Automatic obstacle removing device for obstacle removing unmanned ship

Abstract

The utility model belongs to the technical field of automation equipment, and particularly relates to an automatic obstacle removing device for an obstacle removing unmanned ship, which is arranged on the inner side of the front end of a cabin in the running direction and comprises a clamping mechanism, a net storing mechanism, a cutting mechanism, a telescopic mechanism, a detecting mechanism, a collecting mechanism and a control mechanism. The clamping mechanism, the net storage mechanism, the cutting mechanism and the telescopic mechanism are all arranged at the front end of the ship body, the detection mechanism is installed at the front end and the top of the ship body, and the clamping mechanism, the cutting mechanism, the collecting mechanism, the telescopic mechanism and the detection mechanism are all electrically connected with the control mechanism; the clamping mechanism and the cutting mechanism are connected with the telescopic mechanism. Collected fishing net and other garbage can be lifted to the water surface to be subjected to a series of recycling treatment such as cutting and collecting, the situation that the collecting device is wound by the fishing net and other garbage due to flowing of seawater underwater can be avoided, and the efficiency of recycling the garbage on the sea surface is greatly improved; and the sea surface cleaning and maintenance work can be fully automated.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the technical field of automation equipment, especially relates to an automatic obstacle removing device for obstacle removing unmanned ship. BACKGROUND

[0002] With the development of science and technology, the unmanned aerial vehicle technology matures gradually. Compared with the traditional offshore obstacle removing ship, the obstacle removing unmanned ship has the advantages of small size, low cost, low requirement for the use environment, and reduction of work danger, so in the military and civilian fields, the obstacle removing unmanned ship is developing rapidly and is widely used. However, at present, due to technical constraints, the obstacle removing unmanned ship still has the disadvantage of difficulty in collecting garbage, and when the unmanned ship is used for operation, especially for reconnaissance, exploration, and line patrol operation in the wild, the unmanned aerial vehicle has to be accompanied, and the cutting device of the unmanned ship is maintained to solve the problem of being wound by fishing net garbage. With the rapid development of China's tourism industry, the offshore cleaning and maintenance work in China is becoming increasingly difficult. Therefore, there is an urgent need for a device used on the obstacle removing unmanned ship, which can realize the automation of offshore cleaning and maintenance work. CONTENT OF THE UTILITY MODEL

[0003] In view of the deficiencies in the prior art, the utility model provides an automatic obstacle removing device for obstacle removing unmanned ship, solves the problem that the cutting device and the clamp are wound by fishing net garbage due to seawater disturbance during the operation of the obstacle removing unmanned ship, and can realize the function of lifting the collected fishing net garbage and the like to the water surface for cutting and collecting.

[0004] The specific technical scheme is as follows:

[0005] An automatic obstacle removing device for obstacle removing unmanned ship is arranged in the inner side of the front end of the cabin in the running direction, and comprises a clamping mechanism, a fishing net mechanism, a cutting mechanism, an extension mechanism, a detection mechanism, a collecting mechanism, and a control mechanism; the clamping mechanism, the fishing net mechanism, the cutting mechanism, and the extension mechanism are all arranged at the front end of the ship body, the detection mechanism is installed at the front end and the top of the ship body, the clamping mechanism, the cutting mechanism, the collecting mechanism, the extension mechanism, and the detection mechanism are all electrically connected with the control mechanism; the clamping mechanism and the cutting mechanism are respectively connected with the extension mechanism.

[0006] Further, the extension mechanism comprises electric push rods I and electric push rods II arranged side by side in the cabin, the fixed ends of the two groups of electric push rods I on the outside are fixed and connected on the inner wall of the cabin through bearings and bearing supports, the movable ends are connected with the clamping mechanism, the electric push rod I is located behind the clamping mechanism, and the movable end of the electric push rod I is higher than the fixed end of the electric push rod; a sleeve I is arranged on the electric push rod I; the fixed end of the electric push rod II in the middle is arranged on the ship body, and the movable end is connected with the cutting mechanism; the electric push rod II is located behind the cutting mechanism, a sleeve II is arranged on the electric push rod II, and the front end of the sleeve II is fixed on the cabin bottom plate through a sleeve support; each group of electric push rods is electrically connected with the control mechanism.

