Unmanned dock system with collision protection function
By adopting the combination of elastic parts and flexible parts in the unmanned dock system, the collision problem of the unmanned ship with the dock structure in waters with large water waves is solved, and the effect of stable docking of the unmanned ship and reducing collision damage is achieved.
Patent Information
- Application Number
- CN202510405078.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-02
- Publication Date
- 2025-05-13
AI Technical Summary
The existing unmanned dock system can easily lead to structural collisions between the unmanned ship and the dock in waters with large waves, resulting in damage.
An unmanned dock system with collision protection is designed, using a combination of dock, guide baffle, limit baffle, hull, elastic parts, limit wheel set, magnetic seat, magnetic block and flexible parts. The elastic member causes the limit wheel set to rotate slightly under the limit of the guide baffle and the limit baffle, and the flexible member causes the solenoid and magnetic seat to rotate with the unmanned ship, thereby avoiding rigid collisions.
It effectively reduces collision damage when unmanned ships dock, ensures that unmanned ships dock in waters with large waves, and avoids rigid collision between the hull and the dock structure.
Smart Images
Figure CN119975705A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of unmanned ships, and in particular to an unmanned dock system with collision protection. Background Art
[0002] The unmanned dock system is a modern water operation platform that integrates smart ships, automatic navigation, and Internet of Things technologies. It is mainly composed of three core modules: smart dock, unmanned ship, and central control system. The smart dock realizes unmanned ship mooring, supply, maintenance and other operations through automation, intelligence and digital technology.
[0003] The automatic sample transport unmanned boat and automatic sample transport unmanned boat system with the current announcement number CN220626406U include a dock and a hull. The dock is used to park the automatic sample transport unmanned boat and collect water samples, including a base, a parking space is provided in the base, and guide grooves are provided on the left and right sides of the parking space, and the guide grooves are suitable for guiding the automatic sample transport unmanned boat to enter and exit the parking space. A guide shaft is provided on the hull, and a roller is provided on the guide shaft, and the roller is suitable for rolling in the guide groove provided on the dock.
[0004] Regarding the above-mentioned related technologies, the dock is used for docking the hull, and the main connection between the dock and the hull relies on the rolling of rollers in the guide grooves for position limiting. When the hull is docked in the dock, when the hull is located in a water area with large waves, the impact of the waves will cause the hull to fluctuate greatly, which may easily cause the connection structure of the hull to collide with the dock, and then easily cause damage to the guide shaft and rollers. Summary of the invention
[0005] In order to reduce collision damage when an unmanned ship is docked, the present application provides an unmanned dock system with collision protection.
[0006] The present application provides an unmanned dock system with collision protection adopts the following technical solution: An unmanned dock system with collision protection, comprising: A dock, wherein the side of the dock located underwater is near the water surface, and the side away from the water surface is far from the water surface. A docking area is provided on one side of the dock, and a guide baffle and a limit baffle are fixedly connected to the inner side wall of the docking area. The limit baffle is located on the side of the guide baffle close to the far water surface, the length of the limit baffle is less than the length of the guide baffle, and a limit area is formed between the guide baffle and the limit baffle; An unmanned boat comprises a hull, an elastic member and a limiting wheel set, wherein the hull is located in the docking area, the limiting wheel set is installed on the side of the unmanned boat, and the elastic member is installed between the limiting wheel set and the hull, and the limiting wheel set is inserted into the limiting area; The magnetic suction component includes a magnetic suction seat, a magnetic suction block and a flexible member. The magnetic suction seat is installed on the inner side of the docking area, the flexible member is installed between the dock and the magnetic suction seat, the magnetic suction block is fixedly connected to the hull, and an electromagnet is installed on the magnetic suction seat, and the electromagnet is used to adsorb the magnetic suction block.
