CN210792835U

CN210792835U - Charging system for unmanned ship

Info

Publication number: CN210792835U
Application number: CN201921742863.0U
Authority: CN
Inventors: 不公告发明人
Original assignee: Wujiang Qingdao High Tech Co ltd
Current assignee: Qingdao Wujiang Technology Co ltd
Priority date: 2019-10-17
Filing date: 2019-10-17
Publication date: 2020-06-19
Anticipated expiration: 2029-10-17

Abstract

The utility model discloses a charging system for unmanned ship, which comprises a charging wire, a charger, a storage battery, a fixed base, a charging head, a charging pile and a driving device, wherein the fixed base, the charging head, the charging pile and the driving device are matched; the fixed base can be arranged on the side wall of the unmanned ship and used as a mounting platform of the charging head; the charging pile can be installed on the wharf and provides shore power for the charging head; the charging head and the charging pile are correspondingly provided with communicated alternating current wire ports; when charging, the charging head can be directly inserted into the charging pile, so that shore power energy is transmitted to the charger through the charging wire, and when charging is finished, the charging head rotates under the action of the driving device to disconnect the charging pile; the storage battery provides electric energy for the driving device and receives the electric energy of the charger. The utility model discloses degree of automation is high, and the first fastening or break away from of accomplishing that can be automatic realizes bank electricity and connects and transmit.

Description

Charging system for unmanned ship

Technical Field

The utility model belongs to the technical field of charge control and specifically relates to a charging system for unmanned ship assists unmanned ship automatic connection bank electricity and charges.

Background

The unmanned ship is a full-automatic water surface robot which can navigate on water surface according to a preset task without remote control by means of precise satellite positioning and self sensing, and English is abbreviated as USV. Many enterprises at home and abroad greatly invest in the development of unmanned ships, the advantages of low cost, no personnel accompanying the ships and low risk of the unmanned ships are fully exerted, and the value of the water area robot is reflected to the maximum extent. The pleasure boats are distributed in scenic spots of rivers, lakes and gulfs and serve as transportation tools for tourists to enjoy water landscape, the tour routes are fixed, and the requirements on stability and safety of the boat body are high. Unmanned pleasure-boat can improve automatic intellectuality, reduces steering personnel and hurries up a hurry to open the maloperation when being crucial, improves the safety of pleasure-boat stability.

However, when the unmanned ship or the unmanned pleasure boat is charged by shore power, a large amount of manual operation is needed, the automation degree is low, particularly, the problem that the plug and the socket are difficult to automatically butt and shake due to shaking of the ship body, the contact between the socket and the plug is poor, the plug is difficult to withdraw from the socket after charging and the like is caused, the automatic charging system of the unmanned ship or the unmanned pleasure boat is urgently needed to be improved, and the problem that the energy source of the unmanned ship or the unmanned pleasure boat is difficult to supplement is solved.

In view of the above, it is an urgent problem in the art to overcome the above-mentioned drawbacks of the prior art.

Disclosure of Invention

The utility model discloses the technical problem that needs to solve is: the connection capability of the unmanned ship and a shore power system is improved through the automatic charging system, the interference of the ship body shaking on the charging system is isolated, and the problem that the unmanned ship is difficult to charge automatically is solved.

The utility model discloses a following technical scheme reaches above-mentioned purpose: the utility model provides a charging system for unmanned ship, includes charging wire, charger, battery, still includes supporting fixed baseplate, the head that charges, fills electric pile and drive arrangement.

The fixed base can be arranged on the side wall of the unmanned ship in a bolt or buckle mode and is used for fixedly supporting the charging head; the charging pile can be fixedly installed on the connector through bolts, a shore power system is introduced, a charging interface of the charging pile is matched with a charging socket of the charging head, and the charging pile provides shore power energy for the charging head after the charging head is inserted into the charging pile; specifically, the charging head and the charging pile are correspondingly provided with communicated alternating current wire ports; when charging is needed, the charging head is inserted into a charging pile, shore power energy is transmitted to a charger through a charging wire, then a storage battery is charged, and after charging is finished, the charging head rotates under the action of a driving device to move and is separated from the connection with the charging pile; the storage battery provides electric energy for the driving device and receives the electric energy of the charger.

