CN215245408U - Automatic dock for protecting small unmanned ship - Google Patents

Abstract

The utility model relates to the technical field of wharfs, in particular to an automatic wharf for protecting a small unmanned ship, which comprises a main buoy, a splicing buoy and a connecting screw, wherein both sides of the main buoy including the bottom are respectively provided with a propeller, four sides of the main buoy are respectively provided with a first connecting piece, and the first connecting piece is provided with a first threaded hole; the four side edges of the splicing buoy are respectively provided with a first connecting piece, and the second connecting piece is provided with a second threaded hole; the side of main flotation pontoon with when the side of concatenation flotation pontoon is aimed at and the butt, connecting screw can with first screw hole reaches second screw hole threaded connection, two when the side of concatenation flotation pontoon is aimed at each other and the butt, connecting screw can with two second screw hole threaded connection, through connecting screw can be right main flotation pontoon the concatenation flotation pontoon splices. The utility model discloses can protect small-size unmanned ship, can berth the adjustment of position moreover.

Description

Automatic dock for protecting small unmanned ship

Technical Field

The utility model belongs to the technical field of the pier technique and specifically relates to an automatic pier of small-size unmanned ship of protection.

Background

With the rapid development of big data, cloud computing, virtual reality and artificial intelligence technologies in recent years, unmanned ships are now on the market and have made staged progress in recent years. Compared with the traditional ship, the unmanned ship has the advantages of reducing labor cost, saving energy, reducing consumption and accidents, and can be operated on the bank with better labor conditions through the expert decision-making system and the remote control system, so that the influence of human factors on ship navigation safety is fundamentally reduced. The application field of unmanned ships is gradually expanded, and compared with the aspects of navigation transportation, environmental monitoring, marine survey, engineering measurement and the like, the unmanned ships have incomparable advantages, so that the unmanned ships have wide market prospects and become one of the hotspots of international ship development in recent years.

The small unmanned ship is generally berthed at a wharf to wait for a task, but because the small unmanned ship is small in size and is easily affected by adverse factors such as wind waves and the like, the small unmanned ship is prone to rollover, and the existing wharf cannot protect the small unmanned ship. And the present wharf is relatively fixed, and when the berthing position of the small unmanned ship needs to be adjusted, the wharf needs to be rebuilt, so that the use is inconvenient.

SUMMERY OF THE UTILITY MODEL

In order to solve the problem, the utility model provides a protection small-size unmanned ship's automatic pier can protect small-size unmanned ship, can berth the adjustment of position moreover.

In order to realize the purpose, the utility model discloses a technical scheme be:

an automatic wharf for protecting a small unmanned ship comprises a main buoy, a splicing buoy and a connecting screw,

the main floating barrel comprises propellers arranged on two sides of the bottom of the main floating barrel respectively, a battery bin is arranged in the main floating barrel, a lithium battery is arranged in the battery bin, and the lithium battery is electrically connected with the propellers so that the propellers drive the main floating barrel to move;

the cross section of the main buoy is of a rectangular structure, four sides of the main buoy are respectively provided with first connecting pieces, the four first connecting pieces are located on different planes, the four first connecting pieces are arranged alternately along the height direction, and first threaded holes are formed in the first connecting pieces in a penetrating mode;

the cross section of the splicing buoy is of a square structure, four side edges of the splicing buoy are respectively provided with a first connecting piece, four second connecting pieces are located on different planes, the four second connecting pieces are arranged at intervals along the height direction, and second threaded holes are formed in the second connecting pieces in a penetrating mode;

when the side surface of the main floating drum is aligned with and abutted against the side surface of the splicing floating drum, the first threaded hole and the second threaded hole on the opposite side of the main floating drum and the splicing floating drum are aligned with each other, and the connecting screw can be in threaded connection with the first threaded hole and the second threaded hole so as to splice the main floating drum and the splicing floating drum;

two when the side of concatenation flotation pontoon aligns each other and the butt, two the relative one side of concatenation flotation pontoon the second screw hole aligns each other, connecting screw can with two second screw hole threaded connection, so that it is a plurality of splice between the concatenation flotation pontoon.

Further, the connecting screw sleeve is provided with a buffer spring, one end of the buffer spring is abutted to the connecting screw, and the other end of the buffer spring is abutted to the first connecting piece or the second connecting piece.