[0007] By adopting the above technical solution, when the unmanned boat moves toward the docking area, the limiting wheel group on the unmanned boat is overlapped on the guide baffle, and as the unmanned boat gradually moves toward the docking area, the limiting wheel group gradually moves into the limiting area along the guide baffle, so that one side of the limiting wheel group is limited by the guide baffle and the other end is limited by the limiting baffle. At the same time, the electromagnet on the magnetic seat absorbs the magnetic block on the hull, so that the unmanned boat can be stably docked in the docking area for charging.
[0008] When the unmanned boat is docked in the docking area, the waves will drive the unmanned boat to sway up and down. When the unmanned boat sways with the waves, the limiting wheel group of the unmanned boat located in the limiting area causes the elastic part to deform under the limitation of the guide baffle and the baffle limit, and the unmanned boat is close to the opening of the docking area and has no limit, so that the unmanned boat can slightly rotate around the limiting wheel group. When the unmanned boat rotates slightly, the electromagnet and the magnetic seat can also slightly rotate with the unmanned boat under the deformation of the flexible part, so that the electromagnet and the magnetic block can also be stably connected.
[0009] The elastic part enables the limit wheel group to slightly rotate under the limit of the guide baffle and the baffle, and at the same time, the flexible part enables the electromagnet and the magnetic seat to rotate with the slight rotation of the unmanned boat when adsorbed. When the unmanned boat docks in waters with large waves, the rigid collision between the unmanned boat and the dock is avoided, thereby reducing the collision damage when the unmanned boat docks.
[0010] Optionally, the limiting wheel group includes a limiting seat, a limiting abutment wheel and a limiting rolling wheel, the limiting seat is installed on the hull, the limiting abutment wheel and the limiting rolling wheel are both installed on the limiting seat, the axis of the limiting abutment wheel and the axis of the limiting rolling wheel are perpendicular to each other, and the axis of the limiting abutment wheel is located on the middle section of the limiting rolling wheel; the length of the limiting abutment wheel is smaller than the diameter of the limiting rolling wheel, and the distance between the edge of the limiting abutment wheel and the limiting seat is smaller than the distance between the limiting rolling wheel and the limiting seat.
[0011] By adopting the above technical solution, when the unmanned boat moves toward the docking area, the limit abutment wheel abuts against the inner wall of the docking area and rolls, avoiding friction between the inner wall of the docking area and the hull or the side wall of the limit rolling wheel, and the limit rolling wheel abuts against the guide baffle or the limit baffle, thereby avoiding friction between the side wall of the limit abutment wheel and the guide baffle or the limit baffle. The setting of the limit wheel group enables the unmanned boat to smoothly enter and exit the docking area.
[0012] Optionally, the elastic member includes a connecting seat, a connecting head and an elastic spring, the connecting seat is installed on the hull, the connecting head is fixedly connected to the limiting seat, one end of the elastic spring is fixedly connected to the connecting seat, and the other end is fixedly connected to the connecting head.
[0013] By adopting the above technical solution and utilizing the cooperation of the connecting seat, the connecting head and the elastic spring, when the limiting wheel assembly is located in the limiting area, deformation can occur between the hull and the limiting wheel assembly.
[0014] Optionally, the flexible member includes a fixed seat, a fixed head and a flexible spring, the fixed seat is mounted on the dock, the fixed head is fixedly connected to the magnetic block, one end of the flexible spring is fixedly connected to the fixed seat, and the other end is fixedly connected to the fixed head.
[0015] By adopting the above technical solution, the cooperation of the fixing seat, the fixing head and the flexible spring is utilized so that the magnetic seat can be deformed with the dock, thereby making the electromagnet on the magnetic seat and the magnetic block on the unmanned boat more stably adsorbed.
[0016] Optionally, detection contacts are respectively provided on the upper and lower sides of the electromagnet.
[0017] By adopting the above technical solution, since the unmanned boat will rotate slightly, at least one of the detection contacts on the upper and lower sides of the electromagnet will detect the unmanned boat, thereby determining whether the unmanned boat is docked in the docking area.
[0018] Optionally, an auxiliary wheel set is also installed on the hull, the auxiliary wheel set is overlapped on the guide baffle, and the auxiliary wheel set is located outside the limiting area.