Preferably, the fixed base is a cuboid or a cylinder, a blank groove and a rotating groove are arranged on one side end face of the fixed base, the other side end face is used as a mounting contact surface, a lead hole is formed in the bottom of the middle end of the blank groove, a rotating hole is formed in the side face of the middle end of the blank groove, and the rotating hole is communicated with the rotating groove; and the lead hole is provided with a connecting pipe.

Preferably, the charging head comprises a base, a tension spring, a sleeve, a wire fixing pipe and a hanging plug; the base is provided with a lead through hole matched with the lead hole, two sides of the middle end of the base are provided with rotating shafts, and the rotating shafts can be rotatably hung in the rotating holes of the fixed base to realize the hanging of the charging head on the fixed base; one end of the tension spring is fixed on the upper end surface of the base, the other end of the tension spring is fixed on the wire fixing pipe, the tension spring has the connection strength for bearing the wire fixing pipe, and when the hanging plug is stretched or extruded, the tension spring deforms to provide incremental displacement to offset the shaking of the ship body; the sleeve and the connecting pipe are stretchable rubber pipes or plastic pipes, wherein the sleeve is arranged in a ring of the tension spring, and the connecting pipe is hermetically connected to the fixed base and completely covers the lead hole; one end of the sleeve penetrates through the lead through hole to be connected with the connecting pipe, the other end of the sleeve is coaxially and hermetically connected to the wire fixing pipe, and the sleeve and the connecting pipe provide a waterproof channel for the charging wire to prevent water and salt mist from invading the inside of the ship body; the solid wire tube is a conical rotator made of hard elastic materials, a charging wire is arranged in the solid wire tube so as to improve the connection strength of the tail end of the charging wire, one end of the solid wire tube is connected with the tension spring and the sleeve, and the other end of the solid wire tube is rotatably connected with the hanging plug; the upper part of the conical tube at the bottom of the hanging plug is provided with an insulating hard tube of a cross joint; and positive and negative insertion pieces which are mutually insulated are arranged on the outer side of the conical pipe and are used as alternating current lead openings for connecting an external alternating current power supply.

Preferably, the charging pile comprises a fixed beam, a socket door and a clamping spring; the two fixed beams are respectively an upper fixed beam and a lower fixed beam, and each fixed beam is provided with two mounting holes; socket door one side sets up the guide body perpendicularly, the guide body comprises cuboid and arc body, cuboid and arc body junction set up positive negative splicing as exchanging the wire mouth, and wherein the arc body is used for guiding the head that charges and inserts, and the cuboid is used for restricting the cross joint position.

Preferably, the upper end and the lower end of the socket door are respectively provided with a sliding pin corresponding to the mounting hole, the thickness of the sliding pin is the same as that of the mounting hole, the length of the sliding pin is greater than that of the mounting hole, and the width of the sliding pin is smaller than that of the mounting hole; a convex pin is arranged on the sliding pin; the socket door is provided with two doors, namely a left socket door and a right socket door, and each socket door is installed in the corresponding installation holes of the upper side fixed beam and the lower side fixed beam through sliding pins; the two clamping springs are respectively an upper clamping spring and a lower clamping spring, one end of each clamping spring is connected with the convex pin of the left socket door, and the other end of each clamping spring is connected with the convex pin of the right socket door, so that the two socket doors are tensioned, and the two socket doors are kept close to each other; the cuboids of the two socket doors are parallel to each other, the arc body is in a tangential diverged state from inside to outside, the side surface of each socket door is provided with a positive connecting piece and a negative connecting piece which are used as alternating current wire openings, the shape and the installation position of each socket door correspond to the positive inserting piece and the negative inserting piece of the conical tube, and the alternating current wire openings are ensured to be tightly contacted after the charging heads are inserted into the charging piles; specifically, the distance between two convex pins at the corresponding positions of the arc bodies is greater than the length of the clamping spring, so that the two socket doors are tensioned by the clamping spring; the distance between the two socket doors in the initial state is smaller than the width of the cross joint, so that the cross joint cannot automatically separate from the socket doors in the transverse state; the distance between the two socket doors in the initial state is larger than the thickness of the cross joint, so that the cross joint can be automatically separated from the socket doors in the longitudinal state; the maximum distance between the two socket doors after moving in the mounting hole is larger than the width of the cross joint, so that the cross joint can be ensured to pass through the narrowest position between the two socket doors after impacting and squeezing the two socket doors; specifically, after the head that charges inserts and fills electric pile, the circular arc body that the electric pile was filled in conical rotating body support prevents to charge the head and further insert forward and fill electric pile and lead to charging the head and fill the electric pile on the corresponding alternating current conductor mouth and break away from, simultaneously the cross joint transverse state can catch on filling electric pile, prevents to charge the head and withdraw from to fill electric pile backward, and conical rotating body and cross joint cooperate and guarantee to charge the head and fill the electric pile on the corresponding alternating current conductor mouth in close contact with.

