CN216983160U

CN216983160U - A park and stop loading attachment that is used for unmanned material ship of throwing of aquaculture intelligence

Info

Publication number: CN216983160U
Application number: CN202220747534.0U
Authority: CN
Inventors: 梁庆祥; 李少华; 甄海燕; 董信师
Original assignee: Shandong Allnet Electronic Technology Co ltd
Current assignee: Shandong Allnet Electronic Technology Co ltd
Priority date: 2022-04-01
Filing date: 2022-04-01
Publication date: 2022-07-19
Anticipated expiration: 2032-04-01

Abstract

The utility model discloses a parking and feeding device for an intelligent unmanned aquaculture feeding boat, and mainly relates to the field of feeding boats. Comprises a parking charging device arranged on the shore and an upper bunker arranged on the parking charging device; the berthing and charging device comprises a berthing frame body, a locking device arranged on the berthing frame body and a charging head, wherein the locking device is used for fixing the ship body, and the charging head is matched with a charging port of a battery for charging; the feeding bin comprises a feeding bin body, a switch control device arranged in the feeding bin body and a movable guide cylinder arranged at the bottom of the feeding bin body. The utility model has the beneficial effects that: adopt the fixed material ship of throwing of electromagnetic locking mode after berthing, prevent that the stormy waves is too big to cause the skew, guarantee to throw the material ship and be in under intelligent feed bin, can also charge unmanned material ship after retrieving. When the unmanned ship finishes feeding, the unmanned ship stops at the parking frame body, and the feeding bin and the unmanned ship can mutually obtain the bait amount of the other party.

Description

A park and stop loading attachment that is used for unmanned material ship of throwing of aquaculture intelligence

Technical Field

The utility model relates to the field of feeding ships, in particular to a parking and feeding device for an intelligent unmanned feeding ship for aquaculture.

Background

In the aquaculture, the aquatic economic animal and plant cultivation is carried out by applying aquaculture technology and facilities according to the ecological habits of cultivated objects and the requirements on the environmental conditions of the water areas in the water areas available for the cultivation of human beings. The fish, shrimp and crab with higher yield in the production and cultivation are produced, the feeding is a heavy and key work in the actual cultivation process, the feed cost accounts for more than 50 percent of the whole investment cost, and the feeding technology is reasonable or not, so that the method is the most important factor influencing the aquaculture effect and the economic and environmental ecological benefits.

In the existing aquaculture system, when the unmanned feeding boat is used for automatically feeding materials in a water area, the electric quantity of a battery of the unmanned feeding boat and carried baits are limited, and in order to improve the integral cruising ability of the unmanned feeding boat, the unmanned feeding boat needs to be charged and the baits need to be supplemented. When the existing unmanned feeding boat finishes feeding, the unmanned feeding boat directly stops at the shore to park, the boat can float along with the water surface, if the unmanned feeding boat encounters strong wind weather, the carried equipment and the power system of the unmanned feeding boat are damaged, the carried equipment is expensive and easy to damage, and therefore the unmanned feeding boat needs to be separated and isolated from the water surface. In order to further make unmanned feeding boat more intelligent thereby reduce manual operation, so say that unmanned feeding boat's charging device and the device of replenishing bait need operate automatically, because unmanned feeding boat carries out work in aqueous, need guarantee stability to its automatic feeding, avoid appearing spilling the material condition of leaking the material, so say that need a berth loading attachment that is used for aquaculture intelligence unmanned feeding boat.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a berthing and stopping feeding device for an intelligent unmanned aquaculture feeding boat, which can realize automatic berthing of the feeding boat, fix the feeding boat in an electromagnetic locking mode after berthing, prevent the deviation caused by overlarge stormy waves, ensure that the feeding boat is positioned under an intelligent storage bin, and charge the unmanned feeding boat after recovery. The unmanned ship stops at the parking frame body after feeding, the feeding bin and the unmanned ship can mutually obtain the bait amount of the other side, and the feeding bin adds a certain amount of bait according to the residual bait amount in the unmanned ship bin. Go up feed bin and unmanned ship bait amount and upload in real time, save in big data platform, go up feed bin bait amount in case not enough, can send warning information to managers, in time add bait, the process of adding bait can not lead to the condition of spilling the material blanking to appear because of weather.

