CN102020004B

CN102020004B - Water surface garbage cleaning ship

Info

Publication number: CN102020004B
Application number: CN 201010223569
Authority: CN
Inventors: 梁华锦; 管贻生; 张宪民
Original assignee: South China University of Technology SCUT
Current assignee: South China University of Technology SCUT
Priority date: 2010-07-09
Filing date: 2010-07-09
Publication date: 2013-04-17
Anticipated expiration: 2030-07-09
Also published as: CN102020004A

Abstract

The invention relates to a water surface garbage cleaning ship. In the invention, a ship body is of an dual-body design, and the water surface garbage cleaning ship is composed of a detection and navigation system, a collection system, a garbage treatment system, a garbage unloading system and a propulsion system; and the water surface garbage cleaning ship can have three working modes, namely a free navigation mode, a landing operation mode and a non-landing operation mode. The water surface garbage cleaning ship can realize autonomous navigation and work, unmanned operation, full automation, good cleaning effect, strong flexibility, smoothness in working, safety and reliability by using the detection and navigation system to detect a region with garbage on the water surface. A scraper bucket chain network type collection and transmission device designed in the water surface garbage cleaning ship can realize the combination of continuous and intermittent work of recovery, thereby being energy-saving and high-efficient. Simultaneously, the device can change the amplitude up and down by hydraulic drive and fish floating objects in different water depths faster and more effectively. A satellite ship is designed for collaborative collection, thereby having better flexibility and high efficiency. The shoreside water surface floating objects and semi-floating objects are recovered and taken onto the ship by using a hydraulic rotary water spray gun to spray water.

Description

Water rubbish clean-up vessel

Technical field

The present invention relates to anti-pollution vessel, a kind of high automation specifically, the mechanical-electrical-hydraulic integration water rubbish clean-up vessel of mechanization.

Background technology

Along with the development of society, the increase of population, the reservoir of present many countries, harbour, lake, river, marine site floating debris pollute very serious, bring negative effect for water resource, people's living environment, regional investment environment and exploitation tourist resources etc.In addition, water hyacinth is extremely wreaked havoc in China and North America, Asia, Oceania and Africa, and the original biology in many waters is become extinct in a large number, havoc bio-diversity and the ecologic balance, cause river blackout, smelly, river, obliteration of lake, relevant marine site frequent occurrence.Seriously have influence on the safety of shipping safety, water conservancy projects and the Hydropower Plant of boats and ships, the serious economic loss that agricultural irrigation, aquaculture, tourism etc. are caused.

Now, the cleaning of ocean, river rubbish, disposal technology are relative with facility backward, and garbage-cleaning is still take labor-intensive as main, the local original method that mostly adopts artificial pumped surface rubbish in many non-coastal flourishing cities.Utilize half cabin formula or deck motor lighter, stood on the limit, deck by the hand-held string bag of sanitationman and directly rubbish to be dragged for up, this mode of operation labour intensity is large, work under bad environment, personal safety does not ensure, it is large not only to clear up difficulty, integrated cost is high, and can't administer the maritime environment pollutions such as water hyacinth that break out in the heavy rain typhoon season.The used garbage cleaning vessal in many cities, owing to be subjected to the factor affecting such as fund and technology, its performance and efficiency far can not meet requirementses.Therefore, be badly in need of safer, the efficient garbage-cleaning equipment waterborne of research and development.

Now both at home and abroad at the collecting refuse from open water device, mainly adopt two kinds of gathering-devices of scraper bowl or belt conveyor.The scraper bowl collection work is discontinuous, belongs to the interruption work type.In refuse on water surface, when at zero speed of a ship or plane collection status, must there be guiding device to guide in the bucket by rubbish, power consumption and efficient is not high.In addition, when scraper bowl promotes or upset when leaving the water surface, continue backward runaway or to be pressed in shovel lower of the rubbish that rushes over from the place ahead, can not effectively reclaim.It is continuous working that belt conveyor is collected operation, belongs to the connection work type.Its efficient is constant; And actuating wire is energy consumption line, and system will ceaselessly turn round, and energy consumption is larger.Main Problems has: tonnage is little, and load carrying ability is few, and main engine power is little, and the speed of a ship or plane is low; Be simply equipped, function singleness, dumb, wherein many operations are all by manually carrying out, and efficient is poor.

Summary of the invention

The object of the present invention is to provide a kind of water rubbish clean-up vessel, adopt scraper bowl type chain net type collecting conveyor, realize continuous working or intermittent use, the shortcoming such as the efficient of interruption work of the large and pure scraper bowl type of power consumption that has overcome pure belt conveyor continuous working is low, weak effect and energy consumption are large.Water surface self-reacting device can carry out the hydraulic-driven luffing to this gathering-device simultaneously, can collect more quickly and effectively the floating debris of different water depth, in addition also can be in collection process, because carrying capacity increases the impact on the ship depth of immersion.Utilize fluid control auto-steering jetting device and satellite ship to work in coordination with gathering-device, effectively the garbage reclamation of bank or position, dead angle is gone on board, allow it have more alerting ability and high efficiency.In conjunction with cutter sweep, compression set, discharging gear carry out actv. to rubbish to be processed.

Water rubbish clean-up vessel of the present invention, consisted of by hull fittings, collection system, refuse disposal system and rubbish uninstalling system and detecting navigationsystem, wherein can adopt the commercially available prod by hull fittings, refuse disposal system and rubbish uninstalling system and detecting navigationsystem, as shown in the figure, characteristics of the present invention are that collection system comprises that hydraulic pressure dials net arm assembly 101, scraper bowl type chain net type collecting conveyor 103, hydraulic verticallifting device 122), water level self-reacting device 102, guiding device and water injecting system 106 and satellite ship gathering-device 110; Wherein,

Scraper bowl type chain net type collecting conveyor 103 comprises metal gauze 203, guard shield 301, rake teeth 302, rabble arm 303, support 304, transverse axis 305, driven sprocket 306, band ear duplex chain 307, chain tensioner sprocket 308, shaft stool 309, hydraulic bearing motor 310, HM Hydraulic Motor 311, HM Hydraulic Motor key 312, drive sprocket 313; Its annexation is that support 304 matches with 5 transverse axis 305, and the outer end of transverse axis 305 cooperates with shaft stool 309, and shaft stool 309 is bolted on the guard shield 301; Driven sprocket 306 is connected with support 304 by pin; Drive sprocket 313 cooperates with scraper bowl type chain net type collecting conveyor HM Hydraulic Motor 311 output shafts, and scraper bowl type chain net type collecting conveyor HM Hydraulic Motor key 312 is installed between this cooperation; Hydraulic bearing motor 310 cooperates with scraper bowl type chain net type collecting conveyor HM Hydraulic Motor 311, is installed in 304 li on support; Band ear duplex chain 307 is installed on driven sprocket 306 and the drive sprocket 313; Rake teeth 302 is installed on the rabble arm 303, and rabble arm 303 is pressed on the metal gauze 203, together is installed on the chain ear with ear duplex chain 307; Scraper bowl type chain net type collecting conveyor HM Hydraulic Motor 311 is fixed on the guard shield 301; Backplate 201 is installed on the guard shield 301.

Ship type of the present invention adopts catamaran design, when detecting system detects the rubbish waters, arrives control position by navigationsystem, and lifting hydraulic cylinder will place the novel scraper bowl type chain net type collecting conveyor of bow to stretch into water.Scraper bowl type chain net type collecting conveyor can be realized continuous working or intermittent use pattern according to the amount of rubbish, and floating rubbish is sent to compression set.For example few when quantity of refuse, enter the intermittent use pattern, scraper bowl type chain net type collecting conveyor HM Hydraulic Motor is not opened, and when collecting when a certain amount of, opens HM Hydraulic Motor, and rubbish is sent to refuse disposal system.At the top end of scraper bowl type chain net type collecting conveyor one cutting device is arranged, the rubbish cutting with roomy is beneficial to compression.By the compressing head of hydraulic actuating cylinder as pressure source rubbish is compressed, after the compression of rubbish several times, when excessive and stroke is too small when the pressure that detects compression hydraulic cylinder, issue a signal to the rubbish discharging gear, the rubbish in the compression box is transferred to garbage collection box finish recovery operation.After collecting box is filled, by support boat or the bank that makes a return voyage back, utilize lifting machine that rubbish container is hung out and changes.