The driving device comprises a rotating motor and a steering motor, the rotating motor is arranged in a rotating groove of the fixed base, an output shaft of the rotating motor is fixedly connected with a rotating shaft of the charging head, the rotating angle of the charging head can be controlled, the charging head of the charger is ensured to be vertically inserted into the charging pile before charging, and the charging head is vertically attached to the ship body after charging; the steering motor is coaxially arranged in the wire fixing pipe, an output shaft of the steering motor is fixedly connected with the hanging plug, the rotation angle of the hanging plug can be controlled, the cross joint is driven to keep a transverse state before charging, the cross joint is enabled to be impacted and squeeze the two socket doors open, then the two socket doors are hung and not separated, the cross joint is driven to be in a longitudinal state after charging is finished, and the cross joint is enabled to be automatically separated from the two socket doors.

The charging device comprises a charging wire, a sleeve, a lead through hole, a lead wire hole, a charger and a storage battery, wherein the charging wire comprises six charging wires, two charging wires are in a group, one end of the first group of charging wires is connected to the positive and negative electrode inserting pieces respectively, the other end of the first group of charging wires passes through the solid wire pipe, the sleeve, the lead wire through hole and the lead wire hole to; the storage battery is connected with the driving device through a third group of charging wires.

The charger is arranged inside the unmanned ship, one end of the charger is connected with a charging wire, the other end of the charger is connected with the storage battery, and external alternating current is converted into direct current to charge the storage battery.

The storage battery is arranged in the unmanned ship, receives a charger power supply and provides power for the unmanned ship electric equipment and the driving device.

The control panel of the driving device is connected with the controller of the unmanned ship through a signal line and responds to the instruction of the controller; or the communication equipment on the control panel of the driving device is wirelessly connected with the remote controller corresponding to the unmanned ship and responds to the instruction of the remote controller.

Compared with the prior art, the utility model has the following advantages.

1. The utility model discloses well charging device provides simultaneously the head that charges and fills electric pile, simple to operate simple to use, waters robots such as unmanned ship of adaptation or unmanned pleasure boat that can be friendly.

2. The utility model discloses well head that charges sets up tension spring and possesses the joint strength who accepts the solidus pipe to it offsets the hull and rocks to provide the deformation displacement surplus.

3. The utility model discloses well set up two drive arrangement in the head that charges and can ensure to charge the head and keep the position that corresponds at different operating condition, can friendly insert and fill electric pile, can paste tight hull shrink space again.

4. The utility model discloses in through setting up sleeve pipe and connecting pipe, ensure the sealed of charging wire passageway, the hull can not leak because of charging system.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below. It is obvious that the drawings described below are only some embodiments of the invention, and that for a person skilled in the art, other drawings can be obtained from these drawings without inventive effort.

Fig. 1 is a perspective view of a connection state of a charging system according to an embodiment of the present invention.

Fig. 2 is a perspective view of a fixing base of the charging system according to the embodiment of the present invention.

Fig. 3 is a perspective view of a charging head of the charging system according to the embodiment of the present invention.

Fig. 4 is a partially disassembled perspective view of a charging head of the charging system according to the embodiment of the present invention.

Fig. 5 is the embodiment of the utility model provides an in charging system fill electric pile stereogram.

Fig. 6 is a schematic diagram of a driving system of the charging system according to the embodiment of the present invention.

Fig. 7 is a working perspective view of the charging system in the embodiment of the present invention in the state of the charging head being vertically upward after the charging system is ready to charge or is retracted.