[0019] By adopting the above technical solution, the setting of the auxiliary wheel group makes the unmanned boat more stable when docked in the docking area.
[0020] Optionally, the auxiliary wheel group includes an auxiliary seat, an auxiliary abutment wheel and an auxiliary rolling wheel, the auxiliary seat is installed on the hull, the auxiliary abutment wheel and the auxiliary rolling wheel are both mounted on the auxiliary seat, the axis of the auxiliary abutment wheel and the axis of the auxiliary rolling wheel are perpendicular to each other, and the axis of the auxiliary abutment wheel is located on the mid-section of the auxiliary rolling wheel; the length of the auxiliary abutment wheel is smaller than the diameter of the auxiliary rolling wheel, and the distance between the edge of the auxiliary abutment wheel and the auxiliary seat is smaller than the distance between the auxiliary rolling wheel and the auxiliary seat.
[0021] By adopting the above technical solution, when the unmanned boat moves toward the docking area, the auxiliary abutment wheel abuts against the inner wall of the docking area and rolls, thereby avoiding friction between the inner wall of the docking area and the hull or the side wall of the auxiliary rolling wheel, and the auxiliary rolling wheel abuts against the guide baffle, thereby avoiding friction between the side wall of the auxiliary abutment wheel and the guide baffle or the limit baffle.
[0022] Optionally, a snap-in ear is fixedly connected to one side of the hull close to the inner side of the docking area, a snap-in groove is provided on the snap-in ear, a limit rod is fixedly connected to the dock, and the limit rod is located on the inner side of the docking area, so that when the hull is docked in the docking area, the limit rod is inserted into the snap-in groove.
[0023] By adopting the above technical solution, when the hull is docked in the docking area, the limit rod is inserted into the clamping groove, so that the unmanned boat is more stable when docked in the docking area.
[0024] Optionally, a mounting seat is fixedly connected to the hull, and a plurality of waist-shaped holes arranged vertically are opened on the mounting seat, and the magnetic block, the limit seat and the snap-on ear are all mounted on the hull through the waist-shaped holes on the mounting seat.
[0025] By adopting the above technical solution and setting the mounting seat, the installation of the magnetic block, the limit seat and the snap-on ear can be adaptively adjusted according to the draft depth of the hull.
[0026] Optionally, mounting edges are installed on both sides of the docking area, and the mounting edges are vertically fixedly connected to the dock. The mounting edges are provided with mounting grooves, and the guide baffle and the limit baffle are both installed on the dock through the mounting grooves.
[0027] By adopting the above technical solution and the cooperation between the mounting edges and the mounting grooves, the positions of the guide baffle and the limit baffle can also be adjusted according to the draft depth of the unmanned boat.
[0028] In summary, the present application includes at least one of the following beneficial technical effects: Through the coordination of the dock, the guide baffle, the limit baffle, the hull, the elastic member, the limit wheel group, the magnetic seat, the magnetic block and the flexible member, the elastic member is used to make the limit wheel group allow the hull to rotate slightly under the limit of the guide baffle and the baffle, and at the same time, the flexible member enables the electromagnet and the magnetic seat to rotate with the slight rotation of the hull when the magnetic seat is adsorbed, so that when the hull is docked in waters with large waves, the rigid collision between the hull and the dock is avoided, thereby reducing the collision damage when the unmanned boat is docked; Through the cooperation of the limit seat, the limit abutment wheel and the limit rolling wheel, when the unmanned boat moves toward the docking area, the limit abutment wheel abuts against the inner side wall of the docking area and rolls, avoiding the friction between the inner side wall of the docking area and the hull or the side wall of the limit rolling wheel, and the limit rolling wheel abuts against the guide baffle or the limit baffle, thereby avoiding the friction between the side wall of the limit abutment wheel and the guide baffle or the limit baffle. The setting of the limit wheel group enables the unmanned boat to smoothly enter and exit the docking area; Through the cooperation of the fixing seat, the fixing head and the flexible spring, the magnetic seat can be deformed with the dock, so that the electromagnet on the magnetic seat and the magnetic block on the unmanned boat can be adsorbed more stably. BRIEF DESCRIPTION OF THE DRAWINGS
[0029] Figure 1 It is a structural schematic diagram of an unmanned dock system with collision protection in an embodiment of the present application.