And immerse the appropriate degree of depth of the water surface at scraper bowl type chain net type collecting conveyor horizontal segment, and the inclination angle suitable with water surface formation, there is group net arm by fluid control scraper bowl type chain net type collecting conveyor entrance both sides, assist and bring near the rubbish the entrance into scraper bowl type chain net type collecting conveyor.Since ship along with the increase of rubbish carrying capacity on the impact of hull depth of immersion and for adapting to the difference of garbage on water depth of immersion, make scraper bowl type chain net type collecting conveyor horizontal segment contact better the floating debris of rubbish or collection different water depth, in scraper bowl type chain net type collecting conveyor both sides the water level self-reacting device is housed.Too high or cross when dark when dried up of scraper bowl type chain net type collecting conveyor horizontal segment, action issues a signal to the lifting hydraulic cylinder of scraper bowl type chain net type collecting conveyor, adjusts its depth of immersion.The jetting device that has fluid control to turn at stem, the one, the rubbish on the beach of bank is washed away, the 2nd, the rubbish in the place that corner etc. is difficult to arrive gushes.In addition, the water inlet of water pump places scraper bowl type chain net type collecting conveyor behind, helps water conservancy diversion, forms better work runner.

On the both sides of ship two satellite ships are arranged, can advance or retreat, and satellite ship guide wheel can be exercised along the bank by it.When advancing, by the grid band that is connected with lash ship the rubbish around the ship is passed gathering-device entrance before the ship, greatly accelerate collection efficiency, strengthened alerting ability.

The present invention is following advantage and disadvantage compared with prior art:

1) collect continuously and the combination that is interrupted collection: the present invention utilizes the scraper bowl type chain net type collecting conveyor of innovation, can realize continuous working or intermittent use, the shortcoming such as the efficient of interruption work of the large and pure scraper bowl type of power consumption that has overcome pure belt conveyor continuous working is low, weak effect and energy consumption are large.

2) independence and adaptivity: when detecting system detects the rubbish waters, arrive control position by navigationsystem with full speed of a ship or plane 6km/h and convert again operation speed of a ship or plane 4km/h or the low-speed mode that pulls in to shore to.Scraper bowl type chain net type collecting conveyor can be realized continuous working or intermittent use pattern according to the amount of rubbish, and floating rubbish is sent to compression set.For example few when quantity of refuse, enter the intermittent use pattern, scraper bowl type chain net type collecting conveyor HM Hydraulic Motor is not opened, and when collecting when a certain amount of, opens HM Hydraulic Motor, and rubbish is sent to refuse disposal system.In refuse disposal system, when excessive and stroke is too small when the pressure that detects compression hydraulic cylinder, issue a signal to the rubbish discharging gear, the rubbish in the compression box is transferred to garbage collection box finish recovery operation.After collecting box is filled, by support boat or the bank that makes a return voyage back, utilize lifting machine rubbish container to be hung out and changes rubbish container.

For ship can be worked in wind and rain, for it has designed top.And when rubbish container needs unloading, need again independently to open top.Therefore, designed a device of automatically opening paulin, top has been opened and closed.

3) flexibly collaborative work: the inefficiencies of collecting by stem part gathering-device merely for overcoming existing collecting ship is difficult to be collected in the shortcoming of the rubbish on ship both sides.The design proposes a kind of new auxiliary collection mode.On the both sides of ship two satellite ships are arranged, can advance or retreat, collection rubbish cooperates.When advancing, by the grid band that is connected with lash ship the rubbish around the ship is passed gathering-device entrance before the ship, greatly accelerate collection efficiency, and satellite ship guide wheel can be exercised along the bank by it, strengthened alerting ability.Utilize fluid control auto-steering jetting device, effectively the rubbish with bank or position, dead angle directs into collection system.In conjunction with cutter sweep, compression set, discharging gear carry out actv. to rubbish to be processed.

4) easy rubbish unloading manner: the multiplex belt conveyor of existing unloading manner directly is sent on the bank, need to expend many unloading times like this, but also can cause the secondary pollutions such as escape of uninstall process.The design proposes a kind of easy rubbish unloading manner, take the simple waste case as carrier, by on the bank or the lifting appliance on other ship hang away this rubbish container of replacement and carry out fast speed unloading, save the out-of-work-time of collecting ship, raise the efficiency.

Description of drawings

Fig. 1 is integral layout figure of the present invention;

Fig. 2 is that hydraulic pressure of the present invention is dialled net arm configuration scheme drawing;

Fig. 3 is scraper bowl type chain net type collecting conveyor structural representation of the present invention (when not having metal gauze);

Fig. 4 is scraper bowl type chain net type belt conveyor gathering-device inner skeleton figure of the present invention;

Fig. 5 is scraper bowl type chain net type collecting conveyor running part cutaway view of the present invention;

Fig. 6 is hydraulic verticallifting device side view of the present invention;

Fig. 7 is hydraulic verticallifting device left-hand component front elevation of the present invention;

Fig. 8 is hydraulic verticallifting device right-hand component back view of the present invention;

Fig. 9 is water level self-reacting device structural representation of the present invention;

Figure 10 is cutter sweep structural representation of the present invention;

Figure 11 is guiding device of the present invention and water injecting system structural representation;

Figure 12 is guiding device of the present invention and water injecting system front elevation;

Figure 13 is satellite ship gathering-device working diagram of the present invention;

Figure 14 is satellite ship structural representation of the present invention;

Figure 15 is compression set of the present invention and rubbish discharging gear axonometric drawing;

Figure 16 is compression set of the present invention and rubbish discharging gear cutaway view;

Figure 17 is rubbish discharging gear structural representation of the present invention;

Figure 18 is the paulin assembly axis mapping of opening of the present invention;

Figure 19 is the paulin device side view of opening of the present invention;

Figure 20 is the paulin device cutaway view of opening of the present invention;

Figure 21 is the back view of apparatus of the present invention;

Figure 22 is detecting navigationsystem algorithm flow block diagram.

The specific embodiment

Shown in Fig. 1,21, a kind of water rubbish clean-up vessel comprises hull fittings, collection system, refuse disposal system and rubbish uninstalling system and detecting navigationsystem;

Hull fittings comprises stem 105, deck 107, catamaran hull 108, overhead control case 111 (comprising the equipment such as signal processing analysis control such as computing machine, industrial computer), diesel fuel tanks 109, diesel engine 114, Hydraulic Pump 115, guardrail 116, hydraulic reservoir 118 and twin screw 005; Two hulls 108 are installed in respectively the both sides of 107 belows, deck; Rig camera 120 is fixed on the stem lid 104: the ship limit sensor 123 on the deck is installed in the deck of boat 107; Hydraulic pressure is dialled backplate 201 front ends that net arm assembly 101 is installed on scraper bowl type link network gathering-device 103; Water level self-reacting device 102 is installed in the bottom of scraper bowl type link network gathering-device 103, and part is immersed in the water; Hydraulic verticallifting device 122 1 ends with entrust by hoisting cross beam 401 and the backplate 201 of scraper bowl type chain net type collecting conveyor 103, an end links to each other with deck 107; Guiding device and water injecting system 106 place the top, right side of boat deck 107; Satellite ship gathering-device 110 respectively has a cover in the both sides of ship, leans against hull 108 1 sides; Cutter sweep 121 is installed on the backplate 201 of scraper bowl type chain net type collecting conveyor 103; Compression set 112 tightly holds in scraper bowl type chain net type collecting conveyor 103 back; Rubbish discharging gear 104 is below compression set 112, and rubbish container 113 tightly holds at rubbish discharging gear 104 after compression set 112; Twin screw 005 places the rear end of ship.

As shown in figure 21, catamaran hull 108 comprises left hull 1101, right hull 1106; Left hull 1101 and right hull 1106 are separately fixed at the two ends, deck.Twin screw 005 comprises left propelling unit 1102, propelling unit stationary pipes 1103, propelling unit soak regulating ring 1104, right propelling unit 1105; Its annexation is that left propelling unit 1102 and right propelling unit 1105 are fixed on propelling unit stationary pipes 1103, and propelling unit stationary pipes 1103 is socketed on propelling unit and soaks in the regulating ring 1104, and regulating ring 1104 is separately fixed at the two ends, deck and propelling unit soaks.Water rubbish clean-up vessel adopts twin screw to navigate by water without rudder.By hydraulic valve, the HM Hydraulic Motor on two propelling units is controlled.Or then realize backward forward or simultaneously simultaneously advancing and falling back, when two HM Hydraulic Motor turn to difference, then realize the differential turning.In addition, two propelling units are arranged between two hulls, so that the water velocity between two hulls is accelerated, form better refuse collection operation runner, thereby play guide functions, more be conducive to improve the efficient of operation water flow passage.

Collection system comprises that hydraulic pressure dials net arm assembly 101, scraper bowl type chain net type collecting conveyor 103, hydraulic verticallifting device 122, water level self-reacting device 102, guiding device and water injecting system 106 and satellite ship gathering-device 110.

