CN102020004B

CN102020004B - Water surface garbage cleaning ship

Info

Publication number: CN102020004B
Application number: CN 201010223569
Authority: CN
Inventors: 梁华锦; 管贻生; 张宪民
Original assignee: South China University of Technology SCUT
Current assignee: South China University of Technology SCUT
Priority date: 2010-07-09
Filing date: 2010-07-09
Publication date: 2013-04-17
Anticipated expiration: 2030-07-09
Also published as: CN102020004A

Abstract

The invention relates to a water surface garbage cleaning ship. The hull adopts a double-body design, which is composed of a detection and navigation system, a collection system, a garbage disposal system, a garbage unloading system, and a propulsion system; it is divided into three working modes: free navigation mode, docking operation mode, non-shore operation mode. The area with garbage on the water surface is detected by the detection and navigation system, and then autonomously navigates to work to realize unmanned operation, full automation, good cleaning efficiency, strong flexibility, stable work, safe and reliable. Among them, the bucket-type chain-net-type collection and conveying device designed can realize the combination of continuous and intermittent recovery work, which is energy-saving and efficient. At the same time, the device can be hydraulically driven up and down to change the amplitude, which can salvage floating objects of different water depths more quickly and effectively. The designed satellite ship cooperative collection makes it more flexible and efficient. The floating objects and semi-floating objects on the shore are recovered onto the ship by spraying water through the hydraulic rotary water spray gun.

Description

Water surface garbage cleaning ship

Technical Field

The invention relates to a garbage cleaning ship, in particular to a high-automation mechanized electromechanical-hydraulic integrated water surface garbage cleaning ship.

Background

With the development of society and the increase of population, floaters in reservoirs, ports, lakes, rivers and sea areas in many countries are seriously polluted at present, and negative influences are brought to water supply resources, living environments of people, regional investment environments, development and tourism resources and the like. In addition, the water hyacinth is abused in China, North America, Asia, oceania and Africa, so that a large number of original organisms in a plurality of water areas are killed, the biodiversity and ecological balance are seriously damaged, river water is blackened and smelled, rivers and lakes are silted, and red tides frequently occur in related sea areas. The shipping safety of ships and the safety of water conservancy facilities and hydropower station units are seriously influenced, and the serious economic loss is caused to agricultural irrigation, aquaculture, tourism and the like.

At present, the technology and facilities for cleaning and disposing the garbage of oceans and rivers are relatively laggard, the garbage cleaning is mainly labor-intensive, and the original method for manually fishing the garbage on the water surface is mostly adopted in many places which are not in developed coastal cities. The semi-cabin type or deck motor barge is utilized, sanitation workers can directly drag the garbage at the edge of the deck by holding the net bag and standing, the working mode has high labor intensity, severe working environment and no guarantee on personal safety, the cleaning difficulty is high, the comprehensive cost is high, and the pollution of water hyacinth and other sea areas which are blown out in heavy rain and typhoon seasons can not be treated. The performance and efficiency of the existing garbage cleaning ships in many cities are far from meeting the requirements due to the influence of factors such as capital, technology and the like. Therefore, research and development of safer and more efficient overwater garbage cleaning equipment are urgently needed.

At present, the water surface garbage collection devices at home and abroad mainly adopt two collection devices of a bucket and a conveyor belt. The bucket collection work is discontinuous, and belongs to discontinuous work type. In the water surface garbage cleaning, when in a zero-navigational-speed collecting state, a flow guide device is needed to lead the garbage into a hopper, so that the energy consumption is low and the efficiency is not high. In addition, when the bucket is lifted or turned over to leave the water surface, the garbage continuously flushed from the front escapes backwards or is pressed under the shovel, and the garbage cannot be effectively recovered. The collection operation of the conveyor belt is continuous operation and belongs to a connection working type. The efficiency is unchanged; the action line is an energy consumption line, and the system needs to run continuously, so that the energy consumption is large. There are major problems: the tonnage is small, the load capacity is small, the power of the main engine is small, and the navigational speed is low; the equipment is simple and crude, the function is single, and the device is not flexible, wherein many operations are carried out manually, and the efficiency is poor.