In order to achieve the purpose, the utility model is realized by the following technical scheme:

a parking and feeding device for an intelligent unmanned aquaculture feeding boat comprises a parking and charging device arranged on the shore and a feeding bin arranged on the parking and charging device; the parking charging device comprises a parking frame body, a locking device arranged on the parking frame body and a charging head, wherein the locking device is used for fixing the ship body, and the charging head is matched with a charging port of a battery for charging; the feeding bin comprises a feeding bin body, a switch control device arranged in the feeding bin body and a movable guide cylinder arranged at the bottom of the feeding bin body; the switch valve of the switch control device comprises a control driving assembly and a material baffle plate connected with a piston rod of the control driving assembly, and an elastic assembly is arranged between the movable material guide cylinder and the upper material bin body; when the control driving assembly drives the material baffle to be in an opening state, the material baffle acts on the upper end of the material guide cylinder.

The parking charging device also comprises a carriage arranged in the parking frame, a recovery frame body hinged on the carriage, a stop block arranged on the recovery frame body and a carriage driving assembly connected with the carriage; when a piston rod of the supporting plate driving assembly contracts, the supporting plate is driven to slide, the supporting plate and the recovery frame body rotate, and the recovery frame body slides relative to the parking frame body to enter the parking frame body.

And a positioning system and an infrared positioning piece are arranged on the parking frame body. The top of the feeding bin body is hinged with a cover plate, and the top of the cover plate is provided with a photoelectric sensor.

The charging device is fixedly arranged on the recycling frame body and comprises a charging head, and an insulating rubber sleeve is arranged on the outer side of the charging head.

Compared with the prior art, the utility model has the beneficial effects that:

can realize throwing the automation of material ship and lean on the berth, adopt the fixed material ship of throwing of electromagnetic locking mode after the berth, prevent that the stormy waves is too big to cause the skew, guarantee to throw the material ship and be in under intelligent feed bin, can also charge to unmanned material ship of throwing after retrieving. The unmanned ship stops at the parking frame body after feeding, the feeding bin and the unmanned ship can mutually obtain the bait amount of the other side, and the feeding bin adds a certain amount of bait according to the residual bait amount in the unmanned ship bin. Go up feed bin and unmanned ship bait amount and upload in real time, save in big data platform, go up feed bin bait amount in case not enough, can send warning information to managers, in time add bait, the process of adding bait can not lead to the condition of spilling the material blanking to appear because of weather.

Drawings

FIG. 1 is an overall view of the apparatus of the present invention.

Fig. 2 is an overall view of the apparatus of the present invention.

Fig. 3 is an overall view of the apparatus of the present invention.

Fig. 4 is an overall view of the apparatus of the present invention.

FIG. 5 is an enlarged view of a portion of FIG. 4 of the present invention.

FIG. 6 is a bottom view of the parking stand of the present invention.

Figure 7 is an internal view of the loading bin of the present invention.

Fig. 8 is a view of a receiving port of an unmanned feeding boat in the present invention.

Reference numerals shown in the drawings:

1. parking the frame body; 2. a charging head; 3. a feeding bin body; 4. a movable material guide cylinder; 5. a striker plate; 6. an electromagnetic lock; 7. a carriage; 8. recovering the rack body; 9. a stopper; 10. an infrared positioning piece; 11. a cover plate; 12. an insulating rubber sleeve; 13. an adsorption plate; 14. an electric push rod; 15. a fixed seat; 16. a guide shaft; 17. a movable opening; 18. a charging port; 19. a torque motor; 20. a connecting rod; 21. a spring; 22. a storage bin; 23. a material receiving port; 24. a rubber cover; 25. a rubber sheet; 26. a housing.

Detailed Description

The utility model will be further illustrated with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Further, it should be understood that various changes or modifications of the present invention may be made by those skilled in the art after reading the teaching of the present invention, and these equivalents also fall within the scope of the present application.