Fig. 8 is a perspective view of the charging system according to the embodiment of the present invention in a horizontal state and a horizontal state before or after charging.

Fig. 9 is the embodiment of the utility model provides an in charging system charging process charge head insert fill electric pile and hang the work stereogram when tight.

Fig. 10 is a working perspective view of the charging system in the embodiment of the present invention in a longitudinal state of the cruciform joint.

In the figure: 1-a fixed base; 2-a charging head; 3-charging pile; 4-a drive device; 5-a charging wire; 6-a charger; 7-a storage battery; 101-empty cell slot; 102-a rotating tank; 103-lead slot; 104-a rotation hole; 105-a connecting tube; 201-a base; 202-a tension spring; 203-a cannula; 204-a wire fixing pipe; 205-hanging plug; 206-axis of rotation; 207-positive and negative insert pieces; 208-a cross joint; 301-fixed beam; 302-a socket door; 303-a clamping spring; 304-mounting holes; 305-a guide body; 306-positive and negative tabs; 307-sliding pins; 308-a boss pin; 401-a rotating electrical machine; 402-steering motor.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the description of the present invention, the terms "inside", "outside", "longitudinal", "lateral", "up", "down", "top", "bottom", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of describing the present invention but do not require that the present invention must be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.

Furthermore, the technical features mentioned in the embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other. The present invention will be described in detail with reference to the accompanying drawings and examples.

Example 1: as shown in fig. 1-6, a charging system for unmanned ship comprises a charging wire 5, a charger 6, a storage battery 7, and further comprises a fixed base 1, a charging head 2, a charging pile 3 and a driving device 4, wherein the charger 6 is a 24V20A super-power charger 6, and the storage battery 7 is two 12V15A super-power batteries.

In the embodiment, the fixed base 1 can be mounted on the side wall of the unmanned ship in a bolt or buckle mode, and the fixed base 1 is used for fixedly supporting the charging head 2; the charging pile 3 can be vertically fixed on the wharf through a bolt, a shore power system is connected, a charging interface of the charging pile 3 is matched with a charging socket of the charging head 2, and after the charging head 2 is inserted into the charging pile 3, the charging pile 3 provides shore power energy for the charging head 2; specifically, the charging head 2 and the charging pile 3 are correspondingly provided with communicated alternating current wire ports; when charging is needed, the charging head 2 is inserted into the charging pile 3, shore power energy is transmitted to the charger 6 through the charging wire 5, then the storage battery 7 is charged, and after charging is finished, the charging head 2 rotates under the action of the driving device 4 to move and is separated from the connection with the charging pile 3; the storage battery 7 supplies electric energy to the driving device 4 and receives electric energy from the charger 6.

In the embodiment, the fixed base 1 is a cuboid, the fixed base 1 is 50cm long, 50cm wide and 15cm thick, a blank groove 101 and a rotation groove 102 are arranged on one side end face, the width of the blank groove 101 is 14cm and the depth of the blank groove is 13.5cm, the other side end face is used as a mounting contact surface, a straight groove lead hole with the diameter of 7cm and the length of 10cm is formed in the bottom of the middle end of the blank groove 101, a rotation hole 104 with the diameter of 3cm is formed in the side face of the middle end of the blank groove 101, and the rotation hole 104 is communicated with the rotation groove 102; the lead hole is provided with a connection pipe 105.