[0030] Figure 2 It is a schematic diagram of the structure of the unmanned boat in the embodiment of the present application.
[0031] Figure 3 yes Figure 2 Cross-sectional view at AA in the middle.
[0032] Figure 4 yes Figure 3 Enlarged view of point B in the middle.
[0033] Figure 5 It is a schematic diagram of the structure of the dock in the embodiment of the present application.
[0034] Figure 6 yes Figure 5 Enlarged view of point C in the middle.
[0035] Figure 7 yes Figure 5 Cross-sectional view at DD in the middle.
[0036] Figure 8 yes Figure 7 Enlarged view of point E in the middle.
[0037] Description of reference numerals: 1. Dock; 11. Near water surface; 12. Far water surface; 13. Docking area; 14. Guide baffle; 15. Limit baffle; 16. Limit area; 2. Unmanned boat; 21. Hull; 22. Elastic part; 221. Connecting seat; 222. Connecting head; 223. Elastic spring; 23. Limiting wheel group; 231. Limiting seat; 232. Limiting abutting wheel; 233. Limiting rolling wheel; 3. Magnetic suction component; 31. Magnetic suction seat; 32. Magnetic suction block; 33. Flexible part; 331. Fixed seat; 332. Fixed head; 333. Flexible spring; 34. Electromagnet; 4. Auxiliary wheel group; 41. Auxiliary seat; 42. Auxiliary abutting wheel; 43. Auxiliary rolling wheel; 5. Snap-on ear; 51. Snap-on groove; 52. Limiting rod; 6. Mounting seat; 61. Waist-shaped hole; 7. Detection contact; 8. Mounting edge. DETAILED DESCRIPTION
[0038] The following is combined with Figure 1-8 This application is described in further detail.
[0039] An embodiment of the present application discloses an unmanned dock system with collision protection.
[0040] Reference Figure 1-8 An unmanned dock system with collision protection includes a dock 1, an unmanned boat 2, and a magnetic suction component 3. The side of the dock 1 located underwater is near the water surface 11, and the side far from the water surface is far from the water surface 12. A docking area 13 is provided on one side of the dock 1. A guide baffle 14 and a limit baffle 15 are fixedly connected to the inner side wall of the docking area 13. The limit baffle 15 is located on the side of the guide baffle 14 close to the far water surface 12. The length of the limit baffle 15 is less than the length of the guide baffle 14. A limit area 16 is formed between the guide baffle 14 and the limit baffle 15. The unmanned boat 2 includes a hull 21, an elastic member 22, and a limit wheel group 23. The hull 21 is located in the docking area 13. The limit wheel group 23 is installed on the side of the unmanned boat 2, and the elastic member 22 is installed between the limit wheel group 23 and the hull 21. The limit wheel group 23 is inserted into the limit area 16. The magnetic suction assembly 3 includes a magnetic suction seat 31, a magnetic suction block 32 and a flexible member 33. The magnetic suction seat 31 is installed inside the docking area 13, the flexible member 33 is installed between the dock 1 and the magnetic suction seat 31, the magnetic suction block 32 is fixedly connected to the hull 21, and an electromagnet 34 is installed on the magnetic suction seat 31, and the electromagnet 34 is used to absorb the magnetic suction block 32. When the unmanned ship 2 docks in waters with large waves, the rigid collision between the structures of the unmanned ship 2 and the dock 1 is avoided, thereby reducing the collision damage when the unmanned ship 2 docks.