The utility model relates to a parking and feeding device for an intelligent unmanned feeding boat for aquaculture, which is mainly used for comprehensively adopting GNSS positioning, infrared positioning and a retractable parking channel design to realize automatic berthing of the feeding boat; adopt the fixed material ship of throwing of electromagnetic locking mode after berthing, prevent that the stormy waves is too big to cause the skew, guarantee to throw the material ship and be in under intelligent feed bin, can also charge unmanned material ship of throwing after retrieving. The unmanned ship stops at the parking frame body 1 after feeding, the feeding bin and the unmanned ship can mutually obtain the bait amount of the other side, and the feeding bin adds a certain amount of bait according to the residual bait amount in the bin of the unmanned ship. Go up feed bin and unmanned ship bait amount and upload, save in big data platform in real time, go up feed bin bait amount in case not enough, can send warning information to managers, in time add bait, the process of adding bait can not lead to the condition that spills the material blanking because of weather to appear, realizes above-mentioned process through following structure:

as shown in the attached figure 1 of the specification, the device comprises a parking charging device arranged on the shore and an upper bin arranged on the parking charging device;

parking the charging device:

as shown in the attached drawings of the specification and fig. 4 and 5, the parking charging device comprises a parking frame body 1 arranged on the shore, a locking device arranged on the parking frame body 1 and a charging head 2; the locking device on the parking frame body 1 is an electromagnetic lock 6, and is specifically arranged on a recovery frame body 8 which is described below, the electromagnetic lock 6 utilizes the principle of electromagnetic generation, when current passes through a silicon steel sheet, the electromagnetic lock 6 can generate strong attraction force to tightly adsorb an iron plate, and the attraction force can be borne after adsorption to be different from 800N to 5000N. Because the hull of the unmanned feeding boat is made of 316 stainless steel, the adsorption plate 13 needs to be welded at the front end of the frame body of the hull, and the precision and the working condition that the whole hull of the hull is provided with magnetic interference part equipment are avoided. Because electromagnetic lock 6 can only be controlled after all to the circular telegram, in order to avoid special weather to lead to having a power failure after, can't play the fixed action to unmanned material ship of throwing, lead to unmanned material ship to throw and hit bad side scan sonar after drifting everywhere, so improve through following structure:

as shown in fig. 4 of the accompanying drawings of the specification, the parking charging device further comprises a carriage 7 arranged at the bottom layer of the parking frame body 1, a stop block 9 arranged on the recovery frame body 8, the recovery frame body 8 hinged on the carriage 7, and a pallet driving assembly connected with the carriage 7; the supporting plate driving component is an electric driving device which converts the rotary motion of a motor into the linear reciprocating motion of a push rod for the electric push rod 14, and the electric push rod 14 has the advantages that the state before power failure is still kept after power failure, displacement change cannot occur, and the unmanned feeding boat cannot enter water in an activity mode even if power failure occurs. The recycling frame body 8 and the stop block 9 are located in water, the push rod of the electric push rod 14 drives the carriage 7 to slide when being contracted, the recycling frame body 8 located in the water rotates along a hinged point, and the recycling frame body 8 slides relative to the parking frame body 1 to enter the parking frame body 1.

During unmanned material ship's front end got into retrieves support body 8, through electromagnetic lock 6 adsorbs fixedly through magnetic force to the adsorption plate 13 of hull, and the push rod of electric putter 14 contracts and drives planker 7 slip displacement after adsorbing and accomplishing, retrieves the rear end that dog 9 on the support body 8 supported unmanned material ship, and the recovery support body 8 that is located the aquatic takes place to rotate along the pin joint, drives the hull and breaks away from the surface of water, and the rethread electric putter 14's push rod further contracts and makes unmanned material ship that throws get into inside the parking support body 1.

Unmanned throwing material ship gets into from the aquatic and retrieves support body 8 and is adsorbed fixedly by electromagnetic lock 6 after, electric putter 14's push rod shrink drives planker 7 slip displacement one section distance after, retrieves support body 8 and acts on and parks support body 1 and makes unmanned throwing material ship break away from the surface of water and carry out the analysis to this process: the planker 7 of the parking frame body 1 can be regarded as two sections, the planker 7 in water and the planker 7 on the parking frame body 1 are arranged, the length of the planker 7 in water is larger than that of the planker 7 on the parking frame body 1, the bottom surface of the parking frame body 1 supports the recovery frame body 8 in water, the bottom surface of the parking frame body 1 can be regarded as a fulcrum, a labor-saving lever structure is formed, and the recovery can be completed by small force when the electric push rod 14 is recovered.