Furthermore, the side surfaces of the main buoy and the splicing buoy are provided with limit grooves and limit pieces, the limit grooves of the main buoy are respectively and concavely arranged on the two adjacent side surfaces of the main buoy, the limit pieces of the main buoy are arranged opposite to the limit grooves of the main buoy, and the limit pieces of the main buoy are fixedly connected with the main buoy;

the limiting grooves of the splicing buoy are respectively and concavely arranged on the two adjacent side surfaces of the splicing buoy, the limiting part of the splicing buoy is opposite to the limiting groove of the splicing buoy, and the limiting part of the splicing buoy is fixedly connected with the splicing buoy; the main buoy with during the concatenation of concatenation flotation pontoon or during the concatenation each other between the concatenation flotation pontoon, different sides the spacing groove reaches the mutual joint of locating part.

Further, the propeller includes fixing base, driving motor and paddle, the fixing base with the bottom of main flotation pontoon is connected, driving motor with fixing base fixed connection, just the paddle with driving motor's drive shaft transmission is connected, driving motor with the lithium cell electricity is connected.

Furthermore, an adjusting bin is arranged in the main floating barrel and is positioned at one end, close to the fixed seat, of the battery bin;

the fixed seat is fixedly provided with a connecting shaft, the connecting shaft penetrates into the adjusting bin, a sealing bearing is sleeved on the connecting shaft, and the sealing bearing is rotatably connected with the main buoy;

be equipped with adjustment mechanism in the regulation storehouse, adjustment mechanism is including adjusting the fluted disc, adjusting pole and electric telescopic handle, adjust the fluted disc with the connecting axle is located one end fixed connection in the regulation storehouse, adjust the pole with main flotation pontoon sliding connection, just one side of adjusting the pole be equipped with adjust the rack of fluted disc meshing, first electric telescopic handle with main flotation pontoon fixed connection, just first electric telescopic handle with adjust pole fixed connection, first electric telescopic handle with the lithium cell electricity is connected, first electric telescopic handle drive adjust the pole and remove, so that it drives to adjust the pole adjust the fluted disc and rotate.

Further comprises a charging mechanism, the charging mechanism comprises a mechanical arm, a first charging disk, a second charging disk and a controller,

one end of the mechanical arm is connected with the end face of the main buoy, the other end of the mechanical arm is connected with one face of the first charging disc, and a transmitting coil and an infrared receiver are embedded in the face, away from the mechanical arm, of the first charging disc;

the second charging tray is arranged on the unmanned ship, a receiving coil and an infrared transmitter are embedded in the upper surface of the second charging tray, and the receiving coil is electrically connected with a battery of the unmanned ship;

the controller is respectively electrically connected with the mechanical arm and the infrared receiver, and controls the joint angle of the mechanical arm according to the infrared transmitter signal obtained by the infrared receiver so as to enable the first charging tray and the second charging tray to be aligned and abutted, and enable the lithium battery to charge the battery of the unmanned ship through electromagnetic induction of the transmitting coil and the receiving coil.

Further, the charging mechanism further comprises a guide part, the guide part is a funnel-shaped structure which is hollow inside and is provided with two open ends, the narrow end of the guide part is covered on the second charging tray, the inclination of the outer peripheral wall of the first charging tray is the same as that of the inner wall of the guide part, and a universal ball seat is fixedly arranged on the outer peripheral wall of the first charging tray.

Further, the charging mechanism comprises a fixing device, the fixing device comprises a fixing cover, a second electric telescopic rod and a buckle, the first charging tray is fixedly connected with the mechanical arm through a connecting rod, the fixing cover is fixedly sleeved on the connecting rod, the second electric telescopic rod is fixedly arranged on the fixing cover and is electrically connected with the controller, and the buckle is fixedly connected with the second electric telescopic rod;

the peripheral wall of the wide end of the guide piece is fixedly provided with a locking edge, the first charging tray and the second charging tray are aligned and abutted, the fixing cover is abutted to the locking edge, and the buckle can be buckled with the locking edge by adjusting the telescopic amount of the second electric telescopic rod.