[0007] Further, the clamping mechanism comprises an upper clamping plate and a lower clamping plate, the upper clamping plate and the lower clamping plate form a front end clamping nozzle, the two end portions of the lower clamping plate are connected with the movable ends of the two groups of electric push rods I through bearings, the two end portions of the upper clamping plate are fixed on the cabin side wall through bolts, and the lower clamping plate is hinged with the upper clamping plate, and the hinge point of the lower clamping plate and the upper clamping plate is higher than the fixed end of the electric push rod I.

[0008] Further, the net collecting mechanism comprises an arc-shaped structure arranged on the lower clamping plate.

[0009] Further, the cutting mechanism comprises a saw blade motor electrically connected with the control mechanism, a support for supporting the saw blade motor and a saw blade mounted on the output shaft of the saw blade motor, the support is fixedly connected with the movable end of the electric push rod II, and the saw blade vertically faces the front end clamping nozzle of the upper and lower clamping plates.

[0010] Further, the collecting mechanism comprises a first section of conveyor belt arranged on the side surface of the arc-shaped structure end portion of the net collecting mechanism, a second section of conveyor belt arranged on the cabin bottom plate tail end of the first section of conveyor belt, and the second section of conveyor belt extends to the stern, and the whole cabin forms a collecting box; the surface of the conveyor belt is an anti-skid surface; the stern is provided with an electric door electrically connected with the control mechanism; and the low and high positions of the collecting box body are respectively provided with infrared sensors.

[0011] Further, the surface of the arc-shaped structure is provided with an anti-skid material, and the arc-shaped structure is arranged together with the lower clamping plate.

[0012] Further, the upper clamping plate and the lower clamping plate are both U-shaped structures.

[0013] The beneficial effects of the utility model are as follows:

[0014] 1. The utility model can lift the collected fishing nets and other garbage to the water surface for cutting, collecting and a series of recycling processes, can avoid the situation that the fishing nets and other garbage are entangled with the collecting device due to seawater flow under the water, greatly improves the efficiency of garbage recycling on the sea surface, can realize the automation of the sea surface cleaning and maintenance work, greatly improves the work efficiency, guarantees the personal safety of workers, and truly realizes the purpose of unmanned operation.

[0015] 2. The utility model is suitable for various models of unmanned ships, and has no specific unmanned ship model limitation, so that the operation is simple and convenient.

[0016] 3. The utility model adopts the opening and closing clamping method to collect the fishing nets and other garbage on the water surface, so that the garbage collection efficiency is higher.

[0017] 4. The utility model uses a telescopic cutting device, so that the volume of the cutting device is smaller when not working, and the passing performance of the ship body is improved.

[0018] 5、The utility model discloses use with the lower clamping plate 2 of annular, can collect more fishing net and cut, make the efficiency of cutting fishing net greatly improve. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 It is the overall structure schematic diagram of automatic wreckage removing device of the utility model one kind of wreckage removing unmanned ship;

[0020] Figure 2 It is the partial enlarged structure schematic diagram of collection mechanism in the utility model;

[0021] Figure 3 It is the structure schematic diagram when the utility model clamping mechanism opens;

[0022] Figure 4 It is the structure schematic diagram of electric push rod I in the utility model;

[0023] Figure 5 It is the structure schematic diagram of electric push rod II in the utility model;

[0024] Figure 6 It is the structure schematic diagram of cutting mechanism in the utility model;

[0025] Figure 7 It is the structure schematic diagram of detection mechanism in the utility model;

[0026] Figure 8 It is the structure schematic diagram of electric push rod I connection in the utility model;

[0027] Figure 9 It is the structure schematic diagram when the utility model electric push rod I does not work;

[0028] Figure 10 It is the structure schematic diagram when the utility model electric push rod I works;

[0029] Wherein, 1, upper clamping plate;2, lower clamping plate;3, arc structure;4, sleeve I;5, sleeve II;6, support;7, cutting motor;8, saw blade;9, camera;10, radar;11, first section conveyor belt;12, second section conveyor belt;13, electric push rod I;14, electric push rod II;15, cabin. DETAILED DESCRIPTION

[0030] In order to better explain the utility model, so as to facilitate understanding, the following combining with the specific embodiment, the technical scheme and effect of the utility model are described in detail.