In this embodiment, the charging head 2 includes a base 201, a tension spring 202, a sleeve 203, a wire fixing pipe 204 and a plug 205, wherein the base 201 is 10cm long, 10cm wide and 5cm thick, the tension spring 202 is 30cm long and 9cm in diameter, and the sleeve 203 is 7cm in diameter and 40cm in length; a lead through hole matched with the lead hole is formed in the base 201, rotating shafts 206 with the diameter of 3cm are arranged on two sides of the middle end of the base 201, and the rotating shafts 206 can be rotatably hung in the rotating holes 104 of the fixed base 1 to realize the hanging of the charging head 2 on the fixed base 1; one end of the tension spring 202 is fixed on the upper end surface of the base 201, and the other end is fixed on the solid line pipe 204, wherein the tension spring 202 has the connection strength for bearing the solid line pipe 204, and when the hanging plug 205 is stretched or pressed, the tension spring 202 deforms to provide incremental displacement to counteract the shaking of the ship body; the sleeve 203 and the connecting tube 105 are stretchable rubber tubes, wherein the sleeve 203 is arranged in the ring of the tension spring 202, and the connecting tube 105 is hermetically connected to the fixed base 1 and completely covers the lead hole; one end of the sleeve 203 passes through the lead through hole to be connected with the connecting pipe 105, and the other end of the sleeve is coaxially and hermetically connected to the solid wire pipe 204, wherein the sleeve 203 and the connecting pipe 105 provide a waterproof channel for the charging wire 5, so that water and salt mist are prevented from invading the inside of the ship body; the cable fixing pipe 204 is a conical rotator made of hard rubber elastic materials, the maximum diameter is 16.2cm, the minimum top surface diameter is 11.2cm, the length is 6.3cm, a charging wire 5 is placed inside the cable fixing pipe 204 so as to improve the connection strength of the tail end of the charging wire 5, one end of the cable fixing pipe 204 is connected with the tension spring 202 and the sleeve 203, the other end of the cable fixing pipe is rotatably connected with the hanging plug 205, and the hanging plug 205 is 17.7cm long; the bottom of the hanging plug 205 is a conical pipe, the upper part of the hanging plug is provided with an insulating hard pipe of a cross joint 208, and the cross joint 208 is 6cm long, 13cm wide and 3cm thick; and positive and negative insertion pieces 207 which are mutually insulated are arranged on the outer side of the conical pipe and are used as alternating current lead openings for connecting an external alternating current power supply.

In this embodiment, the charging pile 3 includes a fixed beam 301, a socket door 302 and a clamping spring 303, wherein the fixed beam 301 is 65cm long, 8cm wide and 8cm thick, the socket door 302 is 50cm long, 20cm wide and 3cm thick, and the clamping spring 303 is 15cm long; the two fixed beams 301 are respectively an upper fixed beam 301 and a lower fixed beam 301, each fixed beam 301 is provided with two mounting holes 304, the length of each mounting hole 304 is 8cm, the width of each mounting hole is 22.5cm, the thickness of each mounting hole is 3cm, and the distance between the two mounting holes 304 is 10 cm; socket door 302 one side sets up the guide body 305 perpendicularly, the guide body 305 comprises cuboid and arc body, wherein cuboid length 50cm, wide 8.45cm, thick 1cm, arc body height 50cm, radius 10cm, arc length 9cm, the arc body is tangent with the cuboid to be connected, cuboid and arc body junction set up positive and negative splicing 306 as exchanging the wire mouth, positive and negative splicing 306 is long 45cm, wide 1.6cm, and wherein the arc body is used for guiding charge head 2 and inserts, and the cuboid is used for restricting the cross joint 208 position.

In this embodiment, the upper end and the lower end of the socket door 302 are respectively provided with a sliding pin 307 corresponding to the mounting hole 304, and the sliding pin 307 has a length of 10cm, a width of 20cm and a thickness of 3 cm; a convex pin 308 is arranged on the sliding pin 307, and the diameter and the length of the convex pin 308 are 2.5cm and 3 cm; the socket door 302 is provided with two doors, namely a left socket door 302 and a right socket door 302, and each socket door 302 is installed in a corresponding installation hole 304 of the upper fixing beam 301 and the lower fixing beam 301 through a sliding pin 307; the two clamping springs 303 are respectively an upper clamping spring 303 and a lower clamping spring 303, one end of each clamping spring 303 is connected with the convex pin 308 of the left socket door 302, the other end of each clamping spring 303 is connected with the convex pin 308 of the right socket door 302, the minimum distance between the two convex pins 308 is 20cm, the maximum distance between the two convex pins 308 is 25cm, and the clamping springs 303 strain the two socket doors 302 to keep the two socket doors 302 close to each other; the cuboid of two socket doors 302 is parallel to each other, and the cuboid corresponds minimum interval 10cm, maximum interval 15cm, and the circular arc body is the tangential state of turning round from inside to outside, socket door 302 side sets up positive and negative splicing 306 as exchanging the wire mouth, and its shape and mounted position are corresponding with positive and negative inserted sheet 207 of circular cone type pipe, and it is inseparable to ensure that the contact of exchanging the wire mouth after charging head 2 inserts and fills electric pile 3.