The utility model has the advantages that:

1. because the four first connecting pieces of the main buoy are positioned on different planes and are arranged alternately in the height direction, the four second connecting pieces of the splicing buoy are positioned on different planes and are arranged alternately in the height direction, when the side surface of the splicing buoy is aligned with the side surface of the main buoy, the corresponding second connecting pieces and the corresponding first connecting pieces can be mutually staggered, so that the connecting screws can pass through the second threaded holes and the first threaded holes to realize the splicing of the splicing buoy and the main buoy, and when the side surfaces of the two splicing buoys are mutually aligned and abutted, the corresponding second connecting pieces can be mutually staggered, so that the connecting screws can pass through the second threaded holes to realize the mutual splicing between the splicing buoys, under the action of the connecting screws, the main buoy and a plurality of splicing buoys can be spliced into a floating platform with mooring ports, and a proper number of splicing buoys can be selected according to the volume of the unmanned ship, the floating platform can surround three surfaces of the unmanned ship to protect the unmanned ship and avoid rollover of the unmanned ship caused by the influence of adverse factors such as wind waves and the like; can drive main flotation pontoon through the propeller, drive the floating platform simultaneously and remove, can make berthing of unmanned ship at suitable position according to the demand to work such as maintain, charge, load, uninstallation to unmanned ship.

2. Under the elastic force effect that has buffer spring, can prevent that the floating platform from appearing not hard up when rocking for the cushion effect that connecting screw and first connecting piece and second connecting piece provided, having improved the fastness of concatenation between main flotation pontoon and concatenation flotation pontoon concatenation and the concatenation flotation pontoon.

3. Under the effect of controller, can confirm the position between first charging dish and the second charging dish according to the infrared transmitter signal that infrared receiver obtained, the joint angle of controller according to infrared receiver's signal control arm for first charging dish aligns and the butt with the second charging dish, and utilizes the electromagnetic induction principle, and the lithium cell charges through transmitting coil and receiving coil to unmanned ship's battery. Make unmanned ship when the electric quantity is not enough, can return to the floating platform that corresponds and charge, need not the manual work and go to the pier and charge.

Drawings

Fig. 1 is a schematic structural view of an automatic dock for protecting a small unmanned ship according to a preferred embodiment of the present invention.

Fig. 2 is a schematic view of a connection screw structure for protecting an automatic dock of a small unmanned ship according to a preferred embodiment of the present invention.

Fig. 3 is a schematic view of a structure of a position limiting member for protecting an automatic dock of a small unmanned ship according to a preferred embodiment of the present invention.

Fig. 4 is a schematic view of the main pontoon structure of the automatic dock for protecting a small unmanned ship according to a preferred embodiment of the present invention.

Fig. 5 is a schematic structural view of an adjusting mechanism for protecting an automatic dock of a small unmanned ship according to a preferred embodiment of the present invention.

Fig. 6 is a schematic structural view of a charging mechanism for protecting an automatic dock of a small unmanned ship according to a preferred embodiment of the present invention.

Fig. 7 is a schematic structural view of a fixing cover for protecting an automatic dock of a small unmanned ship according to a preferred embodiment of the present invention.

In the figure, 1-main buoy, 101-battery compartment, 102-lithium battery, 103-adjustment compartment, 11-first connecting piece, 12-first threaded hole, 2-splice buoy, 21-second connecting piece, 22-second threaded hole, 3-connecting screw, 31-buffer spring, 32-limiting groove, 33-limiting piece, 4-propeller, 41-limiting piece, 411-connecting shaft, 412-sealed bearing, 42-driving motor, 43-paddle, 5-adjusting fluted disc, 51-adjusting rod, 511-rack, 52-first electric telescopic rod, 6-mechanical arm, 61-first charging disc, 611-transmitting coil, 612-infrared receiver, 62-second charging disc, 621-receiving coil, 622-infrared emitter, 7-guide piece, 71-universal ball seat, 8-fixed cover, 81-second electric telescopic rod, 82-buckle, 83-locking edge.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

Referring to fig. 1 to 7, the automatic dock for protecting a small unmanned ship according to a preferred embodiment of the present invention includes a main buoy 1, a splicing buoy 2, a connection screw 3, and a charging mechanism.

The main buoy 1 comprises propellers 4 arranged on two sides of the bottom of the main buoy, a battery bin 101 is arranged in the main buoy 1, a lithium battery 102 is arranged in the battery bin 101, and the lithium battery 102 is electrically connected with the propellers 4 so that the propellers 4 drive the main buoy 1 to move. The battery compartment 101 of this embodiment may be provided with a waterproof switch door to replace the lithium battery 102.