As shown in Figure 2, two hydraulic pressure are dialled the net arm and are installed in respectively on scraper bowl type chain net type collecting conveyor entrance two side guard plates 201, assist and bring near the rubbish the entrance into scraper bowl type chain net type collecting conveyor.It is under water that hydraulic pressure is dialled net arm assembly 101 parts, is the outer Eight characters and opens forward, the place ahead rubbish is directed in the width range of refuse collector, increases the cleaning width.It dials face by the metal gauze conduct, thereby cries and dial the net arm.Hydraulic pressure is dialled net arm assembly 101 and is comprised group net arm installation tip 202, group net arm driving lever 204, dials net 205, group screen frame frame 206, group net hydraulic cylinder rod 207, group net hydraulic actuating cylinder 209, the hydraulic actuating cylinder installation tip 211.Dial net 205 and be installed on group screen frame frame 206, group screen frame frame 206 middle parts socket-connect with dialling net arm driving lever 204, dial screen frame frame 206 rear ends and are fixed on the backplate 201 by group net arm installation tip 203; The net hydraulic cylinder rod 207 of dialling of dialling net hydraulic actuating cylinder 209 links to each other with group net arm driving lever 204, and hydraulic actuating cylinder 209 is installed on the backplate 201 by the hydraulic actuating cylinder installation tip 211.Dial net hydraulic cylinder rod 207 and dial net hydraulic actuating cylinder 209 and can replace with direct motor.When starting this device, hydraulic oil enters or extracts out group net hydraulic actuating cylinder 209, promote or pulling group net hydraulic cylinder rod 207, thereby drive group screen frame frame 206 that is connected with group net arm driving lever 204, dial group net 205 reciprocally swingings on the screen frame frame 206, help near the rubbish of entrance to enter scraper bowl type chain net type collecting conveyor entrance.

Such as Fig. 3, Fig. 4 and shown in Figure 5, scraper bowl type chain net type collecting conveyor 103 comprises metal gauze 203, guard shield 301, rake teeth 302, rabble arm 303, support 304, transverse axis 305, driven sprocket 306, band ear duplex chain 307, chain tensioner sprocket 308, shaft stool 309, hydraulic bearing motor 310, HM Hydraulic Motor 311, HM Hydraulic Motor key 312, drive sprocket 313; Its annexation is that support 304 matches with 5 transverse axis 305, and the outer end of transverse axis 305 cooperates with shaft stool 309, and shaft stool 309 is bolted on the guard shield 301; Driven sprocket 306 is connected with support 304 by pin; Drive sprocket 313 cooperates with scraper bowl type chain net type collecting conveyor HM Hydraulic Motor 311 output shafts, and scraper bowl type chain net type collecting conveyor HM Hydraulic Motor key 312 is installed between this cooperation; Hydraulic bearing motor 310 cooperates with scraper bowl type chain net type collecting conveyor HM Hydraulic Motor 311, is installed in 304 li on support; Band ear duplex chain 307 is installed on driven sprocket 306 and the drive sprocket 313; Rake teeth 302 is installed on the rabble arm 303, and rabble arm 303 is pressed on the metal gauze 203, together is installed on the chain ear with ear duplex chain 307; Scraper bowl type chain net type collecting conveyor HM Hydraulic Motor 311 is fixed on the guard shield 301; Backplate 201 is installed on the guard shield 301.Wherein, shaft stool 309 can replace with ready-made rolling bearing units; HM Hydraulic Motor 311 can replace with DC machine.

Scraper bowl type chain net type collecting conveyor 103, from its shape minute horizontal segment and tilting section, tilting section becomes 150 ° of angles with horizontal segment; The backplate 201 of itself and both sides and guard shield 301 form a suitable scraper bowl; And metal gauze 203 (replaceable different density degree) is installed on the chain ear with ear duplex chain 307, consists of the chain net type conveyer.Because a little these gathering-devices are called scraper bowl type chain net type collecting conveyor.When device works in the intermittent use pattern, rubbish enters in the gathering-device, constantly accumulation, when running up to specified amount, namely start scraper bowl type chain net type collecting conveyor HM Hydraulic Motor 311, thereby drive band ear duplex chain 307 by drive sprocket 313, the rake that metal gauze and rake teeth 302 and rabble arm 303 consist of moves together, and rubbish is sent to refuse disposal system.Described rake teeth 302 and rabble arm 303 can be used as together processing and manufacturing of one.The transmission of drive sprocket 313 is except above discussion mode, can also allow, and be installed on the transmission shaft at symmetrical two drive sprockets 313 of scraper bowl type chain net type collecting conveyor, directly or with band transmissions such as belt pulleys recently drive transmission shaft by HM Hydraulic Motor or motor again.

Support 304 is comprised of horizontal segment and tilting section, and tilting section becomes obtuse angle (generally at 120 °～150 °) with horizontal segment.In addition, can adjust such as this angle of needs, backplate 201 design can be divided into horizontal segment so and tilting section is two-layer and increase locking device, angle can effectively be adjusted with locked in required angle);

Requirement (collecting amount) according to the capacity gauge of gathering-device, the part of configuration different size and quantity, size such as support 105 is variable, therefore assembling transverse axis 305 in the above and corresponding can the increasing of quantity of the part such as shaft stool 309, transverse axis 305 arrangement interval and quantity are relevant with the load of gathering-device, carry out stress-strain analysis and can be calculated.

Rake among the figure is comprised of rabble arm 303 and 23 the equidistant rake teeths 302 above it.The interval of tooth, number, length with and the big or small volume range of the object that can collect as required of the sinuousness on top select, replaceable.And also can change with the number of ear duplex chain 307 grades every the rake of arranging, and the tooth row cloth on two rakes of being separated by can be staggered, to reach better collecting effect.

Metal gauze 203 is oblique cellular structure, on market, can directly buy.The necessary waterproof of metal gauze is antirust in addition, or to use the replacements such as plastic wire that sufficient intensity is arranged.The density degree of mesh can be chosen or change as required.

5. shaft stool 309 can replace with ready-made rolling bearing units; HM Hydraulic Motor 311 can replace with DC machine.Chain and chain sprocket drive can substitute on an equal basis and be synchronizing wheel and toothed belt transmission.Wherein rake and metal gauze 203 can be fixed on the hole or link stopper on the Timing Belt.

HM Hydraulic Motor 311 useable electric moters replace; The transmission of drive sprocket 313 is except above discussion mode, and symmetrical two drive sprockets 313 are installed on the transmission shaft, directly or with band transmissions such as belt pulleys recently drives transmission shaft by HM Hydraulic Motor or motor again.

Such as Fig. 6, Fig. 7 and shown in Figure 8, hydraulic verticallifting device 122 comprises: hoisting cross beam 401, lifting hydraulic pressure lever pin 402, lifting hydraulic stem 403, lifting hydraulic cylinder 404, the fixing hinge 405 of lifting hydraulic cylinder, stem cap bolt 406, guide rail bolt of rear end plate 407, guide rail 408, hoisting cross beam jacking block 409, Guide rollers 410, the Guide rollers tip 411; Its annexation is that hoisting cross beam 401 passes in 103 liang of backplates 201 of scraper bowl type chain net type collecting conveyor, carries out axial location by two hoisting cross beam jacking blocks 409; Lifting hydraulic stem 403 1 ends link to each other with hoisting cross beam 401 by lifting hydraulic pressure lever pin 402, and an end matches with lifting hydraulic cylinder 404; Lifting hydraulic cylinder 404 is fixed on the deck 107 by the fixing hinge 405 of lifting hydraulic cylinder; Guide rollers 410 is fixed on the backplate 201 by the Guide rollers tip 411, and Guide rollers 410 is tangent with guide rail 408; Guide rail 408 is fixed on the stem 105 by guide rail bolt of rear end plate 407, and stem lid 104 is fixed on the stem 105 by stem cap bolt 406.Lifting hydraulic stem 403 and lifting hydraulic cylinder 404 can replace with direct motor.Hydraulic verticallifting device 122 is for the depth of immersion of adjusting scraper bowl type chain net type collecting conveyor.When water rubbish clean-up vessel entered non-operating mode and is the free running pattern, scraper bowl type chain net type collecting conveyor rose and leaves the water surface, thus the water resistance when reducing navigation; When entering mode of operation, the hydraulic verticallifting device immerses again appropriate depth by it.On the other hand, since ship along with the increase of rubbish carrying capacity on the impact of hull depth of immersion and for adapting to the difference of garbage on water depth of immersion, make scraper bowl type chain net type collecting conveyor horizontal segment contact better the floating debris of rubbish or collection different water depth, water level is housed from suitable just device in scraper bowl type chain net type collecting conveyor both sides.Too high or cross when dark when dried up of scraper bowl type chain net type collecting conveyor horizontal segment, action issues a signal to the lifting hydraulic cylinder of scraper bowl type chain net type collecting conveyor, adjusts its depth of immersion.