[0041] There are two sets of limiting wheel groups 23, which are symmetrically arranged about the hull 21. The symmetrically arranged limiting wheel groups 23 make the hull 21 more stable when docked. At the same time, multiple sets of auxiliary wheel groups 4 are symmetrically arranged on both sides of the hull 21, and the multiple sets of auxiliary wheel groups 4 are symmetrically arranged about the hull 21. In this embodiment, there are also two sets of auxiliary wheel groups 4, and in other embodiments, 4 sets, 6 sets or the like can also be arranged.
[0042] When the hull 21 is docked in the docking area 13, the limiting wheel set 23 is located in the limiting area 16, and the auxiliary wheel set 4 is located outside the limiting area 16. The limiting wheel set 23 is located in the limiting area 16, so that when the hull 21 shakes up and down with the waves, the limiting wheel set 23 is limited by the guide baffle 14 and the limiting baffle 15. The auxiliary wheel set 4 is located outside the limiting area 16 and overlaps the guide baffle 14, so that when the waves are small, the hull 21 can be docked in the docking area 13 stably and avoid the hull 21 from colliding with the inner wall of the docking area 13.
[0043] The auxiliary wheel group 4 includes an auxiliary seat 41, an auxiliary abutment wheel 42 and an auxiliary rolling wheel 43. The auxiliary seat 41 is installed on the hull 21. The auxiliary abutment wheel 42 and the auxiliary rolling wheel 43 are both installed on the auxiliary seat 41. The axis of the auxiliary abutment wheel 42 and the axis of the auxiliary rolling wheel 43 are perpendicular to each other, and the axis of the auxiliary abutment wheel 42 is located on the middle section of the auxiliary rolling wheel 43; the length of the auxiliary abutment wheel 42 is smaller than the diameter of the auxiliary rolling wheel 43, and the distance between the edge of the auxiliary abutment wheel 42 and the auxiliary seat 41 is smaller than the distance between the auxiliary rolling wheel 43 and the auxiliary seat 41.
[0044] When the unmanned boat 2 moves toward the docking area 13, the auxiliary abutment wheel 42 abuts against the inner wall of the docking area 13 and rolls to avoid friction between the inner wall of the docking area 13 and the hull 21 or the side wall of the auxiliary rolling wheel 43. The auxiliary rolling wheel 43 abuts against the guide baffle 14 or the limit baffle 15, thereby avoiding friction between the side wall of the auxiliary abutment wheel 42 and the guide baffle 14 or the limit baffle 15.
[0045] The limiting wheel group 23 in this embodiment includes a limiting seat 231, a limiting abutment wheel 232 and a limiting rolling wheel 233. The limiting seat 231 is installed on the hull 21, and the limiting abutment wheel 232 and the limiting rolling wheel 233 are both installed and rotated on the limiting seat 231. The axis of the limiting abutment wheel 232 and the axis of the limiting rolling wheel 233 are perpendicular to each other, and the axis of the limiting abutment wheel 232 is located on the middle section of the limiting rolling wheel 233; the length of the limiting abutment wheel 232 is smaller than the diameter of the limiting rolling wheel 233, and the distance between the edge of the limiting abutment wheel 232 and the limiting seat 231 is smaller than the distance between the limiting rolling wheel 233 and the limiting seat 231.
[0046] When the unmanned boat 2 moves toward the docking area 13, the limit abutment wheel 232 abuts against the inner wall of the docking area 13 and rolls to avoid friction between the inner wall of the docking area 13 and the hull 21 or the side wall of the limit rolling wheel 233. The limit rolling wheel 233 abuts against the guide baffle 14 or the limit baffle 15 to avoid friction between the side wall of the limit abutment wheel 232 and the guide baffle 14 or the limit baffle 15. The setting of the limit wheel group 23 enables the unmanned boat 2 to smoothly enter and exit the docking area 13.
[0047] There are multiple groups of elastic members 22 located between the same limiting wheel group 23 and the hull 21. In the present embodiment, there are four groups of elastic members 22 located between the same limiting wheel group 23 and the hull 21. In other embodiments, there are five or six groups of elastic members 22 located between the same limiting wheel group 23 and the hull 21. The arrangement of four groups of elastic members 22 not only makes the connection between the limiting wheel group 23 and the hull 21 more stable, but also reduces the shaking amplitude of the hull 21 caused by the impact of water waves.