To further improve the stability of the device: as shown in fig. 6 of the accompanying drawings of the specification, a guiding device is arranged at the bottom layer of the recovery frame body 8, the guiding device comprises a fixed seat 15 connected with the recovery frame body 8 and a guiding shaft 16 connected with the fixed seat 15, the guiding device is arranged at two sides of the electric push rod 14, and the guiding shaft 16 penetrates through the planker 7, so that when the electric push rod 14 stops and recovers the unmanned feeding boat, the load borne by the electric push rod 14 is reduced, when the parking frame body 1 drives the unmanned feeding boat to disengage from the water surface, the influence of gravity of the unmanned feeding boat directly acts on the stability of the electric push rod 14, and the guiding shaft 16 can also play a role in guiding and fixing the planker 7, so that when the unmanned feeding boat is subsequently matched with an upper bunker, the precision is further improved.

In order to charge the battery of the unmanned feeding boat while fixing the boat body, as shown in fig. 5, the charging device is fixedly arranged on the recycling frame body 8 and comprises a charging head 2, an insulating rubber sleeve 12 is arranged on the outer side of the charging head 2, a movable opening 17 is formed in the top end of the insulating rubber sleeve 12, and the charging head 2 enters the charging opening 18 of the battery through the movable opening 17. When entering the battery charging port 18, the insulating rubber sleeve 12 is compressed by the battery charging port 18 and is stopped outside the charging port 18, and the charging head 2 is exposed from the movable port 17 and enters the charging port 18, thereby charging the battery. When not charging, insulating rubber sleeve 12 recovers deformation through self elasticity, including the head 2 protection that will charge, prevents that destruction such as rainwater from leading to the short circuit. As shown in fig. 5, the charging device is disposed on the recycling frame 8, and the recycling frame 8 does not enter water. And when the battery is charged, the insulating rubber sleeve 12 is compressed by the battery charging port 18, so that the charging port 18 is isolated from the outside, and other impurities are prevented from entering, so that the danger is avoided.

The parking charging device is also provided with a GNSS positioning system and an infrared positioning piece 10, wherein the GNSS positioning system is also called a global navigation satellite system, and is a space-based radio navigation positioning system which can provide all-weather three-dimensional coordinates, speed and time information for users at any place on the earth surface or in a near-earth space. The unmanned feeding boat is provided with the GNSS signal receiver, and the phenomenon that the receiver is influenced after each object in the driving environment of the unmanned feeding boat reflects the signal is avoided. And the signal base station is arranged on the parking charging device, so that the unmanned feeding boat carries out navigation driving according to the position of the signal base station of the parking charging device. In order to further improve the accuracy of location, avoid receiving special weather influence positioning accuracy, lead to unmanned material ship charging device of throwing to dock inaccurate, infrared setting element 10 is infrared distance measuring sensor, and infrared distance measuring sensor is the measurement system who uses the infrared ray as the medium, and measuring range is wide and response time is short. The infrared distance measuring sensor is provided with a pair of infrared signal transmitting and receiving diodes, a beam of infrared light is transmitted by the infrared distance measuring sensor LDM301, a reflection process is formed after the infrared distance measuring sensor LDM irradiates an object, the infrared distance measuring sensor LDM reflects the infrared distance measuring sensor LDM to the sensor and receives signals, and then data of time difference between transmitting and receiving are received by CCD image processing. The distance of the object is calculated after being processed by the signal processor. The infrared distance measuring sensor controls the electric push rod 14 to recycle the unmanned feeding boat, the unmanned feeding boat drives to the position of the parking charging device to park the charging device, the charging head 2 charges the unmanned feeding boat, the unmanned feeding boat is fixedly adsorbed by the electromagnetic lock 6, and then the electric push rod 14 drives the recovery frame body 8 to recover.

After battery endurance and parking function of the unmanned feeding boat are completed, a feeding system of the unmanned feeding boat is further optimized, so that the feeding system of the unmanned feeding boat has an automatic feeding function, the unmanned feeding boat is not required to be manually operated, the function of the device is further optimized, and the following concrete structure of a feeding bin is adopted:

feeding a material bin:

considering that the ship body can float along with water when the unmanned feeding boat feeds materials in water, the feeding bin body 3 is arranged above the parking frame body 1 to avoid bait waste caused by the phenomenon of scattering due to shaking when the feeding bin conveys bait to the storage bin 22 of the unmanned feeding boat,