The cross section of the main buoy 1 is of a rectangular structure, four side edges of the main buoy 1 are respectively provided with first connecting pieces 11, the four first connecting pieces 11 are located on different planes, the four first connecting pieces 11 are arranged at intervals along the height direction, and first threaded holes 12 are formed in the first connecting pieces 11 in a penetrating mode;

the cross section of the splicing buoy 2 is of a square structure, four side edges of the splicing buoy 2 are respectively provided with a first connecting piece 21, four second connecting pieces 21 are located on different planes, the four second connecting pieces 21 are arranged at intervals along the height direction, and second threaded holes 22 are formed in the second connecting pieces 21 in a penetrating mode;

when the side of main flotation pontoon 1 and the side of concatenation flotation pontoon 2 aim at and the butt, the first screw hole 12 and the second screw hole 22 of main flotation pontoon 1 and the relative one side of concatenation flotation pontoon 2 aim at each other, and connecting screw 3 can with first screw hole 12 and second screw hole 22 threaded connection to make main flotation pontoon 1 splice with concatenation flotation pontoon 2. The main buoy 1 and the splicing buoy 2 of this embodiment are provided with notches at four sides thereof, so that the first connecting piece 11 or the second connecting piece 21 can be stably installed on the corresponding main buoy 1 or splicing buoy 2.

When the side of two concatenation flotation pontoons 2 was aimed at each other and the butt, the second screw hole 22 of the relative one side of two concatenation flotation pontoons 2 was aimed at each other, and connecting screw 3 can with two second screw hole 22 threaded connection to splice between a plurality of concatenation flotation pontoons 2. Through the concatenation between main flotation pontoon 1 and concatenation flotation pontoon 2 and the concatenation flotation pontoon 2, can constitute the floating platform that has the berth opening to make unmanned ship can sail into the berth opening.

Because the four first connecting pieces 11 of the main buoy 1 are positioned on different planes and are arranged at intervals along the height direction, and the four second connecting pieces 21 of the splicing buoy 2 are positioned on different planes and are arranged at intervals along the height direction, the side surface of the splicing buoy 2 is aligned with the side surface of the main buoy 1, the corresponding second connectors 21 and the corresponding first connectors 11 can be staggered with each other, so that the connection screws 3 can pass through the second threaded holes 22 and the first threaded holes 12, so as to realize the splicing of the splicing buoys 2 and the main buoy 1, when the side surfaces of the two splicing buoys 2 are aligned and abutted with each other, the corresponding second connecting members 21 can be staggered with each other, so that the connecting screws 3 can pass through the second threaded holes 22, to achieve mutual splicing between the splicing buoys 2, under the action of the connecting screws 3, the main buoy 1 and a plurality of splicing buoys 2 can be spliced into a floating platform with a mooring port.

Moreover, the splicing buoys 2 with proper number are selected according to the volume of the unmanned ship, so that the floating platform can surround three surfaces of the unmanned ship to protect the unmanned ship and avoid rollover of the unmanned ship caused by the influence of adverse factors such as storms and the like; can drive main flotation pontoon 1 through propeller 4, drive the floating platform simultaneously and remove, can make berthing of unmanned ship at suitable position according to the demand to work such as maintaining, charging, loading, uninstallation to unmanned ship.

As shown in fig. 2, in the present embodiment, the connection screw 3 is sleeved with a buffer spring 31, one end of the buffer spring 31 abuts against the connection screw 3, and the other end abuts against the first connection member 11 or the second connection member 21. Under the elastic force effect that has buffer spring 31, can prevent that the floating platform from rocking the time for the cushion effect that connecting screw 3 and first connecting piece 11 and second connecting piece 21 provided, connecting screw 3 appears becoming flexible, has improved the fastness of splicing between main flotation pontoon 1 and the concatenation flotation pontoon 2 concatenation and the concatenation flotation pontoon 2.

As shown in fig. 3, the side surfaces of the main buoy 1 and the splicing buoy 2 are provided with a limiting groove 32 and a limiting member 33, the limiting groove 32 of the main buoy 1 is respectively concavely arranged on the two adjacent side surfaces of the main buoy 1, the limiting member 33 of the main buoy 1 is arranged opposite to the limiting groove 32 of the main buoy 1, and the limiting member 33 of the main buoy 1 is fixedly connected with the main buoy 1;

the limiting grooves 32 of the splicing buoy 2 are respectively concavely arranged on the two adjacent side surfaces of the splicing buoy 2, the limiting part 33 of the splicing buoy 2 is arranged opposite to the limiting groove 32 of the splicing buoy 2, and the limiting part 33 of the splicing buoy 2 is fixedly connected with the splicing buoy 2; when the main buoy 1 is spliced with the splicing buoy 2 or spliced with each other between the splicing buoys 2, the limiting grooves 32 and the limiting parts 33 on different side surfaces are mutually clamped.