Disclosure of Invention

The invention aims to provide a water surface garbage cleaning ship, which adopts a bucket type chain net type collecting and conveying device to realize continuous work or intermittent work and overcomes the defects of high energy consumption of continuous work of a pure conveying belt and low efficiency, poor effect, high energy consumption and the like of intermittent work of a pure bucket type. Meanwhile, the water surface self-adaptive device can carry out hydraulic drive amplitude variation on the collecting device, can collect the floaters in different water depths more quickly and effectively, and can also increase the influence on the immersion of the ship due to the increase of the loading capacity in the collecting process. Utilize hydraulic control automatic steering water jet equipment and satellite ship collection device in coordination, effectively retrieve the rubbish of bank or dead angle position on board, let it have more flexibility and high efficiency. The garbage is effectively treated by combining the cutting device, the compressing device and the unloading device.

The invention relates to a water surface garbage cleaning ship, which consists of a ship body device, a collecting system, a garbage processing system, a garbage unloading system and a detecting navigation system, wherein the ship body device, the garbage processing system, the garbage unloading system and the detecting navigation system can adopt commercially available products, and as shown in the figure, the water surface garbage cleaning ship is characterized in that the collecting system comprises a hydraulic net pulling arm device 101, a bucket type chain net type collecting and conveying device 103, a hydraulic vertical lifting device 122), a water level self-adapting device 102, a flow guide device, a water spraying device 106 and a satellite ship collecting device 110; wherein,

the bucket type chain-net type collecting and conveying device 103 comprises a metal net 203, a shield 301, rake teeth 302, a rake handle 303, a bracket 304, a transverse shaft 305, a driven chain wheel 306, a double-row chain with lugs 307, a chain tensioning wheel 308, a shaft support 309, a hydraulic motor bearing 310, a hydraulic motor 311, a hydraulic motor key 312 and a driving chain wheel 313; the connection relationship is that the bracket 304 is matched with 5 transverse shafts 305, the outer ends of the transverse shafts 305 are matched with a shaft support 309, and the shaft support 309 is fixed on the shield 301 through bolts; the driven sprocket 306 is connected to the carrier 304 by a pin; the driving sprocket 313 is matched with the output shaft of the hydraulic motor 311 of the bucket type chain net type collection and transmission device, and a hydraulic motor key 312 of the bucket type chain net type collection and transmission device is arranged between the matching parts; the hydraulic motor bearing 310 is matched with a hydraulic motor 311 of the bucket type chain net type collecting and transmitting device and is arranged in the bracket 304; the lug double-row chain 307 is arranged on a driven chain wheel 306 and a driving chain wheel 313; the rabble teeth 302 are arranged on a rabble arm 303, and the rabble arm 303 is pressed on the metal net 203 and is arranged on the chain lug of the double-row chain with the lug 307; a bucket-type chain-net type collection and transfer device hydraulic motor 311 is fixed to the shroud 301; the shield 201 is mounted on the shroud 301.

The ship type of the invention adopts a catamaran design, when a detection system detects a garbage water area, the detection system reaches a working position, and the lifting hydraulic cylinder stretches the novel bucket type chain net type collecting and transmitting device arranged at the bow of the ship into water. The bucket type chain net type collection and transmission device can realize a continuous working mode or an intermittent working mode according to the quantity of the garbage, and transmits the floating garbage to the compression device. For example, when the amount of the garbage is not large, the garbage enters an intermittent operation mode, the hydraulic motor of the bucket type chain-net type collection and transmission device is not started, and when a certain amount of the garbage is collected, the hydraulic motor is started to transmit the garbage to the garbage disposal system. A cutting device is arranged at the upper end of the bucket type chain net type collecting and conveying device to cut wide garbage so as to be beneficial to compression. The garbage is compressed by the compression head which takes the hydraulic cylinder as a pressure source, and after the garbage is compressed for several times, when the excessive pressure and the over-small stroke of the compression hydraulic cylinder are detected, a signal is sent to the garbage unloading device, and the garbage in the compression box is transferred to the garbage collection box to complete the recovery work. After the collection box is full, the garbage can is lifted out and replaced by an auxiliary ship or a crane.