as shown in the attached drawings of the specification and fig. 1 and 7, the feeding bin comprises a feeding bin body 3, a switch control device arranged inside the feeding bin body 3, and a movable material guide cylinder 4 arranged at the bottom of the feeding bin body 3; the top of the upper storage bin body 3 is hinged with a cover plate 11, the cover plate 11 of the upper storage bin body 3 is opened and then used for adding bait into the upper storage bin body 3, a shell 26 is arranged at the top of the cover plate 11, and a wireless communication module and a photoelectric sensor are arranged inside the shell 26; the photoelectric sensor is a device for converting an optical signal into an electrical signal, the photoelectric sensor is a sensor using a photoelectric device as a conversion element, and can also be used for detecting other non-electric quantity which can be converted into light quantity change, and when light of the photoelectric sensor irradiates on some substances, electrons of the substances absorb the energy of photons, so that a corresponding electric effect phenomenon occurs. The device is mainly used for detecting the residual amount of the bait in the feeding bin, the photoelectric sensor comprises a transmitter, a receiver and a detection circuit, the transmitter is aligned with a target to emit a light beam, the emitted light beam generally originates from a semiconductor light source, and the light beam of the light emitting diode continuously emits or changes the pulse width. The receiver consists of a photodiode, a photoelectric triode and a photocell. In front of the receiver, optical elements such as lenses and diaphragms are mounted. And detecting the residual condition of the bait in the feeding bin according to the reflected light source received by the receiver. Detection circuit can filter out effective signal and use this signal, and detection circuit is connected with wireless communication module, goes up when bait surplus is too little in the feed bin, reminds the staff to add bait through wireless communication module. The wireless communication module is an LTE Cat 1 wireless communication module, uploads monitoring information and obtains other node information, transmits the monitoring information to user equipment, and is connected with a signal of a storage bin 22 of the feeding boat to obtain the bait allowance of the feeding boat.

As shown in the attached drawing fig. 2 of the specification, the switch valve of the switch control device comprises a control driving assembly, the switch valve comprises a control driving assembly which is a torque motor 19, a main shaft of the torque motor 19 is connected with a connecting rod 20, the connecting rod 20 is fixedly connected with the striker plate 5, the torque motor 19 rotates the connecting rod 20 to drive the size of the amplitude of the striker plate 5, the size of a gap between the striker plate 5 and the feeding bin body 3 is controlled, and then the baiting amount of baits in the feeding bin body 3 is controlled. The torque motor 19 can be operated continuously even when the motor is at a low speed, i.e. when the rotor cannot rotate, without causing damage to the motor. Under this kind of mode, the motor can provide stable moment for the load, is fit for being used for the occasion of low rotational speed, so say that be fit for being used for controlling striker plate 5 through torque motor 19 and open and close. In order to avoid spilling or receiving the influence of weather when the unmanned feeding vessel is loaded, so further improve:

as shown in fig. 7 in the attached drawings of the specification, a movable material guiding cylinder 4 is further arranged at the bottom of the upper material bin body 3, and an elastic component is arranged between the movable material guiding cylinder 4 and the upper material bin body 3, and the elastic component is a spring 21. When the torque motor 19 rotates the connecting rod 20 to drive the striker plate 5 to be in an open state, the striker plate 5 acts on the upper end of the movable guide cylinder 4, and the spring 21 is compressed, so that the movable guide cylinder 4 moves downwards to enter the storage bin 22 of the unmanned feeding boat.

As shown in the attached figure 8 of the specification, the storage bin 22 of the unmanned feeding boat is adapted to the structure as follows: the top of the storage bin 22 is provided with a material receiving opening 23, the material receiving opening 23 is higher than the storage bin 22, the diameter of the material receiving opening 23 is larger than that of the movable material guide cylinder 4, and the movable material guide cylinder 4 can conveniently enter the material receiving opening 23. In order to avoid receiving the influence of weather or the condition of spilling the material appearing, connect material mouth 23 to cup joint and be equipped with rubber lid 24, rubber lid 24 top is mobilizable sheet rubber 25, and activity guide cylinder 4 gets into and connects material mouth 23 back, and inside sheet rubber 25 was compressed to connect material mouth 23, after the material loading was accomplished, sheet rubber 25 recovered the normal position through self elastic deformation. It is important to note that the connection between the rubber sheet 25 and the rubber cover 24 cannot be too small, otherwise the rubber sheet 25 cannot be restored to its original position by its elastic deformation.