Under the effect of spacing groove 32 and locating part 33, can make the floating platform keep level and smooth, prevent that the concatenation department of main flotation pontoon 1, concatenation flotation pontoon 2 from appearing the dislocation.

As shown in fig. 3 and 4, the propeller 4 includes a fixing base 41, a driving motor 42 and a paddle 43, the fixing base 41 is connected to the bottom of the main buoy 1, the driving motor 42 is fixedly connected to the fixing base 41, the paddle 43 is in transmission connection with a driving shaft of the driving motor 42, and the driving motor 42 is electrically connected to the lithium battery 102. The paddle 43 is rotated by the driving motor 42 to allow the floating platform to advance or retreat.

An adjusting bin 103 is arranged in the main buoy 1, and the adjusting bin 103 is located at one end, close to the fixed seat 41, of the battery bin 101.

The fixing seat 41 is fixedly provided with a connecting shaft 411, the connecting shaft 411 penetrates into the adjusting bin 103, the connecting shaft 411 is sleeved with a sealing bearing 412, and the sealing bearing 412 is rotatably connected with the main buoy 1.

An adjusting mechanism is arranged in the adjusting bin 103, and the adjusting mechanism comprises an adjusting fluted disc 5, an adjusting rod 51 and a first electric telescopic rod 52.

Adjust fluted disc 5 and the one end fixed connection that connecting axle 411 is located regulation storehouse 103, adjust pole 51 and main flotation pontoon 1 sliding connection, and adjust one side of pole 51 be equipped with adjust the rack 511 of fluted disc 5 meshing, first electric telescopic handle 52 and main flotation pontoon 1 fixed connection, and first electric telescopic handle 52 with adjust pole 51 fixed connection, first electric telescopic handle 52 is connected with lithium cell 102 electricity, first electric telescopic handle 52 drive is adjusted pole 51 and is removed, so that adjust pole 51 drives and adjust fluted disc 5 and rotate. The adjusting bin 103 of this embodiment is provided with a connecting seat, the connecting seat is provided with a rolling ball, and the adjusting rod 51 penetrates through the connecting seat and slides with the rolling ball, so that the adjusting rod 51 is slidably connected with the main buoy 1.

Under the telescopic action of the first electric telescopic rod 52, the adjusting rod 51 is driven to move, and the rack 511 is meshed with the adjusting fluted disc 5, so that the adjusting rod 51 can drive the connecting shaft 411 to rotate to adjust the angle of the fixed seat 41, and the steering operation of the floating platform is realized.

As shown in fig. 6, the charging mechanism includes the robot arm 6, a first charging tray 61, a second charging tray 62, and a controller.

One end of the mechanical arm 6 is connected with the end face of the main buoy 1, the other end of the mechanical arm is connected with one face of the first charging disc 61, and a transmitting coil 611 and an infrared receiver 612 are embedded in one face, far away from the mechanical arm 6, of the first charging disc 61;

the second charging tray 62 is arranged on the unmanned ship, a receiving coil 621 and an infrared transmitter 622 are embedded on the upper surface of the second charging tray 62, and the receiving coil 621 is electrically connected with a battery of the unmanned ship;

the controller is electrically connected to the robot arm 6 and the infrared receiver 612, and controls the joint angle of the robot arm 6 according to the infrared transmitter 622 signal obtained by the infrared receiver 612, so that the first charging tray 61 and the second charging tray 62 are aligned and abutted, and the lithium battery 102 charges the battery of the unmanned ship through electromagnetic induction of the transmitting coil 611 and the receiving coil 621.

Under the action of the controller, the position between the first charging tray 61 and the second charging tray 62 can be determined according to the signal of the infrared transmitter 622 obtained by the infrared receiver 612, the controller controls the joint angle of the manipulator 6 according to the signal of the infrared receiver 612, so that the first charging tray 61 and the second charging tray 62 are aligned and abutted, and the lithium battery 102 charges the battery of the unmanned ship through the transmitting coil 611 and the receiving coil 621 by using the principle of electromagnetic induction. Make unmanned ship when the electric quantity is not enough, can return to the floating platform that corresponds and charge, need not the manual work and go to the pier and charge.