And the horizontal section of the bucket type chain net type collecting and conveying device is immersed into the water surface to a proper depth and forms a proper inclination angle with the water surface, and two sides of the inlet of the bucket type chain net type collecting and conveying device are provided with net poking arms controlled through hydraulic pressure to assist in bringing the garbage near the inlet into the bucket type chain net type collecting and conveying device. As the influence of the increase of the loading capacity of the garbage on the immersion depth of the ship body and the adaptation to the different immersion depths of the garbage on the water surface are realized, the horizontal section of the bucket type chain net type collecting and conveying device can better contact the garbage or collect floaters with different water depths, and water level self-adaptive devices are arranged on two sides of the bucket type chain net type collecting and conveying device. When the horizontal section of the bucket type chain net type collecting and transmitting device is too high or too deep from the water surface, the action sends a signal to a lifting hydraulic cylinder of the bucket type chain net type collecting and transmitting device to adjust the immersion depth of the lifting hydraulic cylinder. A water jet device with hydraulic control steering is arranged on the bow of the ship, firstly, the garbage on the shoreside beach is washed off, and secondly, the garbage at the corners and other places which are difficult to reach is flushed. In addition, the water inlet of the water pump is arranged behind the bucket type chain net type collecting and conveying device, so that the flow guide is facilitated, and a better working flow channel is formed.

Two satellite ships are arranged on two sides of the ship and can move forwards or backwards, and the satellite ships can run along the shore by guide wheels. When the ship moves forwards, garbage around the ship is pushed to an inlet of the ship-ahead collecting device through the grid belt connected with the mother ship, so that the collecting efficiency is greatly improved, and the flexibility is enhanced.

Compared with the prior art, the invention has the following advantages and characteristics:

1) organic combination of continuous and discontinuous collections: the invention utilizes the innovative bucket type chain net type collecting and conveying device to realize continuous work or intermittent work, and overcomes the defects of large energy consumption of pure conveying belt continuous work, low efficiency, poor effect, large energy consumption and the like of pure bucket type intermittent work.

2) Autonomy and adaptivity: when the detection system detects a garbage water area, the navigation system reaches the working position at the full speed of 6km/h and then converts the working speed into an operation speed of 4km/h or a low-speed mode of landing. The bucket type chain net type collection and transmission device can realize a continuous working mode or an intermittent working mode according to the quantity of the garbage, and transmits the floating garbage to the compression device. For example, when the amount of the garbage is not large, the garbage enters an intermittent operation mode, the hydraulic motor of the bucket type chain-net type collection and transmission device is not started, and when a certain amount of the garbage is collected, the hydraulic motor is started to transmit the garbage to the garbage disposal system. In the garbage treatment system, when the over-pressure and over-stroke of the compression hydraulic cylinder are detected, a signal is sent to the garbage unloading device, and the garbage in the compression box is transferred to the garbage collection box to complete the recovery work. When the collection box is full, the auxiliary ship or the auxiliary ship returns to the shore, and the garbage can is lifted out by the crane and replaced.

In order to ensure that the ship can normally work in the weather, the ceiling is designed. When the garbage can needs to be turned and unloaded, the ceiling needs to be opened automatically. Therefore, an automatic canopy opening device is designed to open and close the canopy.

3) Flexible cooperative work: the garbage collector aims to overcome the defects that the existing collecting ship is only low in efficiency of collecting garbage by a bow part collecting device and is difficult to collect garbage on two sides of a ship. This design presents a new auxiliary collection approach. Two satellite ships are arranged on two sides of the ship and can move forward or backward to cooperatively collect garbage. When advancing, the gate strip of being connected through with mother's ship shifts the rubbish around the ship to the collection device entry before the ship, accelerates collection efficiency greatly, and satellite ship guide pulley lets it can travel along the bank, has strengthened the flexibility. The hydraulic control automatic steering water jet device is utilized to effectively guide the garbage on the shore or the dead angle position to the collection system. The garbage is effectively treated by combining the cutting device, the compressing device and the unloading device.