In this embodiment, the driving device 4 includes a rotating motor 401 and a steering motor 402, both the rotating motor 401 and the steering motor 402 are small-sized terraced ECMA direct current servo motors, the rotating motor 401 is installed in the rotating groove 102 of the fixed base 1, an output shaft thereof is fixedly connected with one rotating shaft 206 of the charging head 2, the rotating angle range of the charging head 2 can be controlled from 0 to 180 degrees, before charging, it is ensured that the charging head 2 of the charger 6 is vertically inserted into the charging pile 3, at this time, the angle of the charging head 2 is 90 degrees, after charging, the charging head 2 is vertically attached to the ship body, at this time, the angle of the charging head 2 is 0 degree; the steering motor 402 is coaxially installed in the solid tube 204, an output shaft of the steering motor is fixedly connected with the hanging plug 205, the rotation angle range of the hanging plug 205 can be controlled from minus 180 degrees to plus 180 degrees, the cross joint 208 is driven to be in a horizontal state before charging, the angle of the cross joint 208 is 0 degree at the moment, the cuboid of the two socket doors 302 is hung after the cross joint 208 is impacted and squeezed open the two socket doors 302 and is not separated, the cross joint 208 is driven to be in a vertical state when charging is finished, the angle of the cross joint 208 is plus 90 degrees or minus 90 degrees at the moment, and the cross joint 208 is automatically separated from the cuboid of the two socket doors 302.

In this embodiment, six charging wires 5 are provided, two of the charging wires are a group, wherein one end of the first group of charging wires 5 is connected to the positive and negative electrode tabs respectively, the other end of the first group of charging wires 5 passes through the wire fixing tube 204, the sleeve 203, the wire through hole and the wire lead hole to be connected with the charger 6, and the charger 6 is connected with the storage battery 7 through the second group of charging wires 5; the accumulator 7 is connected with the driving device 4 through a third set of charging wires 5.

In this embodiment, the charger 6 is installed inside the unmanned ship, and one end links to each other with charging wire 5, and the other end links to each other with battery 7, turns into the direct current with outside alternating current and charges for battery 7.

In this embodiment, the storage battery 7 is installed inside the unmanned ship, receives a power supply of the charger 6, and provides a power supply for the unmanned ship electric equipment and the driving device 4.

In this embodiment, the control board of the driving device 4 is connected with the controller of the unmanned ship through a signal line, and responds to the instruction of the controller; or the communication equipment on the control panel of the driving device 4 is wirelessly connected with the remote controller corresponding to the unmanned ship and responds to the instruction of the remote controller.

In this embodiment, after charging first 2 inserts and fills electric pile 3, the circular cone rotator supports the arc body that fills electric pile 3, prevents to charge first 2 and further insert forward and fill electric pile 3 and lead to charging first 2 and fill the electric pile 3 on the corresponding alternating current conductor mouth and break away from, simultaneously cross joint 208 transverse state can catch on and fill electric pile 3, prevents to charge first 2 and withdraw from to fill electric pile 3 backward, and the circular cone rotator cooperatees with cross joint 208 and ensures charging first 2 and fill the electric pile 3 on the corresponding alternating current conductor mouth in close contact with.

In this embodiment, the distance between the narrowest parts of the two socket doors 302 under the action of the clamping springs 303 is 10cm, which is smaller than the width 13cm of the cross connector 208, so as to ensure that the cross connector 208 cannot automatically separate from the socket doors 302 in the transverse state; the distance between the two socket doors 302 in the initial state is larger than the thickness of the cross connector 208 by 3cm, so that the cross connector 208 can be automatically separated from the socket doors 302 in the longitudinal state; the maximum distance between the two receptacle doors 302 after movement in the mounting holes 304 is 15cm and is greater than the width of the cross connector 208, which is 13cm, thereby ensuring that the cross connector 208 can pass through the narrowest position between the two receptacle doors 302 after striking and squeezing the two receptacle doors 302 apart.

Example 2 of implementation: as shown in fig. 7 to 10, the charge insertion-to-charge completion process is as follows.