[0031] For example, Figures 1-10As shown, the embodiment provides an automatic obstacle removing device for the obstacle removing unmanned ship, which is arranged at the inner side of the front end of the cabin 15 in the running direction, and includes a clamping mechanism, a net storing mechanism, a cutting mechanism, an extension mechanism, a detection mechanism, a collecting mechanism and a control mechanism; the clamping mechanism, the net storing mechanism, the cutting mechanism and the extension mechanism are arranged at the front end of the ship body, the detection mechanism is installed at the front end and the top of the ship body, the clamping mechanism, the cutting mechanism, the collecting mechanism, the extension mechanism and the detection mechanism are electrically connected with the control mechanism; the control mechanism adopts a PLC controller to realize automatic control; the clamping mechanism and the cutting mechanism are connected with the extension mechanism.

[0032] Specifically, the detection mechanism detects the nearby water surface during the running of the unmanned ship, when detecting that the water surface has fishing nets and other garbage, the detection mechanism transmits a signal to the control mechanism, the control mechanism controls the heading and running of the ship, and issues instructions to the extension mechanism, the clamping mechanism, the cutting mechanism and the collecting mechanism for cooperation, during the running towards the garbage, the extension mechanism drives the clamping mechanism to clamp the garbage, with the running of the ship, the garbage is gradually sent into the net storing mechanism, and then the clamping garbage is cut by the cutting mechanism and sent to the cabin 15 by the collecting mechanism, to realize the collection of the garbage.

[0033] The extension mechanism includes electric push rods I 13 and electric push rods II 14 arranged side by side in the cabin 15, the fixed ends of the two groups of electric push rods I 13 on the outside are fixed and connected on the inner wall of the cabin 15 through bearings and bearing supports, the movable ends are connected with the clamping mechanism, the electric push rods I 13 are located behind the clamping mechanism, the movable end of the electric push rods I 13 is higher than the fixed end of the electric push rod; the electric push rods I 13 are provided with sleeves I 4; the fixed end of the electric push rods II 14 in the middle is arranged on the ship body, and the movable end is connected with the cutting mechanism; the electric push rods II 14 are located behind the cutting mechanism, and are provided with sleeves II 5, the front end of the sleeves II 5 is fixed on the bottom plate of the cabin 15 through a sleeve support; the electric push rods are used for controlling the opening and closing of the clamping mechanism and the extension of the cutting mechanism. Each group of electric push rods is electrically connected with the control mechanism, and is controlled by the control mechanism to independently act, to ensure the accuracy and flexibility of the action.

[0034] The clamping mechanism includes an upper clamping plate 1 and a lower clamping plate 2; the upper clamping plate 1 and the lower clamping plate 2 form a front clamping nozzle. In this embodiment, the two ends of the lower clamping plate 2 are connected to the movable ends of the two sets of electric push rods I13 on the outer side through bearings; the two ends of the upper clamping plate 1 are fixed to the side wall of the cabin 15 by bolts; and the lower clamping plate 2 is hinged to the upper clamping plate 1, and the lower clamping plate 2 can open and close relative to the upper clamping plate 1. The hinge point between the lower clamping plate 2 and the upper clamping plate 1 is higher than the fixed end of the electric push rod I13. When the control mechanism issues a command to the two outer electric push rods I13, the two outer electric push rods I13 extend, causing the two ends of the lower clamping plate 2 to move upward, thereby opening the lower clamping plate 2; the net-collecting mechanism includes an arc-shaped structure 3 set in the lower clamping plate 2 for collecting and storing more fishing nets and other garbage.