As shown in Figure 9, water level self-reacting device 102 comprises: float guide rod 501, upper break back contact 502, water level self-reacting device shell 503, lower break back contact 504, float 505, moving contact 506, break back contact screw 507; Upper break back contact 502 and lower break back contact 504 are fixed on water level self-reacting device shell 503 by break back contact screw 507, and moving contact 506 interts on float guide rod 501; Float 505 is fixed on float guide rod 501 lower ends, and float guide rod 501 cooperates with interporal lacuna on the water level self-reacting device shell 503.The break back contact of water level self-reacting device is divided into 504 two of break back contact 502 and lower break back contacies, forms the non-contact area and namely controls the border.And the bar that is connected on the float guide rod 501 is moving contact 506, when scraper bowl type chain net type collecting conveyor depth of immersion is crossed when dark, float is forced to relatively upwards arrive the control area coboundary, the sound contact joins, connect circuit, send control signal to the hydraulic verticallifting device, make lifting hydraulic cylinder 404 work, scraper bowl type chain net type collecting conveyor is risen to suitable position, and vice versa.The relative relative distance of break back contact screw 507 can adjust up and down, and the upper and lower limit model circle of control liquid level is effectively adjusted in 25-100mm.Can adapt to the different waters of water condition such as wave.The water level self-reacting device is used to the hydraulic verticallifting device that the lifting signal is provided, and makes scraper bowl type chain net type collecting conveyor keep the best effort depth of immersion.

Such as Figure 11 and shown in Figure 12; Guiding device and water injecting system 106 comprise water jet standpipe 701, water jet standpipe hydraulic cylinder rod 702, water jet standpipe hydraulic actuating cylinder 703, water pump 704, water pump base station 705, the water jet standpipe hydraulic actuating cylinder is installed hinge 706, hydraulic cylinder rod 707 before the level attitude angular adjustment, hydraulic actuating cylinder 708 before the level attitude angular adjustment, pump water inlet 709, water injecting system base 110, level attitude angular adjustment handle 711, hydraulic cylinder rod 712 after the level attitude angular adjustment, hydraulic actuating cylinder 713 after the level attitude angular adjustment, water injecting system is adjusted pedestal 714, pumping line 715, water jet standpipe pillar 716, level attitude angular adjustment hydraulic actuating cylinder slide bar 717; Its annexation is: water jet standpipe 701 front hinges are connected with water jet standpipe hydraulic cylinder rod 702 by pin, and rear hinge is connected with water jet standpipe pillar 716 by pin; Water jet standpipe pillar 716 is fixed on water injecting system and adjusts pedestal 714; Water jet standpipe hydraulic cylinder rod 702 is connected with water jet standpipe hydraulic actuating cylinder 703 fits, and water jet standpipe hydraulic actuating cylinder 703 is connected by pin and water jet standpipe hydraulic actuating cylinder installation hinge 706; Four water jet standpipe hydraulic actuating cylinders of being separated by are installed hinge 706 and are fixed on water injecting system adjustment pedestal 714; Hydraulic cylinder rod 707 1 ends and level attitude angular adjustment handle 711 are connected before the level attitude angular adjustment, hydraulic actuating cylinder 708 fits before the end level attitude angular adjustment; Six level attitude angular adjustment handles 711 of being separated by are fixed on water injecting system and adjust pedestal 714; Hydraulic cylinder rod 712 1 ends and level attitude angular adjustment handle 711 are connected after the level attitude angular adjustment, hydraulic actuating cylinder 713 fits after the end level attitude angular adjustment; Hydraulic actuating cylinder 713 is linked on the level attitude angular adjustment hydraulic actuating cylinder slide bar 717 after the front hydraulic actuating cylinder 708 of level attitude angular adjustment and the level attitude angular adjustment; Pump water inlet 709 joins with water pump 704 entrance points, pumping line 715 1 ends are connected with water pump 704 exit end, and an end is connected with water jet standpipe 701; Water pump 704 is fixed on the base station 705, and on the base station 705 on deck 107.Hydraulic actuating cylinder 708 before hydraulic cylinder rod 707 and the level attitude angular adjustment before water jet standpipe hydraulic cylinder rod 702 and water jet standpipe hydraulic actuating cylinder 703, the level attitude angular adjustment, hydraulic actuating cylinder 713 can be respectively with direct motor replacement after hydraulic cylinder rod 712 and the level attitude angular adjustment after the level attitude angular adjustment.

The water injecting system of fluid control auto-steering can be in the horizontal direction with the vertical direction both direction on free translation-angle.On the vertical surface, utilize stretching the elevation angle of water jet standpipe being regulated of water jet standpipe hydraulic cylinder rod 702 and water jet standpipe hydraulic actuating cylinder 703.Water jet standpipe hydraulic actuating cylinder 703 can with four be separated by be fixed on that water injecting system adjusts that water jet standpipe hydraulic actuating cylinder on the pedestal 714 installs hinge 706 one of them in succession, thereby changed the setting range of water jet standpipe jet angle of sprinkler flow into.On the horizontal direction, hydraulic actuating cylinder 713 can be free to slide at level attitude angular adjustment hydraulic actuating cylinder slide bar 717 after the front hydraulic actuating cylinder 708 of level attitude angular adjustment and the level attitude angular adjustment, elongation by hydraulic cylinder rod 712 after hydraulic cylinder rod 707 and the level attitude angular adjustment before the change level attitude angular adjustment, differential flexible, make the water jet standpipe injection direction adjusted in the horizontal direction.Be connected the range regulation of realization automatic swinging by what change hydraulic cylinder rod 712 and 6 level attitude angular adjustment handles 711 of being separated by after hydraulic cylinder rod 707 before the level attitude angular adjustment or the level attitude angular adjustment as we can see from the figure.At the other water injecting system that the fluid control auto-steering is arranged of stem, on the one hand the rubbish on the beach of bank is washed away, be that the rubbish in place that corner etc. is difficult to arrive gushes on the other hand.In addition, the water inlet of the water supply pump that water injecting system is used places scraper bowl type chain net type collecting conveyor behind, helps water conservancy diversion, forms better work runner, so water pump and coolant inlet pipe thereof have also just become guiding device.

Such as Figure 13, shown in Figure 14, satellite ship gathering-device 110 comprises: grid strap bolt 801, grid band 802, satellite ship propelling unit 803, satellite ship guide wheel 804, satellite ship guide wheel bolt 805, satellite hull 806, articulate hinge 807 and satellite ship hook 808; Its annexation is that grid band 802 is connected on the deck 107 by grid strap bolt 801; Satellite ship guide wheel 804 via satellite ship guide wheel bolt 805 is fixed on the satellite hull 806; The other end of grid band 802 is connected in and articulates hinge 807 on the satellite hull 806; When the satellite ship is not worked, articulate hinge 807 and be hung on satellite ship hook 808; Satellite ship corner travel switch 809 is installed on the hull, is connected with the grid strap bolt at grid band 802 to connect end next door.Two satellite ships are arranged on the both sides of ship, and the satellite ship propelling unit 803 of hull 806 front and back can be realized advancing or retreating via satellite, and satellite ship guide wheel can be exercised along the bank by it.When advancing, at a slow speed ship rubbish is on every side passed gathering-device entrance before the ship by driving the grid band 802 be connected with lash ship, greatly accelerate collection efficiency, strengthened alerting ability.Wherein grid band 802 can slide at the grid strap bolt 801 that is connected with lash ship, the self aligning about doing when allowing the depth of immersion of satellite ship and lash ship that different is arranged.Satellite ship guide wheel 804 be for lash ship when pulling in to shore mode of operation, the satellite ship will touch the bank, the ship guide wheel 804 via satellite, then will auto-steering, move on along the bank, thereby rubbish one net in bank thrown into.Because the distance of hull and bank differs when the bank, thus in designing with soft grid band 802.When the satellite boatman does, be 90 ° owing to articulate the angle of hinge 807 and grid band 802 maximums, namely angle A is 0 °, therefore, has guaranteed that the satellite ship can tangentially draw grid band 802, thereby has allowed grid band 802 open as far as possible.The satellite ship is when work, when satellite ship band moving grid band 802 moves to when setting 150 °～180 ° of angles with hull, contact with satellite ship corner travel switch 809, the travel switch action, the control circuit of switch satellite ship motor, allow motor reversal, allow the satellite ship retreat, until reset on the satellite ship hook 808.The satellite ship can be hung the satellite ship hook 808 that is attached on the ship wall when not working: do when starting the satellite boatman, satellite ship hook 808 can put down, and unclamps the satellite ship; When lash barge returns when quitting work, the stroke beginning of top satellite ship hook 808, satellite ship hook 808 is mentioned, and lash barge is locked.