[0048] The elastic member 22 includes a connection seat 221, a connection head 222 and an elastic spring 223. The connection seat 221 is installed on the hull 21, the connection head 222 is fixedly connected to the limiting seat 231, and one end of the elastic spring 223 is fixedly connected to the connection seat 221, and the other end is fixedly connected to the connection head 222. By the cooperation of the connection seat 221, the connection head 222 and the elastic spring 223, when the limiting wheel group 23 is located in the limiting area 16, deformation can occur between the hull 21 and the limiting wheel group 23.
[0049] A snap-on ear 5 is fixedly connected to one side of the hull 21 near the inner side of the docking area 13, and a snap-on groove 51 is provided on the snap-on ear 5. A limit rod 52 is fixedly connected to the dock 1, and the limit rod 52 is located on the inner side of the docking area 13, so that when the hull 21 docks in the docking area 13, the limit rod 52 is inserted into the snap-on groove 51. By inserting the limit rod 52 into the snap-on groove 51, the unmanned boat 2 is more stable when docked in the docking area 13.
[0050] When the hull 21 is docked in the docking area 13, the edge of the clamping ear 5 is abutted against the limit rod 52 and finally abutted against the clamping groove 51, so that the electromagnet 34 and the magnetic suction block 32 can be more stably adsorbed.
[0051] In an optional embodiment, a mounting seat 6 is fixedly connected to the hull 21, and a plurality of waist-shaped holes 61 arranged vertically are provided on the mounting seat 6. The magnetic block 32, the limit seat 231, and the snap-on ear 5 are all mounted on the hull 21 through the waist-shaped holes 61 on the mounting seat 6. The arrangement of the waist-shaped holes 61 enables the installation of the magnetic block 32, the limit seat 231, and the snap-on ear 5 to be adaptively adjusted according to the draft depth of the hull 21.
[0052] Since the unmanned boat 2 needs to carry different electronic devices according to user needs, and the weights of different electronic devices are different, the draft depths of the hull 21 are different. The waist-shaped hole 61 is used to change the installation heights of the magnetic block 32, the limit seat 231 and the snap-on ear 5 to adapt to the draft depths of the unmanned boat 2 carrying different electronic devices.
[0053] In this embodiment, two flexible members 33 are provided, and the two flexible members 33 are installed on both sides of the magnetic block 32. The flexible member 33 includes a fixed seat 331, a fixed head 332 and a flexible spring 333. The fixed seat 331 is rotated on the dock 1, and the fixed head 332 is fixedly connected to the magnetic block 32. One end of the flexible spring 333 is fixedly connected to the fixed seat 331, and the other end is fixedly connected to the fixed head 332. By using the cooperation of the fixed seat 331, the fixed head 332 and the flexible spring 333, the magnetic seat 31 can be deformed with the dock 1, so that the electromagnet 34 on the magnetic seat 31 and the magnetic block 32 on the unmanned boat 2 are more stably adsorbed.
[0054] In an optional embodiment, the electromagnet 34 is provided with detection contacts 7 on both sides. Since the unmanned boat 2 rotates slightly, at least one of the detection contacts 7 on both sides of the electromagnet 34 will detect the unmanned boat 2, thereby determining whether the unmanned boat 2 is docked in the docking area 13.
[0055] A plurality of mounting ribs 8 are installed on both sides of the docking area 13. The mounting ribs 8 are fixedly connected to the dock 1 in the vertical direction. The mounting ribs 8 are provided with mounting grooves, and the guide baffle 14 and the limit baffle 15 are both installed on the dock 1 through the mounting grooves. By the cooperation between the mounting ribs 8 and the mounting grooves, the guide baffle 14 and the limit baffle 15 are installed in the mounting grooves by bolts, so that the guide baffle 14 and the limit baffle 15 can adjust their positions according to the draft depth of the unmanned ship 2.