The method comprises the following steps: the fixing base 1 is vertically installed on the side face of a ship body, the charging pile 3 is correspondingly vertically installed on a wharf carrier, alternating current is connected to positive and negative connection pieces 306 of the charging pile 3, the charging head 2 and the driving device 4 are installed on the fixing base 1, the charger 6 and the storage battery 7 are installed in the unmanned ship, and a circuit between devices is established through the charging wire 5.

Step two: the initial state is that the charging head 2 is in a vertical upward state by 0 degrees, and the cross joint 208 on the hanging plug 205 is in a transverse state by 0 degrees.

Step three: the rotary motor 401 operates to drive the charging head 2 to be in a horizontal state by 90 degrees.

Step four: unmanned ship promotes the circular arc body that charges head 2 and insert two socket door 302 perpendicularly, under the guide of the circular arc body of both sides, the head that charges 2 continues to move forward, until cross connection 208 extrudes into completely and surpasss the cuboid, it makes two socket door 302 playback to press from both sides position spring 303, the circular cone rotator striking both sides circular arc body of solid line pipe 204, the both sides circular arc body makes the head that charges 2 retreat backward, cross connection 208 is withstood by the both sides cuboid, thereby realize charging head 2 and fill the alternating current wire mouth in close contact with that corresponds on the electric pile 3.

Step five: after charging, the steering motor 402 acts to drive the hanging plug 205 to rotate by 90 degrees, so that the cross joint 208 is converted into a longitudinal state by 90 degrees, the thickness of the cross joint 208 is smaller than the distance between the cuboids on the two sides, and the connection state between the charging head 2 and the charging pile 3 is converted into a separation state.

Step six: unmanned ship drives the head that charges 2 and leaves and fill electric pile 3, and the action of rotating electrical machines 401, the vertical 0 degrees of state that makes progress of drive head that charges 2.

Step seven: the steering motor 402 is operated to rotate the hanging plug 205 by minus 90 degrees, so that the cross joint 208 on the hanging plug 205 moves horizontally by 0 degree.

Step eight: and (5) recovering the charging pile 3 and putting the charging pile into an unmanned ship.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. A charging system for an unmanned ship comprises a charging wire (5), a charger (6) and a storage battery (7), and is characterized by further comprising a fixing base (1), a charging head (2), a charging pile (3) and a driving device (4) which are matched; the fixed base (1) can be arranged on the side wall of the unmanned ship and used as a mounting platform of the charging head (2); the charging pile (3) can be installed on the wharf and provides shore power energy for the charging head (2); the charging head (2) and the charging pile (3) are correspondingly provided with communicated alternating current wire ports; when charging, the charging head (2) can be directly inserted into the charging pile (3), so that shore power energy is transmitted to the charger (6) through the charging wire (5), and when charging is finished, the charging head (2) rotates under the action of the driving device (4) to disconnect the charging pile (3); the storage battery (7) provides electric energy for the driving device (4) and receives the electric energy of the charger (6).

2. The charging system according to claim 1, wherein the fixed base (1) is provided with a hollow groove (101) and a rotating groove (102), the bottom of the middle end of the hollow groove (101) is provided with a lead hole, and the side surface of the middle end of the hollow groove (101) is provided with a rotating hole (104) communicated with the rotating groove (102); the lead wire hole is provided with a connecting pipe (105).

3. The charging system according to claim 2, characterized in that the charging head (2) comprises a base (201), a tension spring (202), a bushing (203), a wire fixing tube (204) and a plug (205); a lead through hole matched with the lead hole is formed in the base (201), rotating shafts (206) are arranged on two sides of the middle end of the base (201), and the rotating shafts (206) are rotatably hung in the rotating holes (104) of the fixed base (1); one end of the tension spring (202) is fixed on the upper end surface of the base (201), and the other end of the tension spring is fixed on the wire fixing pipe (204); the sleeve (203) and the connecting pipe (105) are stretchable rubber pipes or plastic pipes, wherein the sleeve (203) is arranged in a ring of the tension spring (202), and the connecting pipe (105) is hermetically connected to the fixed base (1) and completely covers the lead hole; one end of the sleeve (203) penetrates through the lead through hole to be connected with the connecting pipe (105), and the other end of the sleeve is coaxially and hermetically connected to the wire fixing pipe (204); the wire fixing pipe (204) is a conical rotator made of hard elastic materials, one end of the wire fixing pipe is connected with the tension spring (202) and the sleeve (203), and the other end of the wire fixing pipe is rotatably connected with the hanging plug (205); the bottom of the hanging plug (205) is a conical pipe, and the upper part of the hanging plug is provided with an insulating hard pipe of a cross joint (208); and positive and negative insertion pieces (207) which are mutually insulated are arranged on the outer side of the conical pipe and are used as alternating current lead openings for connecting an external alternating current power supply.