Refuse disposal system comprises cutter sweep 121 and compression set 112.

At the top end of scraper bowl type chain net type collecting conveyor one cutting device is arranged, the rubbish cutting with roomy is beneficial to garbage energy and enters smoothly compression set.As shown in figure 10, cutter sweep 121 comprises cutter sweep frame 601, pitch cutting 602, cutting motor 603; Its annexation is that pitch cutting 602 is installed on cutting motor 603 axles, and cutting motor 603 is fixed on the cutter sweep frame 601, and cutter sweep frame 601 is taken by bolt and is contained in backplate 201.When scraper bowl type chain net type collecting conveyor transmission work, cutter sweep is just worked.There is not the waters of Bulky Waste not open at some.

As shown in figure 15, compression set 112 comprises: rubbish comes off and assists rake 901, reel left shaft holder 902, compression box 903, reel 904, compression hydraulic cylinder 905, compression hydraulic cylinder bar 906, buffer memory shelves volume 907, compressing head connecting pin 908, compressing head 909, the left runner 918 of compression box water, reel right bearing seat 923, the right runner 924 of compression box water; Its annexation is: rubbish comes off and assists rake 901 to be bolted on the compression box 903; Reel 904 is fixed on compression box 903 1 sides by reel left shaft holder 902 and reel right bearing seat 923; The buffer memory shelves are rolled up 907 1 end cigarettes on reel 904, and an end is fixed on the compressing head 909; Slip is connected on the compression hydraulic cylinder bar 906 by compressing head connecting pin 908 at compression box 903 base plates and the compressing head 909 that unloads support plate 919, and compression hydraulic cylinder bar 906 is linked on the compression hydraulic cylinder 905; Compression hydraulic cylinder 905 is bolted on the stem 105, and stem 105 is fixed on the deck 107; The left runner 918 of compression box water and the right runner 924 of compression box water place respectively compression box 903 both sides, and an end opening joins with the leaking hole that unloads on the support plate 919, and an end docks with the breach that docks on deck 107.The come off rake teeth interval of auxiliary rake 901 of rubbish is staggered with the rake teeth 302 on the scraper bowl type chain net type collecting conveyor, assists for the rubbish that scraper bowl type chain net type collecting conveyor is sent to come off.Buffer memory gear volume 907, the groove by compression box 903 rear plates links to each other with compressing head 909.When compressing head 909 advances, also continue to drop on the buffer memory gear volume 907 from the rubbish that scraper bowl type chain net type collecting conveyor sends, when the pressure head backhaul, the groove effect of buffer memory gear volume 907 and compression box 903 rear plates is before rubbish scraped the compression zone and be compressing head 909.Rear plate is equivalent to scraper plate.Garbage-compressing water out places respectively the left runner 918 of compression box water of compression box 903 both sides and the right runner 924 of compression box water to discharge outboard by the docking breach on deck 107 again by the leaking hole arrival of unloading on the support plate 919.

The rubbish uninstalling system comprises rubbish discharging gear 104, rubbish container 113, opens paulin device 119;

Shown in Figure 16,17, rubbish discharging gear 104 comprises: unload lower link 910, unloading hydraulic stem 911, unloading hydraulic actuating cylinder 912, unloading hydraulic actuating cylinder hinge 913, unload plate stem 914, unloading travel switch base 915, garbage box 916, unloading travel switch 917, unload connecting rod 920 in support plate 919, the unloading, unloading pitman shaft 921, unloading pole 922, rubbish container suspension ring 925; Its annexation is: unload support plate 919 and be fixed on the two unloading plate stems 914; Connecting rod 920 1 ends are hinged with unloading plate stem 914 in the unloading, and an end is hinged by unloading pitman shaft 921 with unloading lower link 910; The other end of unloading lower link 910 with unload pole 922 and be connected; Two unloading poles 922 are fixed on the deck 107.

As shown in figure 17, unloading lower link 910, unloading plate stem 914, connecting rod 920 and unloading pole 922 consist of four-bar linkage in the unloading, this rubbish discharging gear has been used dead point material well self-locking when off working state of four-bar linkage dexterously, allow to unload support plate 919 sealed reliable, when issuing a signal to the unlatching of rubbish discharging gear, compression set unloads support plate 919, unloading hydraulic stem 911 is under the hydraulic oil that enters unloading hydraulic actuating cylinder 912 promotes, only need seldom power can promote to connect the unloading pitman shaft 921 at the dead point of two four-bar linkages in parallel, unload support plate 919 thereby open, allow rubbish be slipped to rubbish container 113.Unloading travel switch 917 then is for being opened to it contact when unloading support plate 919, then issuing a signal to control box 111, and the device analysis such as machine and export the control signal people stops the conveying liquid force feed to unloading hydraulic actuating cylinder 912 as calculated.Behind reasonable time, control box 111 sends the hydraulic oil that signal is extracted unloading hydraulic actuating cylinder 912 out, retracts the dead point thereby allow unloading hydraulic stem 911 will unload pitman shaft 921, unloads support plate 919 thereby close.Unload the opening/closing time of support plate 919, should match with the mode of operation of compression set.

By the compressing head 909 of hydraulic actuating cylinder as pressure source rubbish is compressed, after the compression of rubbish several times, when excessive and stroke is too small when the pressure that detects compression hydraulic cylinder, issue a signal to rubbish discharging gear 104, the rubbish in the compression box is transferred to garbage collection box finish recovery operation.After collecting box was filled, the bank or by the support boat that comes of making a return voyage back utilized lifting machine that rubbish container 113 is hung out and changes.Utilize the rubbish container 113 of Simple removable can make the unloading of rubbish more quick and easy.Rubbish container 113 is made of garbage box 916 and rubbish container suspension ring 925, is positioned over the corresponding recess on deck 107.Present collecting ship be the ship storehouse of the rubbish of collect directly being collected self mostly, the moisture content of rubbish is accumulated in the cabin, reduces the ability that the rubbish of ship loads.Rubbish container 11 base plates add the leaking hole design, also have after compression halfway moisture content can through these leaking holes and below single leaking hole on deck 107 flow out to outboard.Utilize the rubbish container 113 of Simple removable can make the unloading of rubbish more quick and easy.

For making ship can in wind and rain, not affect work, for it has designed top 1006.And when rubbish container needs unloading, namely need top 1006 independently to open.Therefore, designed the switching that this device of automatically opening paulin is controlled top 1006.Shown in Figure 18～20; The described paulin device 119 of opening comprises: drive paulin motor 1001, receive paulin rod 1002, side screen 1003, open paulin device strutbeam 1004, open paulin guide rail 1005, top 1006, drive paulin guide wheel 1007, top guide rod 1008, receive paulin travel switch 1009, receive paulin rod belt pulley 1010, receive paulin rod belt 1011, receive paulin rod right bearing seat 1012, open paulin device pedestal 1013, open paulin motor pulley 1014, receive paulin rod left shaft holder 1015; Drive paulin motor 1001 and be bolted on out paulin device pedestal 1013; Receive paulin rod belt pulley 1010 and cooperate with receipts paulin rod 1002, by receiving paulin rod belt 1011 and linking to each other with the paulin motor pulley 1014 of opening of opening 1001 cooperations of paulin motor; Receive paulin rod 1002 and be fixed on out on the paulin device pedestal 1013 by receiving paulin rod right bearing seat 1012 and receiving paulin rod left shaft holder 1015, be bolted on out on the paulin device strutbeam 1004 and open paulin device pedestal 1013; Travel switch 1009 is fixed on out on the paulin guide rail 1005; Open paulin guide rail 1005 and four to open paulin device strutbeam 1004 affixed for two, and four are opened paulin device strutbeam 1004 and are fixed on the deck 107; One end of top 1006 picks out from receiving paulin rod 1002, and tail end and top guide rod 1008 link together; Drive paulin guide wheel 1007 and place top guide rod 1008 both sides, and open paulin guide rail 1005 and contact.Open the paulin device by driving paulin motor 1001 by belt-driving, drive receipts paulin rod 1002 and pack up top 1006.After running into receipts paulin travel switch 1009, stop.One end of top 1006 picks out from receiving paulin rod 1002, and tail end and top guide rod 1008 link together; Drive paulin guide wheel 1007 and place top guide rod 1008 both sides, can open 1005 slips of paulin guide rail.When needs put down top, motor was done slowly counter-rotating, closed under the thrust of the force of inertia of pulley and bar and receipts paulin rod.