4) Simple garbage unloading mode: the existing unloading mode is directly conveyed to the shore by a multi-purpose conveyor belt, so that not only is the unloading time consumed, but also secondary pollution such as leakage in the unloading process is caused. This design provides a simple and easy rubbish uninstallation mode to simple and easy dustbin is the carrier, hangs away through the equipment of lifting by crane on the bank or other boats and removes this dustbin of replacement and carries out quick uninstallation, saves the non-operating time of collecting the ship, raises the efficiency.

Drawings

FIG. 1 is an overall layout of the present invention;

FIG. 2 is a schematic structural diagram of a hydraulic screen-shifting arm of the present invention;

FIG. 3 is a schematic view of the construction of a bucket-type chain-mesh type collection conveyor of the present invention (without the wire mesh);

FIG. 4 is a view of the internal skeleton of the bucket-type chain-mesh belt collection device of the present invention;

FIG. 5 is a partial cross-sectional view of the drive portion of the bucket type chain mesh collection conveyor of the present invention;

FIG. 6 is a side view of the hydraulic vertical lift device of the present invention;

FIG. 7 is a front view of the left portion of the hydraulic vertical lift device of the present invention;

FIG. 8 is a rear elevational view of the right portion of the hydraulic vertical lift device of the present invention;

FIG. 9 is a schematic structural diagram of the water level adaptive device of the present invention;

FIG. 10 is a schematic view of the cutting apparatus of the present invention;

FIG. 11 is a schematic view of the structure of the deflector and the water injector of the present invention;

FIG. 12 is a front view of the deflector and water spray apparatus of the present invention;

FIG. 13 is a view of the satellite boat collection apparatus of the present invention;

FIG. 14 is a schematic view of a satellite boat configuration of the present invention;

FIG. 15 is an isometric view of the compression device and waste discharge device of the present invention;

FIG. 16 is a cross-sectional view of the compression device and waste discharge device of the present invention;

FIG. 17 is a schematic view of the construction of the refuse unloading apparatus of the present invention;

FIG. 18 is an isometric view of the canopy opening mechanism of the present invention;

FIG. 19 is a side elevational view of the canopy opening mechanism of the present invention;

FIG. 20 is a cross-sectional view of the canopy opening mechanism of the present invention;

FIG. 21 is a rear view of the device of the present invention;

FIG. 22 is a block diagram of a detection navigation system algorithm.

Detailed Description

As shown in fig. 1 and 21, a water surface garbage disposal ship comprises a ship body device, a collection system, a garbage disposal system, a garbage unloading system and a detection navigation system;

the ship body device comprises a bow 105, a deck 107, double ship bodies 108, a master control box 111 (comprising a computer, an industrial personal computer and other devices for signal processing, analysis and control and the like), a diesel oil tank 109, a diesel engine 114, a hydraulic pump 115, a guardrail 116, a hydraulic oil tank 118 and double propellers 005; the two ship bodies 108 are respectively arranged at two sides below the deck 107; the surveillance camera 120 is fixed to the bow cover 104: the on-deck ship side sensor 123 is mounted on the ship board 107; the hydraulic net shifting arm device 101 is arranged at the front end of a guard plate 201 of the bucket type chain net collecting device 103; the water level self-adapting device 102 is arranged at the bottom end of the bucket type chain net collecting device 103 and is partially immersed in water; one end of the hydraulic vertical lifting device 122 is supported by the guard plate 201 of the bucket type chain net type collection and transmission device 103 through the lifting beam 401, and the other end is connected with the deck 107; the diversion device and the water spraying device 106 are arranged above the right side of the ship deck 107; the satellite ship collecting devices 110 are respectively provided with a set on two sides of the ship and lean against one side of the ship body 108; the cutting device 121 is arranged on the guard plate 201 of the bucket type chain net type collecting and conveying device 103; the compression device 112 is supported immediately behind the bucket-type chain-net type collection and transfer device 103; the waste discharge device 104 is below the compression device 112, the waste bin 113 is immediately after the waste discharge device 104 is below the compression device 112; a double propeller 005 is placed at the rear end of the vessel.