4. A charging system according to claim 3, characterized in that the charging post (3) comprises a fixed beam (301), a socket door (302) and a clamping spring (303); the number of the fixed beams (301) is two, namely an upper fixed beam (301) and a lower fixed beam (301), and each fixed beam (301) is provided with two mounting holes (304);

the socket door (302) is provided with two doors, namely a left socket door (302) and a right socket door (302); the upper end and the lower end of the socket door (302) are respectively provided with a sliding pin (307) matched with the mounting hole (304), and the sliding pin (307) is provided with a convex pin (308); the left socket door (302) and the right socket door (302) are installed in the corresponding installation holes (304) of the upper fixed beam (301) and the lower fixed beam (301) through sliding pins (307); the two clamping springs (303) are respectively an upper clamping spring (303) and a lower clamping spring (303), one end of each clamping spring (303) is connected with the convex pin (308) of the left socket door (302), and the other end of each clamping spring (303) is connected with the convex pin (308) of the right socket door (302);

the side surface of the socket door (302) is provided with a positive and negative connecting piece (306) as an alternating current wire port, and the shape and the installation position of the positive and negative connecting piece correspond to those of the positive and negative inserting piece (207) of the conical pipe; the distance between the convex pins (308) on the two socket doors (302) is matched with the length of the clamping spring (303), and the distance between the two socket doors (302) in different positions in the mounting hole (304) is matched with the shape of the cross joint (208).

5. The charging system according to claim 4, wherein the socket door (302) further comprises a guide body (305), the guide body (305) is composed of a rectangular parallelepiped and a circular arc body, a positive tab and a negative tab (306) are arranged at the connection position of the rectangular parallelepiped and the circular arc body to serve as an alternating current lead port, the circular arc body is used for guiding the insertion of the charging head (2), and the rectangular parallelepiped is used for limiting the position of the cross connector (208).

6. The charging system according to claim 5, wherein the driving device (4) comprises a rotating motor (401) and a steering motor (402), the rotating motor (401) is installed in the rotating slot (102) of the fixed base (1), and an output shaft thereof is fixedly connected with one rotating shaft (206) of the charging head (2) to drive the charging head (2) to rotate; the steering motor (402) is coaxially installed in the solid pipe (204), and an output shaft of the steering motor is fixedly connected with the hanging plug (205) to drive the hanging plug (205) to rotate.

7. The charging system according to claim 6, wherein at least six charging wires (5) are arranged, and each two charging wires are in one group, wherein one end of the first group of charging wires (5) is connected to the positive and negative electrode insertion pieces respectively, the other end of the first group of charging wires passes through the wire fixing pipe (204), the sleeve pipe (203), the wire through hole and the lead hole to be connected with the charger (6), and the charger (6) is connected with the storage battery (7) through the second group of charging wires (5); the storage battery (7) is connected with the driving device (4) through a third group of charging wires (5).

8. The charging system according to claim 7, wherein the charger (6) is installed inside the unmanned ship, one end of the charger is connected with the charging wire (5), the other end of the charger is connected with the storage battery (7), and external alternating current is converted into direct current to charge the storage battery (7).

9. The charging system according to claim 8, wherein the storage battery (7) is installed inside the unmanned ship, receives power from the charger (6), and supplies power to the unmanned ship electric equipment and the driving device (4).

10. The charging system according to any one of claims 1 to 9, wherein a control board of the driving device (4) is connected with a controller of the unmanned ship through a signal line, and responds to a controller command; or the communication device on the control panel of the driving device (4) is wirelessly connected with a remote controller corresponding to the unmanned ship and responds to the instruction of the remote controller.