[0056] The implementation principle of the unmanned dock system with collision protection in the embodiment of the present application is as follows: during the docking process of the unmanned boat 2, the unmanned boat 2 is driven to move toward the docking area 13, at which time the limit abutting wheel 232 abuts against the inner wall of the docking area 13 and rolls, and at the same time the limit rolling wheel 233 abuts against the guide baffle 14 and rolls. As the unmanned boat 2 moves toward the docking area 13, at this time the limit wheel group 23 gradually moves toward the limit area 16 along the limit baffle 15, so that one side of the limit rolling is limited by the guide baffle 14, and the other end is limited by the limit baffle 15. The auxiliary abutting wheel 42 abuts against the inner wall of the docking area 13 and rolls, and the auxiliary rolling wheel 43 abuts against the guide baffle 14 and rolls, and at the same time the electromagnet 34 absorbs the magnetic block 32 on the hull 21, so that the limit rod 52 is inserted into the clamping slot 51, so that the unmanned boat 2 can be stably docked in the docking area 13.
[0057] When the hull 21 is docked in the docking area 13, the waves will drive the hull 21 to shake up and down. When the hull 21 shakes with the waves, the limiting wheel group 23 of the hull 21 in the limiting area 16 is limited by the guide baffle 14 and the baffle limit, causing the elastic spring 223 to deform, and the unmanned boat 2 is close to the opening of the docking area 13 and has no limit, so that the unmanned boat 2 can rotate slightly around the limiting wheel group 23. When the unmanned boat 2 rotates slightly, the electromagnet 34 and the magnetic seat 31 can also rotate slightly with the unmanned boat 2 under the deformation of the flexible spring 333, so that the electromagnet 34 and the magnetic block 32 can also be stably connected.
[0058] The elastic member 22 enables the limit wheel set 23 to slightly rotate when the guide baffle 14 and the limit baffle 15 are limited, and at the same time, the flexible member 33 enables the electromagnet 34 and the magnetic seat 31 to rotate with the slight rotation of the unmanned boat 2 when the magnetic seat 31 is adsorbed. When the unmanned boat docks in waters with large waves, the rigid collision between the unmanned boat and the dock is avoided, thereby reducing the collision damage when the unmanned boat docks.
[0059] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.
Claims
1. An unmanned dock system with collision protection, characterized in that: include: A dock (1), wherein the side of the dock (1) located underwater is a near-water surface (11), and the side away from the water surface is a far-water surface (12); a docking area (13) is provided on one side of the dock (1); a guide baffle (14) and a limit baffle (15) are fixedly connected to the inner side wall of the docking area (13); the limit baffle (15) is located on the side of the guide baffle (14) close to the far-water surface (12); the length of the limit baffle (15) is less than the length of the guide baffle (14); and a limit area (16) is formed between the guide baffle (14) and the limit baffle (15); An unmanned boat (2) comprises a hull (21), an elastic member (22) and a limiting wheel group (23), wherein the hull (21) is located in the docking area (13), the limiting wheel group (23) is installed on the side of the unmanned boat (2), and the elastic member (22) is installed between the limiting wheel group (23) and the hull (21), and the limiting wheel group (23) is inserted into the limiting area (16); The magnetic suction assembly (3) comprises a magnetic suction seat (31), a magnetic suction block (32) and a flexible member (33), wherein the magnetic suction seat (31) is installed on the inner side of the docking area (13), the flexible member (33) is installed between the dock (1) and the magnetic suction seat (31), the magnetic suction block (32) is fixedly connected to the hull (21), and an electromagnet (34) is installed on the magnetic suction seat (31), and the electromagnet (34) is used to adsorb the magnetic suction block (32).