Under the action of the controller, the position between the first charging tray 61 and the second charging tray 62 can be determined according to the signal of the infrared transmitter 622 obtained by the infrared receiver 612, the controller controls the joint angle of the manipulator 6 according to the signal of the infrared receiver 612, so that the first charging tray 61 and the second charging tray 62 are aligned and abutted, and the lithium battery 102 charges the battery of the unmanned ship through the transmitting coil 611 and the receiving coil 621 by using the principle of electromagnetic induction. Make unmanned ship when the electric quantity is not enough, can return to the floating platform that corresponds and charge, need not the manual work and go to the pier and charge.

In this embodiment, the charging mechanism further includes a guide 7, the guide 7 is a funnel-shaped structure with a hollow interior and two open ends, the narrow end of the guide 7 covers the second charging tray 62, the outer peripheral wall of the first charging tray 61 has the same inclination as the inner wall of the guide 7, and the outer peripheral wall of the first charging tray 61 is fixedly provided with a universal ball seat 71.

When the first charging tray 61 is close to the second charging tray 62, the universal ball seat 71 can slide along the inner wall of the guide 7, so that the first charging tray 61 can be accurately aligned with the second charging tray 62, and the requirement on the accuracy required by the mechanical arm 6 is reduced. The robot arm 6 of the present embodiment has three joints, and the structure thereof is prior art and will not be described repeatedly herein.

As shown in fig. 7, the charging mechanism includes a fixing device, the fixing device includes a fixing cover 8, a second electric telescopic rod 81 and a buckle 82, the first charging tray 61 is fixedly connected with the mechanical arm 6 through a connecting rod 801, the fixing cover 8 is fixedly sleeved on the connecting rod 801, the second electric telescopic rod 81 is fixedly arranged on the fixing cover 8, the second electric telescopic rod 81 is electrically connected with the controller, and the buckle 82 is fixedly connected with the second electric telescopic rod 81. The second electric telescopic rods 81 and the fasteners 82 of the present embodiment are respectively disposed two by two, and the two second electric telescopic rods 81 are disposed oppositely, and the fasteners 82 are also disposed oppositely.

The guide 7 is fixedly provided with a locking edge 83 on the circumferential wall at the wide end, the first charging tray 61 and the second charging tray 62 are aligned and abutted, the fixing cover 8 is abutted with the locking edge 83, and the buckle 82 can be buckled with the locking edge 83 by adjusting the expansion amount of the second electric telescopic rod 81.

Since the unmanned ship and the floating platform can shake on water, the first charging tray 61 and the second charging tray 62 are easily deviated, and the unmanned ship cannot be charged. In this embodiment, when the controller first obtains a charging signal, it is verified that the first charging tray 61 is aligned with and abutted against the second charging tray 62, and the fixing cover 8 is covered on the wide end of the guide 7, and the second electric telescopic rod 81 is controlled by the controller to be shortened, and the buckle 82 is buckled with the locking edge 83, so that the first charging tray 61 is fixed on the second charging tray 62, and the first charging tray 6 is prevented from being accidentally separated from the second charging tray 62 during the charging process. When charging is not needed or is completed, the controller controls the second electric telescopic rod 81 to extend, and the buckle 82 leaves the locking edge 83, so that the mechanical arm 6 can be restored to the original position.

In this embodiment, the main buoy 1 is provided with a wireless automatic response device, so that the main buoy 1 can be remotely controlled and monitored through the central control room. And the wireless automatic response device can be matched with a corresponding unmanned ship control system, so that the central control room can monitor the unmanned ship through the wireless automatic response device.

In this embodiment, when the unmanned ship does not have enough electric power to return to the dock, the floating platform can be controlled to move to the unmanned ship, the berthing port is embedded into the unmanned ship, and the unmanned ship can be pushed back to the shore by using the propeller 4 and the adjusting mechanism of the main buoy 1, or the unmanned ship is charged by the charging mechanism.

When the automatic wharf for protecting the small unmanned ship is used, according to the shape and size of the unmanned ship, the splicing buoys 2 with the proper number are selected, the main buoys 1 and the splicing buoys 2 are spliced according to the shape of the unmanned ship, the connecting screws 3 penetrate through the corresponding second threaded holes 22 or the corresponding first threaded holes 12 in a threaded manner, and the main buoys 1 and the splicing buoys 2 are spliced to form a floating platform with a berth opening, so that the unmanned ship can be berthed at the berth opening.