Detecting system comprises the equipment such as the signals such as computing machine in rig camera 120, ship limit sensor 123 and the overhead control case (111), industrial computer and image processing analysis and Control).Rig camera (120) is fixed on stem lid (104) central authorities, and its visual angle can be adjusted on a large scale; Ship limit sensor (123) on the deck is inlayed the both sides that are installed in the deck of boat (107), the installation of being separated by of two of every sides; All the data signal line of rig camera (120) and ship limit sensor (123) links to each other communication with overhead control case (111) (comprising the signals such as computing machine, industrial computer and the equipment such as image processing analysis and Control).

As shown in figure 22, water rubbish clean-up vessel is divided into three kinds of mode of operations: the free running pattern, work pattern and the non-work pattern that pulls in to shore pull in to shore.When water rubbish clean-up vessel during at non-operating mode, as sail, during homeward or conversion work waters, the freedom of entry sail mode starts propelling unit at full speed, the speed of a ship or plane can be 6km/h.When starting working, carry out the detecting system initialization, gather water surface image by rig camera 120, analyzing and testing is found out the waters of rubbish.If find garbage areas, then go to this waters by homing advice, switch to mode of operation after the arrival, and by the ship limit sensor 002 on the ship, whether be the judgements such as the state of pulling in to shore, thereby select to enter pull in to shore work pattern or the non-work pattern that pulls in to shore.When pulling in to shore mode of operation, hydraulic pressure auto-steering jetting device cooperating, will be on the bank rubbish wash away, and will turn at the rubbish in the place that is difficult to arrive such as the corner gathering-device and gush.The mode of operation speed of a ship or plane is lower owing to pull in to shore, so allow scraper bowl type chain net type belting be made as continuous operation mode, is beneficial to improve collecting effect and capacity gauge.Non-the pulling in to shore during mode of operation such as in the marine site, hydraulic pressure auto-steering jetting device is not worked, and the speed of a ship or plane is accelerated, and is 4km/h.During navigation, the relative stem of rubbish has one to the relative velocity of stem direction, helps the quick collection of rubbish.In addition, because the rubbish in waters is scattered, scraper bowl type chain net type belting can be made as the interruption mode of operation.Behind the N mins, the Resurvey image judges whether in addition rubbish.If also have, then adjust ship position, continue cleaning.Should the zone if cleared up, then cooperate homing advice, the freedom of entry sail mode goes to and monitors zone outside the visual field, continue to gather image and analyze, enter next algorithm circulation, when cycle number k surpasses given searching times, then quit work, the freedom of entry sail mode, homeward.

When detecting system detects the rubbish waters, allow water rubbish clean-up vessel arrive this waters by navigationsystem, hydraulic verticallifting device 122 is fallen into scraper bowl type chain net type collecting conveyor 103 in the water.Scraper bowl type chain net type collecting conveyor can be realized continuous working or intermittent use pattern according to the amount of rubbish.It is few for example to work as quantity of refuse, and pull in to shore during mode of operation non-, can allow scraper bowl type chain net type collecting conveyor 103 enter the intermittent use pattern, be that scraper bowl type chain net type collecting conveyor HM Hydraulic Motor 311 is not opened, open again when a certain amount of when collecting, rubbish is sent to refuse disposal system.By the switching of continuous working or two kinds of patterns of intermittent use pattern, make recovery more energy-conservation effectively.

Claims

1. a water rubbish clean-up vessel is characterized in that being made of hull fittings, collection system, refuse disposal system and rubbish uninstalling system and detecting navigationsystem, wherein

---hull fittings comprises stem (105), deck (107), catamaran hull (108), overhead control case (111), diesel fuel tanks (109), diesel engine (114), Hydraulic Pump (115), guardrail (116), hydraulic reservoir (118) and twin screw (005);

---collection system comprises that hydraulic pressure dials net arm assembly (101), scraper bowl type chain net type collecting conveyor (103), hydraulic verticallifting device (122), water level self-reacting device (102), guiding device and water injecting system (106) and satellite ship gathering-device (110);

Scraper bowl type chain net type collecting conveyor (103) comprises metal gauze (203), guard shield (301), rake teeth (302), rabble arm (303), support (304), transverse axis (305), driven sprocket (306), band ear duplex chain (307), chain tensioner sprocket (308), shaft stool (309), hydraulic bearing motor (310), HM Hydraulic Motor (311), HM Hydraulic Motor key (312), drive sprocket (313); Its annexation is that support (304) matches with 5 transverse axis (305), and the outer end of transverse axis (305) cooperates with shaft stool (309), and shaft stool (309) is bolted on the guard shield (301); Driven sprocket (306) is connected with support (304) by pin; Drive sprocket (313) cooperates with scraper bowl type chain net type collecting conveyor HM Hydraulic Motor (311) output shaft, and scraper bowl type chain net type collecting conveyor HM Hydraulic Motor key (312) is installed between this cooperation; Hydraulic bearing motor (310) cooperates with scraper bowl type chain net type collecting conveyor HM Hydraulic Motor (311), and it is inner to be installed in support (304); Band ear duplex chain (307) is installed on driven sprocket (306) and the drive sprocket (3 13); Rake teeth (302) is installed on the rabble arm (303), and rabble arm (303) is pressed on the metal gauze (203), together is installed on the chain ear of band ear duplex chain (307); Scraper bowl type chain net type collecting conveyor HM Hydraulic Motor (311) is fixed on the guard shield (301); Backplate (201) is installed on the guard shield (301);

---refuse disposal system comprises cutter sweep (121) and compression set (112);

---the rubbish uninstalling system comprises rubbish discharging gear (104), rubbish container (113), opens paulin device (119);

---detecting system comprises computing machine in rig camera (120), ship limit sensor (123) and the overhead control case (111), is used for the industrial computer of signal and image processing analysis and Control; Rig camera (120) is fixed on stem lid (104) central authorities; Ship limit sensor (123) on the deck is inlayed the both sides that are installed in deck (107), the installation of being separated by of two of every sides; The communication that all links to each other with overhead control case (111) of the data signal line of rig camera (120) and ship limit sensor (123).

2. water rubbish clean-up vessel according to claim 1 is characterized in that catamaran hull (108) comprises left hull (1101), right hull (1106); Left hull (1101) and right hull (1106) are separately fixed at the two ends, deck; Twin screw (005) comprises left propelling unit (1102), propelling unit stationary pipes (1103), propelling unit soak regulating ring (1104), right propelling unit (1105); Its annexation is that left propelling unit (1102) and right propelling unit (1105) are fixed on propelling unit stationary pipes (1103), propelling unit stationary pipes (1103) is socketed on propelling unit and soaks in the regulating ring (1104), and regulating ring (1104) is separately fixed at the two ends, deck and propelling unit soaks; Water rubbish clean-up vessel adopts twin screw to navigate by water without rudder.

3. water rubbish clean-up vessel according to claim 1 and 2 is characterized in that hydraulic pressure dials backplate (201) front end that net arm assembly (101) is installed on scraper bowl type chain net type collecting conveyor (103); Water level self-reacting device (102) is installed in the bottom of scraper bowl type chain net type collecting conveyor (103), and part is immersed in the water; Hydraulic verticallifting device (122) one ends are entrusted with the backplate (201) by hoisting cross beam (401) and scraper bowl type chain net type collecting conveyor (103), and an end links to each other with deck (107); Guiding device and water injecting system (106) place the top, right side of boat deck (107); Satellite ship gathering-device (110) respectively has a cover in the both sides of ship, leans against catamaran hull (108) one sides; Cutter sweep (121) is installed on the backplate (201) of scraper bowl type chain net type collecting conveyor (103); Compression set (112) tightly holds in scraper bowl type chain net type collecting conveyor (103) back; Rubbish discharging gear (104) is below compression set (112), and rubbish container (113) tightly holds at rubbish discharging gear (104) at compression set (112) afterwards; Twin screw (005) places the rear end of ship;

Two hydraulic pressure are dialled the net arm and are installed in respectively on scraper bowl type chain net type collecting conveyor entrance two side guard plates (201), assist and bring near the rubbish the entrance into scraper bowl type chain net type collecting conveyor;

It is under water that hydraulic pressure is dialled net arm assembly (a 101) part, is the outer Eight characters and opens forward, the place ahead rubbish is directed in the width range of refuse collector; Hydraulic pressure is dialled net arm assembly (101) and is comprised group net arm installation tip (202), group net arm driving lever (204), dials net (205), group screen frame frame (206), group net hydraulic cylinder rod (207), group net hydraulic actuating cylinder (209), the hydraulic actuating cylinder installation tip (211); Dialling net (205) is installed on group screen frame frame (206), socket-connect with dialling net arm driving lever (204) in the middle part of dialling screen frame frame (206), dial screen frame frame (206) rear end and be fixed on the backplate (201) by dialling the net arm installation tip (202); The net hydraulic cylinder rod (207) of dialling of dialling net hydraulic actuating cylinder (209) links to each other with group net arm driving lever (204), is installed on the backplate (201) by the hydraulic actuating cylinder installation tip (211) and dial net hydraulic actuating cylinder (209); When starting this device, hydraulic oil enters or extracts out group net hydraulic actuating cylinder (209), promote or pulling group net hydraulic cylinder rod (207), thereby drive group screen frame frame (206) that is connected with group net arm driving lever (204), dial group net (205) reciprocally swinging on the screen frame frame (206), help near the rubbish of entrance to enter scraper bowl type chain net type collecting conveyor entrance;