2. The unmanned dock system with collision protection according to claim 1, characterized in that: The limiting wheel group (23) comprises a limiting seat (231), a limiting abutting wheel (232) and a limiting rolling wheel (233); the limiting seat (231) is installed on the hull (21); the limiting abutting wheel (232) and the limiting rolling wheel (233) are both rotated on the limiting seat (231); the axis of the limiting abutting wheel (232) and the axis of the limiting rolling wheel (233) are perpendicular to each other, and the axis of the limiting abutting wheel (232) is located on the middle section of the limiting rolling wheel (233); the length of the limiting abutting wheel (232) is smaller than the diameter of the limiting rolling wheel (233); the distance between the edge of the limiting abutting wheel (232) and the limiting seat (231) is smaller than the distance between the limiting rolling wheel (233) and the limiting seat (231).
3. The unmanned dock system with collision protection according to claim 2, characterized in that: The elastic member (22) comprises a connecting seat (221), a connecting head (222) and an elastic spring (223); the connecting seat (221) is mounted on the hull (21); the connecting head (222) is fixedly connected to the limiting seat (231); one end of the elastic spring (223) is fixedly connected to the connecting seat (221), and the other end is fixedly connected to the connecting head (222).
4. The unmanned dock system with collision protection according to claim 1, characterized in that: The flexible member (33) comprises a fixed seat (331), a fixed head (332) and a flexible spring (333); the fixed seat (331) is rotatably mounted on the dock (1); the fixed head (332) is fixedly connected to the magnetic block (32); one end of the flexible spring (333) is fixedly connected to the fixed seat (331), and the other end is fixedly connected to the fixed head (332).
5. The unmanned dock system with collision protection according to claim 1, characterized in that: Detection contacts (7) are respectively provided on the upper and lower sides of the electromagnet (34).
6. The unmanned dock system with collision protection according to claim 1, characterized in that: An auxiliary wheel set (4) is also installed on the hull (21), the auxiliary wheel set (4) is overlapped on the guide baffle (14), and the auxiliary wheel set (4) is located outside the limiting area (16).
7. The unmanned dock system with collision protection according to claim 6, characterized in that: The auxiliary wheel group (4) comprises an auxiliary seat (41), an auxiliary abutment wheel (42) and an auxiliary rolling wheel (43); the auxiliary seat (41) is mounted on the hull (21); the auxiliary abutment wheel (42) and the auxiliary rolling wheel (43) are both rotatably mounted on the auxiliary seat (41); the axis of the auxiliary abutment wheel (42) and the axis of the auxiliary rolling wheel (43) are perpendicular to each other, and the axis of the auxiliary abutment wheel (42) is located on the middle section of the auxiliary rolling wheel (43); the length of the auxiliary abutment wheel (42) is smaller than the diameter of the auxiliary rolling wheel (43); the distance between the edge of the auxiliary abutment wheel (42) and the auxiliary seat (41) is smaller than the distance between the auxiliary rolling wheel (43) and the auxiliary seat (41).
8. The unmanned dock system with collision protection according to claim 2, characterized in that: A snap-on ear (5) is fixedly connected to one side of the hull (21) close to the inner side of the docking area (13), and a snap-on groove (51) is provided on the snap-on ear (5). A limit rod (52) is fixedly connected to the dock (1), and the limit rod (52) is located on the inner side of the docking area (13), so that when the hull (21) is docked in the docking area (13), the limit rod (52) is inserted into the snap-on groove (51).
9. The unmanned dock system with collision protection according to claim 8, characterized in that: The hull (21) is fixedly connected to a mounting seat (6), and the mounting seat (6) is provided with a plurality of waist-shaped holes (61) arranged vertically. The magnetic block (32), the limiting seat (231) and the snap-on ear (5) are all mounted on the hull (21) through the waist-shaped holes (61) on the mounting seat (6).
10. The unmanned dock system with collision protection according to claim 1, characterized in that: Mounting edges (8) are installed on both sides of the docking area (13), and the mounting edges (8) are vertically fixedly connected to the dock (1). The mounting edges (8) are provided with mounting grooves, and the guide baffle (14) and the limit baffle (15) are both installed on the dock (1) through the mounting grooves.