The using method is detailed as follows:

unmanned feeding boat passes through positioning system and infrared setting element 10, unmanned feeding boat plans the airline according to berthing the position of stopping charging device, sails to berth and stops charging device, charging head 2 charges unmanned feeding boat battery, rethread electromagnetic lock 6 is fixed and is adsorbed, electric putter 14's push rod shrink drives planker 7 and slides, dog 9 on the recovery support body 8 supports unmanned feeding boat's rear end, the layer board that is located the aquatic rotates along the pin joint, drive the hull and break away from the surface of water, it accomplishes to drive unmanned feeding boat to break away from the surface of water and throw the berth.

When unmanned material ship of throwing need carry out the material loading, torque motor 19 promotes connecting rod 20 and drives striker plate 5 and open, and striker plate 5 acts on movable guide cylinder 4 upper end simultaneously, and spring 21 is compressed for guide cylinder downward displacement gets into the material receiving mouth 23 at storage silo 22 top, carries out the material loading.

In conclusion, automatic berthing of the feeding ship can be achieved, the feeding ship is fixed in an electromagnetic lock 6 fixing mode after berthing, deviation caused by overlarge wind waves is prevented, the feeding ship is guaranteed to be located under an intelligent storage bin, and the unmanned feeding ship can be charged after being recovered. The unmanned ship stops at the stopping frame body 1 after feeding is finished, the feeding bin and the unmanned ship can mutually obtain the bait amount of the other party, and the feeding bin adds a certain amount of bait according to the residual bait amount in the unmanned ship bin. Go up feed bin and unmanned ship bait amount and upload in real time, save in big data platform, go up feed bin bait amount in a single day not enough, can send warning information to managers, in time add bait, the process of adding bait can not lead to appearing the condition of spilling the material blanking because of weather.

Claims

1. The utility model provides a berth loading attachment that is used for unmanned feeding boat of aquaculture intelligence which characterized in that: comprises a parking charging device arranged on the shore and an upper material bin arranged on the parking charging device;

the berthing and charging device comprises a berthing frame body (1), a locking device and a charging device, wherein the locking device and the charging device are arranged on the berthing frame body (1), the locking device is used for fixing the ship body, and the charging device is used for charging the ship body in a matching manner;

the feeding bin comprises a feeding bin body (3), a switch control device arranged in the feeding bin body (3) and a movable guide cylinder (4) arranged at the bottom of the feeding bin body (3); the switch valve of the switch control device comprises a control driving assembly and a striker plate (5) connected with a piston rod of the control driving assembly, and an elastic assembly is arranged between the movable guide cylinder (4) and the feeding bin body (3); when the control driving assembly drives the material baffle plate (5) to be in an opening state, the material baffle plate (5) acts on the upper end of the movable material guide cylinder (4).

2. The berthing and feeding device for the aquaculture intelligent unmanned feeding boat as claimed in claim 1, wherein the berthing and feeding device comprises: the parking charging device also comprises a carriage (7) arranged in the parking frame body (1), a recovery frame body (8) hinged on the carriage (7), a stop block (9) arranged on the recovery frame body (8), and a supporting plate driving assembly connected with the carriage (7);

when a piston rod of the supporting plate driving assembly contracts, the supporting plate (7) is driven to slide, the supporting plate (7) and the recovery frame body (8) rotate, and the recovery frame body (8) slides relative to the parking frame body (1) to enter the parking frame body (1).

3. The docking and feeding device for the aquaculture intelligent unmanned feeding boat according to claim 2, characterized in that: the parking frame body (1) is provided with a positioning system and an infrared positioning piece (10).

4. The berthing and feeding device for an aquaculture intelligent unmanned feeding boat according to claim 3, characterized in that: an electromagnetic lock is arranged on the recovery frame body (8).

5. The berthing and feeding device for the aquaculture intelligent unmanned feeding boat as claimed in claim 2, wherein the berthing and feeding device comprises: the charging device is fixedly arranged on the recycling frame body (8), the charging device comprises a charging head (2), and an insulating rubber sleeve (12) is arranged on the outer side of the charging head (2).

6. The berthing and feeding device for the aquaculture intelligent unmanned feeding boat as claimed in claim 1, wherein the berthing and feeding device comprises: the top of the feeding bin body (3) is hinged with a cover plate (11), and the top of the cover plate (11) is provided with a photoelectric sensor.