[0035] The cutting mechanism includes a cutting motor 7 electrically connected to the control mechanism, a bracket 6 for supporting the cutting motor 7, and a saw blade 8 mounted on the output shaft of the cutting motor 7. The saw blade 8 is a toothless saw. The bracket 6 is fixedly connected to the movable end of the electric push rod II 14, and the saw blade 8 is vertically facing the front end of the upper and lower clamping mouth. When the control mechanism issues a command to the intermediate telescopic mechanism, the intermediate electric push rod II 14 extends, causing the entire cutting mechanism connected to the bracket 6 to move and extend towards the collected fishing nets and other garbage. At the same time, the cutting motor 7 of the cutting mechanism drives the saw blade 8 to perform a rotating cutting action. When the unmanned vessel is not working, the cutting mechanism retracts to its minimum size under the drive of the telescopic mechanism, ensuring good maneuverability of the unmanned vessel when traveling on the water.

[0036] The detection mechanism includes a camera 9 and a radar 10 distributed on the top of the front of the hull. During the operation of the unmanned vessel, it detects whether there is any garbage such as fishing nets on the water surface and locates it. When the garbage such as fishing nets is detected on the water surface, it transmits a signal to the control mechanism, and the unmanned vessel moves closer to the detected garbage so that the unmanned vessel can carry out recycling and cleaning work.

[0037] The collection mechanism includes a first conveyor belt 11 installed on the side of the arc-shaped structure 3 at both ends of the net-collecting mechanism, and a second conveyor belt 12 installed on the bottom plate of the hull 15 at the tail end of the first conveyor belt 11. The second conveyor belt 12 extends to the stern of the hull, forming a collection box inside the hull for storing collected fishing nets and other waste. The surface of the conveyor belt is non-slip. An electric door (not shown in the figure) is installed at the stern and is electrically connected to the control mechanism, which controls its opening and closing. Infrared sensors electrically connected to the control mechanism are installed at the lower and higher parts of the collection box to detect the collection status of fishing nets inside the collection box.

[0038] In a preferred embodiment, the surface of the arc-shaped structure 3 is provided with anti-slip material, and the arc-shaped structure 3 is set together with the lower clamping plate 2, so that the garbage is not easy to fall out of the arc-shaped structure 3 during the process of collecting fishing nets and other garbage by the clamping mechanism, thereby collecting more fishing nets and other garbage in the same amount of time and improving the efficiency of the collection work.

[0039] In a preferred embodiment, both the upper clamping plate 1 and the lower clamping plate 2 are U-shaped structures. The clamping of the waste by the U-shaped clamping plates can better grip the waste and reduce the amount of waste falling out of the upper and lower clamping plates during the collection process.

[0040] The following is a description of the initial use process of this utility model, in conjunction with the accompanying drawings:

[0041] Camera 9 and radar 10 in the detection mechanism detect the fishing net and transmit signals to the control mechanism. The control mechanism issues instructions to allow the unmanned vessel to approach the edge of the fishing net, and when it gets close enough, the lower clamp 2 opens to collect the net. During this process, the ring-shaped net-collecting mechanism can collect more nets at once, improving collection efficiency. After collecting the net, the lower clamp 2 rises to its original position to hold the collected net, thus lifting it out of the water. After the lower clamp 2 holds the net, the cutting mechanism starts working and cuts the collected net. After cutting, the collected net is collected by the collection mechanism installed inside the lower clamp 2. According to the instructions issued by the control mechanism, the first conveyor belt 11 located near the edge of the fishing net begins the collection process. Two anti-slip conveyor belts 11 collect the cut fishing net in the first stage, then transfer the collected net to the second conveyor belt 12 and into a collection box. When the net is collected and passes the low-level infrared sensor, the second conveyor belt 12 inside the collection box starts operating at low power, moving the collected net towards the rear of the cabin 15 to prevent the net from clogging the front. When the high-level infrared sensor detects a signal, it indicates that there is a large amount of net in the collection box, at which point the collected net needs to be unloaded. The control mechanism then directs the unmanned vessel to move towards the shore. As the vessel approaches the shore, it rotates to bring its stern close to the shore for unloading the collected fishing nets. The electric gate opens, and the second conveyor belt 12 unloads the nets from the collection box at high power to improve unloading efficiency. When the lower detection device detects no signal, it indicates that all the nets in the collection box have been unloaded, and the electric gate closes, stopping the second conveyor belt 12 inside the collection box. If there are still nets in the previous collection area, the unmanned vessel will proceed to that area after completion. If the area has been cleared, the vessel will search for nets in that area again. After the current cutting and collection work is completed, the upper clamp 1, lower clamp 2, support 6, cutting motor 7, and saw blade 8 return to their original positions under the action of the electric push rod, and the saw blade 8 stops working.