As shown in fig. 21, the twin hull 108 includes a left hull 1101, a right hull 1106; the left hull 1101 and the right hull 1106 are secured to the respective ends of the deck. The double propeller 005 comprises a left propeller 1102, a propeller fixing pipe 1103, a propeller immersion adjusting ring 1104 and a right propeller 1105; the connection relationship is that the left propeller 1102 and the right propeller 1105 are fixed on the propeller fixing pipe 1103, the propeller fixing pipe 1103 is sleeved in the propeller immersion adjusting ring 1104, and the propeller immersion adjusting ring 1104 is respectively fixed at two ends of the deck. The water surface garbage cleaning ship sails by adopting double propellers without rudders. The hydraulic motors on the two propellers are controlled by hydraulic valves. Forward and reverse are achieved when the two hydraulic motors are not in the same direction, and differential turning is achieved when the two hydraulic motors are in different directions. In addition, the two propellers are arranged between the two ship bodies, so that the water flow speed between the two ship bodies is increased, a better garbage collection operation runner is formed, a diversion effect is achieved, and the efficiency of the operation water flow runner is improved.

The collecting system comprises a hydraulic mesh-pulling arm device 101, a bucket type chain-mesh type collecting and conveying device 103, a hydraulic vertical lifting device 122, a water level self-adapting device 102, a flow guiding device and water spraying device 106 and a satellite ship collecting device 110.

As shown in fig. 2, two hydraulic screen-shifting arms are respectively mounted on two side guard plates 201 of the inlet of the bucket-type chain-screen type collection and transmission device to assist in taking the garbage near the inlet into the bucket-type chain-screen type collection and transmission device. One part of the hydraulic net shifting arm device 101 is immersed in water and is splayed forwards, and the front garbage is guided into the width range of the garbage collection device, so that the cleaning width is increased. The metal net is used as a poking surface, so that a poking net arm is called. The hydraulic net-shifting arm device 101 comprises a net-shifting arm mounting pin 202, a net-shifting arm driving rod 204, a net-shifting 205, a net-shifting frame 206, a net-shifting hydraulic cylinder rod 207, a net-shifting hydraulic cylinder 209 and a hydraulic cylinder mounting pin 211. The net shifting frame 206 is provided with a net shifting frame 205, the middle part of the net shifting frame 206 is sleeved with a net shifting arm driving rod 204, and the rear end of the net shifting frame 206 is fixed on the guard plate 201 through a net shifting arm mounting pin 203; the net-pulling hydraulic cylinder rod 207 of the net-pulling hydraulic cylinder 209 is connected with the net-pulling arm driving rod 204, and the hydraulic cylinder 209 is mounted on the guard plate 201 through a hydraulic cylinder mounting pin 211. The net-pulling hydraulic cylinder rod 207 and the net-pulling hydraulic cylinder 209 can be replaced by a direct motor. When the device is started, hydraulic oil enters or is drawn out of the mesh-pulling hydraulic cylinder 209 to push or pull the mesh-pulling hydraulic cylinder rod 207, so that the mesh-pulling frame 206 connected with the mesh-pulling arm driving rod 204 is driven, and the mesh-pulling 205 on the mesh-pulling frame 206 swings back and forth to help garbage near an inlet to enter the inlet of the bucket type chain mesh type collection and transmission device.