When the unmanned ship needs to be charged, the controller determines the position between the first charging tray 61 and the second charging tray 62 according to the signal of the infrared transmitter 622 obtained by the infrared receiver 612, the controller controls the joint angle of the mechanical arm 6 according to the signal of the infrared receiver 612, so that the first charging tray 61 approaches the second charging tray 62, the universal ball seat 71 can slide along the inner wall of the guide 7, the first charging tray 61 is conveniently aligned with the second charging tray 62, and the lithium battery 102 charges the battery of the unmanned ship through the transmitting coil 611 and the receiving coil 621.

When the controller obtains a signal of charging for the first time, and meanwhile, the fixing cover 8 covers the wide end of the guide part 7, the controller controls the second electric telescopic rod 81 to shorten, and the buckle 82 is buckled with the locking edge 83, so that the first charging tray 61 is fixed on the second charging tray 62; the first charging tray 6 is unexpectedly separated from the second charging tray 62. When charging is not needed or is completed, the controller controls the second electric telescopic rod 81 to extend, the buckle 82 leaves the locking edge 83, and the mechanical arm 6 is restored to the original position.

Claims (8)

1. An automatic wharf for protecting a small unmanned ship is characterized by comprising a main buoy (1), a splicing buoy (2) and a connecting screw (3),

the main buoy (1) comprises propellers (4) arranged at the two sides of the bottom of the main buoy, a battery bin (101) is arranged in the main buoy (1), a lithium battery (102) is arranged in the battery bin (101), and the lithium battery (102) is electrically connected with the propellers (4) so that the propellers (4) drive the main buoy (1) to move;

the cross section of the main buoy (1) is of a rectangular structure, first connecting pieces (11) are arranged on four side edges of the main buoy (1) respectively, the four first connecting pieces (11) are located on different planes, the four first connecting pieces (11) are arranged at intervals along the height direction, and first threaded holes (12) penetrate through the first connecting pieces (11);

the cross section of the splicing buoy (2) is of a square structure, second connecting pieces (21) are arranged on four side edges of the splicing buoy (2) respectively, the four second connecting pieces (21) are located on different planes, the four second connecting pieces (21) are arranged at intervals along the height direction, and second threaded holes (22) are formed in the second connecting pieces (21) in a penetrating mode;

when the side surface of the main buoy (1) is aligned with and abutted against the side surface of the splicing buoy (2), the first threaded hole (12) and the second threaded hole (22) on the opposite side of the main buoy (1) and the splicing buoy (2) are aligned with each other, and the connecting screw (3) can be in threaded connection with the first threaded hole (12) and the second threaded hole (22) so as to splice the main buoy (1) and the splicing buoy (2);

two when the side of concatenation flotation pontoon (2) is aimed at and the butt each other, two the relative one side of concatenation flotation pontoon (2) second screw hole (22) are aimed at each other, connecting screw (3) can with two second screw hole (22) threaded connection, so that it is a plurality of splice between the concatenation flotation pontoon (2).

2. An automated dock for protecting a small unmanned vessel, according to claim 1, wherein: the connecting screw (3) is sleeved with a buffer spring (31), one end of the buffer spring (31) is abutted to the connecting screw (3), and the other end of the buffer spring (31) is abutted to the first connecting piece (11) or the second connecting piece (21).

3. An automated dock for protecting a small unmanned vessel, according to claim 1, wherein: the side surfaces of the main buoy (1) and the splicing buoy (2) are provided with a limiting groove (32) and a limiting part (33), the limiting groove (32) of the main buoy (1) is respectively concavely arranged on the two adjacent side surfaces of the main buoy (1), the limiting part (33) of the main buoy (1) is opposite to the limiting groove (32) of the main buoy (1), and the limiting part (33) of the main buoy (1) is fixedly connected with the main buoy (1);

the limiting grooves (32) of the splicing buoy (2) are respectively concavely arranged on two adjacent side surfaces of the splicing buoy (2), the limiting part (33) of the splicing buoy (2) is arranged opposite to the limiting groove (32) of the splicing buoy (2), and the limiting part (33) of the splicing buoy (2) is fixedly connected with the splicing buoy (2); main flotation pontoon (1) with during concatenation of concatenation flotation pontoon (2) or during concatenation each other between concatenation flotation pontoon (2), different sides spacing groove (32) reach locating part (33) joint each other.