Claims

1. An automatic obstacle clearing device for unmanned surface vessels, characterized in that: Located inside the front of the hull in the direction of travel, it includes a clamping mechanism, a net-collecting mechanism, a cutting mechanism, a telescopic mechanism, a detection mechanism, a collection mechanism, and a control mechanism; the clamping mechanism, net-collecting mechanism, cutting mechanism, and telescopic mechanism are all located at the front of the hull, and the detection mechanism is installed at the front and top of the hull; the clamping mechanism, cutting mechanism, collection mechanism, telescopic mechanism, and detection mechanism are all electrically connected to the control mechanism; the clamping mechanism and cutting mechanism are respectively connected to the telescopic mechanism.

2. The automatic obstacle clearing device for unmanned surface vessels according to claim 1, characterized in that: The telescopic mechanism includes two sets of electric push rods I and II arranged side by side inside the cabin. The fixed ends of the two sets of electric push rods I on the outer side are symmetrically fixed to the inner wall of the cabin through bearings and bearing supports, and the movable ends are connected to the clamping mechanism. The electric push rods I are located behind the clamping mechanism, and the movable ends of the electric push rods I are higher than the fixed ends of the electric push rods. The electric push rods I are covered with sleeves I. The fixed end of the electric push rod II in the middle is set on the hull, and the movable end is connected to the cutting mechanism. It is located behind the cutting mechanism, and the electric push rod II is covered with sleeves II. The front end of the sleeves II is fixed to the bottom plate of the cabin through sleeve brackets. Each set of electric push rods is electrically connected to the control mechanism.

3. The automatic obstacle clearing device for unmanned surface vessels according to claim 2, characterized in that: The clamping mechanism includes an upper clamping plate and a lower clamping plate; the upper clamping plate and the lower clamping plate form a front clamping nozzle; the two ends of the lower clamping plate are connected to the movable ends of the two sets of electric push rods I on the outside through bearings; the two ends of the upper clamping plate are fixed to the side wall of the cabin by bolts; and the lower clamping plate is hinged to the upper clamping plate, and the hinge point between the lower clamping plate and the upper clamping plate is higher than the fixed end of the electric push rod I.

4. The automatic obstacle clearing device for unmanned surface vessels according to claim 3, characterized in that: The mesh storage mechanism includes an arc-shaped structure disposed on the lower clamping plate.

5. The automatic obstacle clearing device for unmanned surface vessels according to claim 3, characterized in that: The cutting mechanism includes a saw blade motor electrically connected to the control mechanism, a bracket for supporting the saw blade motor, and a saw blade mounted on the output shaft of the saw blade motor; the bracket is fixedly connected to the movable end of the electric push rod II, and the saw blade is vertically facing the front end of the upper and lower clamping plates.

6. The automatic obstacle clearing device for unmanned surface vessels according to claim 4, characterized in that: The collection mechanism includes a first conveyor belt that is respectively set on the side of the arc-shaped structure end of the netting mechanism, a second conveyor belt that is respectively set on the bottom plate of the hull at the tail end of the first conveyor belt, and the second conveyor belt extends to the stern of the hull, forming a collection box inside the entire hull; the surface of the conveyor belt is a non-slip surface; the stern of the hull is equipped with an electric door that is electrically connected to the control mechanism; infrared sensors are installed at the low and high points of the collection box.

7. The automatic obstacle clearing device for unmanned surface vessels according to claim 4, characterized in that: The surface of the arc-shaped structure is provided with anti-slip material, and the arc-shaped structure is set together with the lower clamping plate.

8. The automatic obstacle clearing device for unmanned surface vessels according to claim 3, characterized in that: Both the upper clamping plate and the lower clamping plate are U-shaped structures.

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