering bearing 8012 and a lower steering bearing 8032 mounted on the steering shaft 8030, thereby realizing the rotation support of the cargo assembly.

[0057] The chassis 802 is provided with a ring-shaped universal ball groove 8026, and the bottom surface of the lower plate 604 of the conveyor frame 60 is provided with universal balls 8036 that cooperate with the universal ball groove 8026. Several sets of universal balls 8036 are evenly and symmetrically arranged along the universal ball groove 8026. The advantage of this design is that it can smoothly connect the chassis 802 and the conveyor frame 60 and support the entire cargo assembly, while ensuring that the cargo assembly can freely rotate and change direction on the chassis 802.

[0058] Working principle: When the on-board controller 8002 starts the travel motor 6008, the symmetrically arranged dual motors drive the special wheels 6010 on the axle 6000 along the track via the drive gear 6006. The 10° inclination angle of the tread 6012 and the design of the wheel flange 6014 being higher than the tread 6012 enable the wheel to automatically stay centered and prevent derailment. When the transport device reaches the intersection of the cross track 50, the front wheel falls into the positioning groove 500, triggering a positioning signal. The on-board controller 8002 then controls the lifting electric push rod 8034 to push the support frame at a specific uniform speed, pressing down the lifting wheel 8024. When the wheel 6010 is lifted off the track, once it is in position, the steering motor 8004 drives the cargo component to rotate via the bevel gear set 8006 / 8008, and the limit block 8028 / 8038 precisely positions the 90° turn. After the turn is completed, the lifting mechanism and chassis are reset, and the wheel 6010 re-engages with the new track. The cooperation between the universal ball 8036 and the ball groove 8026 ensures smooth rotation. The entire system achieves high performance indicators such as a turning operation time of <8 seconds and a derailment rate of <1% under the condition of a 200kg cargo load in a wave environment by dynamically adjusting the wheel-rail clearance, lifting speed and turning timing.

[0059] A method for operating a transport device for plastic fish rafts, the method comprising:

[0060] S1. The on-board controller 8002 starts the drive motor 6008, driving the wheel 6010 to run in a straight line on the straight track 502. During the journey, the tread surface 6012 of the wheel 6010 maintains linear contact with the track contact surface, and the wheel flange 6014 maintains a gap of 1-3mm with the side of the track. The on-board controller 8002 monitors the current change of the drive motor 6008 in real time, and automatically adjusts the output power when the current fluctuation exceeds the set threshold.

[0061] S2. When the transport device approaches the track intersection, if the transport device does not need to change direction or change track, the wheels 6010 can be controlled to climb out of the positioning groove 500 and continue to travel in a straight line. If it needs to change direction or change track, the following operation can be performed: the front wheels first enter the positioning groove 500 to trigger the positioning sensor. After receiving the positioning signal, the vehicle controller 8002 automatically reduces the travel speed to 0.1-0.3 m / s. When the front wheels are completely in the positioning groove 500, the vehicle controller 8002 cuts off the power to the travel motor 6008.

[0062] S3. Start the lifting electric push rod 8034 and extend it at a constant speed of 10-20mm / s. By swinging the first lifting support frame 8020 and the second lifting support frame 8022 outward, the lifting wheel 8024 is driven to move downward. The lifting wheel 8024 contacts the rail contact surface, and at the same time, the wheel 6010 is lifted off the rail. When the lifting electric push rod 8034 extends to 100% of its stroke, the wheel 6010 is completely separated from the rail assembly. At this time, the first lifting support frame 8022 and the second lifting support frame 8022 are perpendicular to the rail assembly, and the lifting wheel 8024 is in complete contact with the rail assembly.

[0063] S4. Steering motor 8004 starts. Through the meshing transmission of the first steering bevel gear 8006 and the second steering bevel gear 8008, the cargo component rotates relative to the chassis 802 at a speed of 2-5 r / min. When the rotation angle reaches 85°, steering motor 8004 enters deceleration mode. When the first limit block 8028 contacts the second limit block 8038, steering motor 8004 stops running and the steering is in place.

[0064] S5. The lifting electric push rod 8034 retracts at a constant speed of 8-15mm / s, the lifting wheel 8024 is raised, and the wheel 6010 moves down. When the lifting electric push rod 8034 is fully retracted and returned to its original position, the lifting wheel 8024 is completely disengaged from the track assembly, and the wheel 6010 is fully in contact with the track assembly again.

[0065] S6. The steering motor 8004 starts in reverse. Through the meshing transmission of the first steering bevel gear 8006 and the second steering bevel gear 8008, the chassis 802 rotates back relative to the cargo component at a speed of 2-5 r / min. When the rotation angle reaches 85°, the steering motor 8004 enters the deceleration mode. When the first limit block 8028 contacts the second limit block 8038 in the reverse direction, the steering motor 8004 stops running, so that the chassis 802 returns to its original position, that is, the lifting wheel 8024 and the wheel 6010 are in the same direction.

[0066] S7, the vehicle controller 8002 detects the status of each component. After the status is normal, the drive motor 6008 restarts and runs along the new straight track 502.

[0067] Furthermore, in step S1, the vehicle controller 8002 also includes a wave motion prediction module. The wave motion prediction module dynamically adjusts the gap between the wheel flange 6014 and the side of the track based on the data from the inertial measurement unit, and expands the gap to 3-5mm when the wave height is greater than 1m.

[0068] In step S2, after the vehicle controller 8002 receives the positioning signal, the wave motion prediction module automatically selects the trough period for operation.

[0069] In step S3, the electric lifting actuator 8034 is activated. The wave motion prediction module dynamically adjusts the lifting speed according to the real-time wave height. When the wave height is less than 0.5m, a standard speed of 20mm / s is used, and when the wave height is 1.5m, the speed is reduced to 10mm / s.

[0070] It should be noted that the operation method in this invention can achieve precise control of the transportation operation process by using the vehicle controller 8002 based on intelligent control theory and feedback mechanism, through path setting and real-time monitoring of the transportation device system status by sensors and autonomous decision-making. It can also receive various commands such as forward, backward, lifting, and turning sent by a handheld wireless remote controller to achieve transportation operation.

[0071] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the invention should be included within the scope of protection of the invention.

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 wheel (6010) is controlled to continue to travel in a straight line; if it needs to change direction or change track, the front wheel enters the positioning groove (500) and triggers a signal. After receiving the positioning signal, the travel speed is automatically reduced. When the front wheel is 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 (8024) contacts the track contact surface, 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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