4. An automated dock for protecting a small unmanned vessel, according to claim 1, wherein: propeller (4) include fixing base (41), driving motor (42) and paddle (43), fixing base (41) with the bottom of main flotation pontoon (1) is connected, driving motor (42) with fixing base (41) fixed connection, just paddle (43) with the drive shaft transmission of driving motor (42) is connected, driving motor (42) with lithium cell (102) electricity is connected.

5. An automated dock for protecting a small unmanned vessel, according to claim 4, wherein: an adjusting bin (103) is arranged in the main buoy (1), and the adjusting bin (103) is positioned at one end, close to the fixed seat (41), of the battery bin (101);

the fixing seat (41) is fixedly provided with a connecting shaft (411), the connecting shaft (411) penetrates into the adjusting bin (103), a sealing bearing (412) is sleeved on the connecting shaft (411), and the sealing bearing (412) is rotatably connected with the main buoy (1);

an adjusting mechanism is arranged in the adjusting bin (103), the adjusting mechanism comprises an adjusting fluted disc (5), an adjusting rod (51) and a first electric telescopic rod (52), the adjusting fluted disc (5) is fixedly connected with one end of the connecting shaft (411) in the adjusting bin (103), the adjusting rod (51) is connected with the main buoy (1) in a sliding way, and one side of the adjusting rod (51) is provided with a rack (511) meshed with the adjusting fluted disc (5), the first electric telescopic rod (52) is fixedly connected with the main buoy (1), and the first electric telescopic rod (52) is fixedly connected with the adjusting rod (51), the first electric telescopic rod (52) is electrically connected with the lithium battery (102), the first electric telescopic rod (52) drives the adjusting rod (51) to move, so that the adjusting rod (51) drives the adjusting fluted disc (5) to rotate.

6. An automated dock for protecting a small unmanned vessel, according to claim 1, wherein: also comprises a charging mechanism, the charging mechanism comprises a mechanical arm (6), a first charging disk (61), a second charging disk (62) and a controller,

one end of the mechanical arm (6) is connected with the end face of the main buoy (1), the other end of the mechanical arm is connected with one face of the first charging disc (61), and a transmitting coil (611) and an infrared receiver (612) are embedded in one face, far away from the mechanical arm (6), of the first charging disc (61);

the second charging tray (62) is arranged on the unmanned ship, a receiving coil (621) and an infrared transmitter (622) are embedded in the upper surface of the second charging tray (62), and the receiving coil (621) is electrically connected with a battery of the unmanned ship;

the controller is respectively electrically connected with the mechanical arm (6) and the infrared receiver (612), and controls the joint angle of the mechanical arm (6) according to the infrared transmitter (622) signal obtained by the infrared receiver (612) so as to align and abut the first charging tray (61) and the second charging tray (62), and the lithium battery (102) charges the battery of the unmanned ship through the electromagnetic induction of the transmitting coil (611) and the receiving coil (621).

7. An automated dock for protecting a small unmanned vessel, according to claim 6, wherein: the charging mechanism further comprises a guide part (7), the guide part (7) is of a funnel-shaped structure with a hollow interior and two open ends, the narrow end of the guide part (7) is covered on the second charging disc (62), the inclination of the outer peripheral wall of the first charging disc (61) is the same as that of the inner wall of the guide part (7), and a universal ball seat (71) is fixedly arranged on the outer peripheral wall of the first charging disc (61).

8. An automated dock for protecting a small unmanned vessel, according to claim 7, wherein: the charging mechanism comprises a fixing device, the fixing device comprises a fixing cover (8), a second electric telescopic rod (81) and a buckle (82), the first charging disc (61) is fixedly connected with the mechanical arm (6) through a connecting rod (801), the fixing cover (8) is fixedly sleeved on the connecting rod (801), the second electric telescopic rod (81) is fixedly arranged on the fixing cover (8), the second electric telescopic rod (81) is electrically connected with the controller, the buckle (82) is positioned on the peripheral wall of the fixing cover (8), and the buckle (82) is fixedly connected with the second electric telescopic rod (81);

the peripheral wall of the wide end of the guide piece (7) is fixedly provided with a locking edge (83), the first charging tray (61) is aligned with the second charging tray (62) and is abutted, the fixed cover (8) is abutted to the locking edge (83), and the buckle (82) can be buckled with the locking edge (83) by adjusting the expansion amount of the second electric telescopic rod (81).

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