Hydraulic verticallifting device (122) comprising: hoisting cross beam (401), lifting hydraulic pressure lever pin (402), lifting hydraulic stem (403), lifting hydraulic cylinder (404), the fixing hinge of lifting hydraulic cylinder (405), stem cap bolt (406), guide rail bolt of rear end plate (407), guide rail (408), hoisting cross beam jacking block (409), Guide rollers (410), the Guide rollers tip (411); Its annexation is that hoisting cross beam (401) passes in scraper bowl type chain net type collecting conveyor (103) two backplates (201), carries out axial location by two hoisting cross beam jacking blocks (409); Lifting hydraulic stem (403) one ends link to each other with hoisting cross beam (401) by lifting hydraulic pressure lever pin (402), and an end matches with lifting hydraulic cylinder (404); Lifting hydraulic cylinder (404) is fixed on the deck (107) by the fixing hinge of lifting hydraulic cylinder (405); Guide rollers (410) is fixed on the backplate (201) by the Guide rollers tip (411), and Guide rollers (410) is tangent with guide rail (408); Guide rail (408) is fixed on the stem (105) by guide rail bolt of rear end plate (407), and stem lid (104) is fixed on the stem (105) by stem cap bolt (406); Hydraulic verticallifting device (122) is for the depth of immersion of adjusting scraper bowl type chain net type collecting conveyor;

Water level self-reacting device (102) comprising: float guide rod (501), upper break back contact (502), water level self-reacting device shell (503), lower break back contact (504), float (505), moving contact (506), break back contact screw (507); Upper break back contact (502) and lower break back contact (504) are fixed on water level self-reacting device shell (503) by break back contact screw (507), and moving contact (506) interts on float guide rod (501); Float (505) is fixed on float guide rod (501) lower end, and float guide rod (501) cooperates with interporal lacuna on the water level self-reacting device shell (503); The break back contact of water level self-reacting device is divided into (504) two of break back contact (502) and lower break back contacies, forms the non-contact area and namely controls the border; The bar that is connected on the float guide rod (501) is moving contact (506); When scraper bowl type chain net type collecting conveyor depth of immersion is crossed when dark, float is forced to relatively upwards arrive the control area coboundary, the sound contact joins, connect circuit, send control signal to the hydraulic verticallifting device, make lifting hydraulic cylinder (404)) work, scraper bowl type chain net type collecting conveyor is risen to suitable position, vice versa; The relative distance of break back contact screw (507) can adjust up and down, and the upper and lower limit model circle of control liquid level is effectively adjusted in 25-100mm; Can adapt to the different waters of water condition such as wave; The water level self-reacting device is used to the hydraulic verticallifting device that the lifting signal is provided, and makes scraper bowl type chain net type collecting conveyor keep the best effort depth of immersion;

Guiding device and water injecting system (106) comprise water jet standpipe (701), water jet standpipe hydraulic cylinder rod (702), water jet standpipe hydraulic actuating cylinder (703), water pump (704), water pump base station (705), the water jet standpipe hydraulic actuating cylinder is installed hinge (706), hydraulic cylinder rod (707) before the level attitude angular adjustment, hydraulic actuating cylinder (708) before the level attitude angular adjustment, pump water inlet (709), water injecting system base (110), level attitude angular adjustment handle (711), hydraulic cylinder rod after the level attitude angular adjustment (712), hydraulic actuating cylinder after the level attitude angular adjustment (713), water injecting system is adjusted pedestal (714), pumping line (715), water jet standpipe pillar (716), level attitude angular adjustment hydraulic actuating cylinder slide bar (717); Its annexation is: the front hinge of water jet standpipe (701) is connected with water jet standpipe hydraulic cylinder rod (702) by pin, and rear hinge is connected with water jet standpipe pillar (716) by pin; Water jet standpipe pillar (716) is fixed on water injecting system and adjusts pedestal (714); Water jet standpipe hydraulic cylinder rod (702) is connected with water jet standpipe hydraulic actuating cylinder (703) fit, and water jet standpipe hydraulic actuating cylinder (703) is connected by pin and water jet standpipe hydraulic actuating cylinder installation hinge (706); Four water jet standpipe hydraulic actuating cylinders of being separated by are installed hinge (706) and are fixed on water injecting system adjustment pedestal (714); Hydraulic cylinder rod (707) one ends and level attitude angular adjustment handle (711) are connected before the level attitude angular adjustment, hydraulic actuating cylinder (708) fit before the end level attitude angular adjustment; Six level attitude angular adjustment handles (711) of being separated by are fixed on water injecting system and adjust pedestal (714); Hydraulic cylinder rod (712) one ends and level attitude angular adjustment handle (711) are connected after the level attitude angular adjustment, hydraulic actuating cylinder (713) fit after the end level attitude angular adjustment; Hydraulic actuating cylinder (713) is linked on the level attitude angular adjustment hydraulic actuating cylinder slide bar (717) after the front hydraulic actuating cylinder (708) of level attitude angular adjustment and the level attitude angular adjustment; Pump water inlet (709) joins with water pump (704) entrance point, pumping line (715) one ends are connected with water pump (704) exit end, and an end is connected with water jet standpipe (701); Water pump (704) is fixed on the water pump base station (705), and on the water pump base station (705) (107) on deck; Hydraulic actuating cylinder (708) before hydraulic cylinder rod (707) and the level attitude angular adjustment before water jet standpipe hydraulic cylinder rod (702) and water jet standpipe hydraulic actuating cylinder (703), the level attitude angular adjustment, hydraulic actuating cylinder (713) replaces with DC machine respectively after hydraulic cylinder rod after the level attitude angular adjustment (712) and the level attitude angular adjustment;

The water injecting system of fluid control auto-steering can be in the horizontal direction with the vertical direction both direction on free translation-angle; On the vertical surface, utilize stretching the elevation angle of water jet standpipe being regulated of water jet standpipe hydraulic cylinder rod (702) and water jet standpipe hydraulic actuating cylinder (703); Water jet standpipe hydraulic actuating cylinder (703) can with four be separated by be fixed on that water injecting system adjusts that water jet standpipe hydraulic actuating cylinder on the pedestal (714) installs hinge (706) one of them in succession, thereby changed the setting range of water jet standpipe jet angle of sprinkler flow into; On the horizontal direction, hydraulic actuating cylinder (713) can be free to slide at level attitude angular adjustment hydraulic actuating cylinder slide bar (717) after the front hydraulic actuating cylinder (708) of level attitude angular adjustment and the level attitude angular adjustment, elongation by hydraulic cylinder rod (712) after hydraulic cylinder rod (707) and the level attitude angular adjustment before the change level attitude angular adjustment, differential flexible, make the water jet standpipe injection direction adjusted in the horizontal direction; By being connected of hydraulic cylinder rod (712) and 6 level attitude angular adjustment handles (711) of being separated by after hydraulic cylinder rod (707) or the level attitude angular adjustment before the change level attitude angular adjustment, realize the range regulation of automatic swinging; At the other water injecting system that the fluid control auto-steering is arranged of stem, on the one hand the rubbish on the beach of bank is washed away, be that the rubbish in place that corner etc. is difficult to arrive gushes on the other hand; In addition, the water inlet of the water supply pump that water injecting system is used places scraper bowl type chain net type collecting conveyor behind, and water pump and coolant inlet pipe thereof become guiding device;

Satellite ship gathering-device (110) comprising: grid strap bolt (801), grid band (802), satellite ship propelling unit (803), satellite ship guide wheel (804), satellite ship guide wheel bolt (805), satellite hull (806), articulate hinge (807) and satellite ship hook (808); Its annexation is that grid band (802) is connected on the deck (107) by grid strap bolt (801); Satellite ship guide wheel (804) via satellite ship guide wheel bolt (805) is fixed on the satellite hull (806); The other end of grid band (802) is connected in and articulates hinge (807) on the satellite hull (806); When the satellite ship is not worked, articulate hinge (807) and be hung on satellite ship hook (808); Satellite ship corner travel switch (809) is installed on the hull, is connected 801 at grid band (802) with the grid strap bolt) connect by the end; Two satellite ships are arranged on the both sides of ship, and the satellite ship propelling unit (803) before and after the hull (806) can be realized advancing or retreating via satellite, and satellite ship guide wheel can be exercised along the bank by it; When advancing, at a slow speed ship rubbish is on every side passed gathering-device entrance before the ship by driving the grid band (802) be connected with lash ship, greatly accelerate collection efficiency, strengthened alerting ability; Wherein grid band (802) can slide at the grid strap bolt (801) that is connected with lash ship, the self aligning about doing when allowing the depth of immersion of satellite ship and lash ship that different is arranged; Satellite ship guide wheel (804) be for lash ship when pulling in to shore mode of operation, the satellite ship will touch the bank, ship guide wheel (804) via satellite then will auto-steering, moves on along the bank, thereby rubbish one net in bank is thrown into; Because the distance of hull and bank differs when the bank, thus in designing with soft grid band (802); When the satellite boatman does, be 90 ° owing to articulate the angle of hinge (807) and grid band (802) maximum, namely angle A is 0 °, guarantees that the satellite ship can tangentially draw grid band (802), thereby allows grid band (802) open as far as possible; The satellite ship is when work, when satellite ship band moving grid band (802) moves to when setting 150 ° ~ 180 ° of angles with hull, contact with satellite ship corner travel switch (809), the travel switch action, the control circuit of switch satellite ship motor, allow motor reversal, allow the satellite ship retreat, until reset on the satellite ship hook (808); The satellite ship can be hung the satellite ship hook (808) that is attached on the ship wall when not working: do when starting the satellite boatman, satellite ship hook (808) can put down, and unclamps the satellite ship; When lash barge returns when quitting work, the stroke beginning of top satellite ship hook (808), satellite ship hook (808) is mentioned, and lash barge is locked.

4. water rubbish clean-up vessel according to claim 3 is characterized in that at the top end of scraper bowl type chain net type collecting conveyor one cutting device being arranged, and the rubbish cutting with roomy is beneficial to garbage energy and enters smoothly compression set; Cutter sweep (121) comprises cutter sweep frame (601), pitch cutting (602), cutting motor (603); Its annexation is that pitch cutting (602) is installed on cutting motor (603) axle, and cutting motor (603) is fixed on the cutter sweep frame (601), and cutter sweep frame (601) is taken by bolt and is contained in backplate (201); When scraper bowl type chain net type collecting conveyor transmission work, cutter sweep is just worked; There is not the waters of Bulky Waste not open at some;

Compression set (112) comprising: rubbish comes off and assists rake (901), reel left shaft holder (902), compression box (903), reel (904), compression hydraulic cylinder (905), compression hydraulic cylinder bar (906), buffer memory shelves volume (907), compressing head connecting pin (908), compressing head (909), the left runner of compression box water (918), reel right bearing seat (923), the right runner of compression box water (924); Its annexation is: rubbish comes off and assists rake (901) to be bolted on the compression box (903); Reel (904) is fixed on compression box (903) one sides by reel left shaft holder (902) and reel right bearing seat (923); Buffer memory shelves volume (907) one end cigarettes are on reel (904), and an end is fixed on the compressing head (909); Slip is connected on the compression hydraulic cylinder bar (906) by compressing head connecting pin (908) at compression box (903) base plate and the compressing head (909) that unloads support plate (919), and compression hydraulic cylinder bar (906) is linked on the compression hydraulic cylinder (905); Compression hydraulic cylinder (905) is bolted on the stem (105), and stem (105) is fixed on the deck (107); The left runner of compression box water (918) and the right runner of compression box water (924) place respectively compression box (903) both sides, and an end opening joins with the leaking hole that unloads on the support plate (919), and an end docks with the breach that docks of deck (107); The come off rake teeth interval of auxiliary rake (901) of rubbish is staggered with the rake teeth (302) on the scraper bowl type chain net type collecting conveyor, assists for the rubbish that scraper bowl type chain net type collecting conveyor is sent to come off; Buffer memory gear volume (907), the groove by plate after the compression box (903) links to each other with compressing head (909); When compressing head (909) when advancing, also continue to drop on the buffer memory gear volume (907) from the rubbish that scraper bowl type chain net type collecting conveyor sends, when the pressure head backhaul, the groove effect of plate after buffer memory gear volume (907) and the compression box (903), it is that compressing head (909) is front that rubbish is scraped the compression zone; Rear plate is equivalent to scraper plate; Garbage-compressing water out places respectively the left runner of compression box water (918) of compression box (903) both sides and the right runner of compression box water (924) to discharge outboard by the docking breach on deck (107) again by the leaking hole arrival of unloading on the support plate (919).

5. water rubbish clean-up vessel according to claim 4 is characterized in that rubbish discharging gear (104) comprising: unloading lower link (910), unloading hydraulic stem (911), unloading hydraulic actuating cylinder (912), unloading hydraulic actuating cylinder hinge (913), unloading plate stem (914), unloading travel switch base (915), garbage box (916), unloading travel switch (917), unload support plate (919), connecting rod in the unloading (920), unloading pitman shaft (921), unloading pole (922), rubbish container suspension ring (925); Its annexation is: unload support plate (919) and be fixed on the two unloading plate stems (914); Connecting rod (920) one ends are hinged with unloading plate stem (914) in the unloading, and an end is hinged by unloading pitman shaft (921) with unloading lower link (910); The other end of unloading lower link (910) with unload pole (922) and be connected; Two unloading poles (922) are fixed on the deck (107).

6. water rubbish clean-up vessel according to claim 5 is characterized in that scraper bowl type chain net type collecting conveyor (103) is seen and is divided into horizontal segment and tilting section that tilting section becomes 150 ° of angles with horizontal segment; The backplate (201) of itself and both sides and guard shield (301) form a suitable scraper bowl; And metal gauze (203) is installed on the chain ear of band ear duplex chain (307), consists of the chain net type conveyer; Therefore gathering-device is called scraper bowl type chain net type collecting conveyor; When gathering-device works in the intermittent use pattern, rubbish enters in the gathering-device, constantly accumulation, when running up to specified amount, namely start scraper bowl type chain net type collecting conveyor HM Hydraulic Motor (311), thereby drive band ear duplex chain (307) by drive sprocket (313), the rake that metal gauze and rake teeth (302) and rabble arm (303) consist of moves together, and rubbish is sent to refuse disposal system; Described rake teeth (302) and rabble arm (303) can be used as together processing and manufacturing of one; The transmission of drive sprocket (313) is except above discussion mode, symmetrical two drive sprockets of scraper bowl type chain net type collecting conveyor (313) are installed on the transmission shaft, directly or with band transmissions such as belt pulleys recently drive transmission shaft by HM Hydraulic Motor or motor again.

7. water rubbish clean-up vessel according to claim 6, characterized by further comprising the control top, open paulin device (119), comprising: drive paulin motor (1001), receive paulin rod (1002), side screen (1003), open paulin device strutbeam (1004), open paulin guide rail (1005), top (1006), drive paulin guide wheel (1007), top guide rod (1008), receive paulin travel switch (1009), receive paulin rod belt pulley (1010), receive paulin rod belt (1011), receive paulin rod right bearing seat (1012), open paulin device pedestal (1013), open paulin motor pulley (1014), receive paulin rod left shaft holder (1015); Drive paulin motor (1001) and be bolted on out paulin device pedestal (1013); Receive paulin rod belt pulley (1010) and cooperate with receipts paulin rods (1002), by receiving paulin rod belts (1011) and linking to each other with the paulin motor pulley (1014) of opening of opening paulin motor (1001) cooperation; Receive paulin rod (1002) and be fixed on out on the paulin device pedestal (1013) by receiving paulin rod right bearing seat (1012) and receiving paulin rod left shaft holder (1015), be bolted on out on the paulin device strutbeam (1004) and open paulin device pedestal (1013); Receiving paulin travel switch (1009) is fixed on out on the paulin guide rail (1005); Two open paulin guide rail (1005) with four to open paulin device strutbeam (1004) affixed, and four opened paulin device strutbeam (1004) and be fixed on the deck (107); One end of top (1006) picks out from receiving paulin rod (1002), and tail end and top guide rod (1008) link together; Drive paulin guide wheel (1007) and place top guide rod (1008) both sides, and open paulin guide rail (1005) and contact; Open the paulin device by driving paulin motor (1001) by belt-driving, drive receipts paulin rods (1002) and pack up top (1006); After running into receipts paulin travel switches (1009), stop; One end of top (1006) picks out from receiving paulin rod (1002), and tail end and top guide rod (1008) link together; Drive paulin guide wheel (1007) and place top guide rod (1008) both sides, can open paulin guide rail (1005) slip; When needs put down top, motor was done slowly counter-rotating, closed under the thrust of the force of inertia of pulley and bar and receipts paulin rod.