As shown in fig. 3, 4 and 5, the bucket-type chain-mesh type collection and transfer device 103 includes a wire mesh 203, a guard 301, a rake tooth 302, a rake handle 303, a bracket 304, a horizontal shaft 305, a driven sprocket 306, a double-row chain with ears 307, a chain tensioner 308, a shaft support 309, a hydraulic motor bearing 310, a hydraulic motor 311, a hydraulic motor key 312, and a driving sprocket 313; the connection relationship is that the bracket 304 is matched with 5 transverse shafts 305, the outer ends of the transverse shafts 305 are matched with a shaft support 309, and the shaft support 309 is fixed on the shield 301 through bolts; the driven sprocket 306 is connected to the carrier 304 by a pin; the driving sprocket 313 is matched with the output shaft of the hydraulic motor 311 of the bucket type chain net type collection and transmission device, and a hydraulic motor key 312 of the bucket type chain net type collection and transmission device is arranged between the matching parts; the hydraulic motor bearing 310 is matched with a hydraulic motor 311 of the bucket type chain net type collecting and transmitting device and is arranged in the bracket 304; the lug double-row chain 307 is arranged on a driven chain wheel 306 and a driving chain wheel 313; the rabble teeth 302 are arranged on a rabble arm 303, and the rabble arm 303 is pressed on the metal net 203 and is arranged on the chain lug of the double-row chain with the lug 307; a bucket-type chain-net type collection and transfer device hydraulic motor 311 is fixed to the shroud 301; the shield 201 is mounted on the shroud 301. Wherein the shaft support 309 may be replaced by an off-the-shelf mounted bearing; the hydraulic motor 311 may be replaced with a dc motor.

The bucket type chain net type collecting and conveying device 103 is divided into a horizontal section and an inclined section from the shape, and the inclined section and the horizontal section form an angle of 150 degrees; the protective plate 201 and the protective cover 301 on two sides form a bucket; the metal mesh 203 (with different density) is mounted on the link of the link-link double-row chain 307 to form a link-type transmission device. Such collection devices are therefore referred to as bucket-type chain-mesh collection conveyors. When the device works in an intermittent working mode, garbage enters the collecting device and is accumulated continuously, and when the garbage is accumulated to a rated amount, the hydraulic motor 311 of the bucket type chain net type collecting and conveying device is started, so that the lug double-row chain 307, the metal net and rake teeth 302 and the rake formed by the rake handle 303 are driven by the driving chain wheel 313 to move together, and the garbage is conveyed to the garbage disposal system. The tines 302 and the rabble arm 303 may be manufactured together as one piece. In addition to the above-mentioned transmission, the two drive sprockets 313 symmetrically arranged on the left and right of the bucket-type chain-net type collecting and transferring device may be mounted on a transmission shaft, and the transmission shaft may be driven by a hydraulic motor or an electric motor directly or by a belt transmission ratio such as a belt pulley.

The bracket 304 is composed of a horizontal section and an inclined section, and the inclined section and the horizontal section form an obtuse angle (generally 120-150 degrees). In addition, if the angle can be adjusted, the guard plate 201 can be divided into two layers of a horizontal section and an inclined section and a locking device is added, so that the angle can be effectively adjusted and locked at the required angle);

according to the requirement (collection amount) of the collection capacity of the collection device, the size of the components such as the bracket 105 is variable, so that the number of the components such as the transverse shaft 305 and the shaft support 309 assembled on the bracket is correspondingly increased, the arrangement interval and the number of the transverse shafts 305 are related to the load of the collection device, and the stress-strain analysis calculation is carried out.

The rake in the figure consists of a rake handle 303 with 23 tines 302 equidistant thereon. The spacing, number, length and curvature of the teeth can be selected according to the size and volume range of the object to be collected, and the teeth can be replaced. The number of the rakes which are arranged at equal intervals on the double-row chain 307 with the lugs can also be changed, and the tooth arrangement of the two rakes which are arranged at intervals can be staggered, so that a better collecting effect is achieved.

The metal mesh 203 is of a diagonal mesh structure and is directly available on the market. In addition, the metal mesh must be waterproof and rustproof, or replaced with a plastic mesh or the like having sufficient strength. The density of the meshes can be selected or changed according to the needs.

5. The shaft support 309 may be replaced with an off-the-shelf mounted bearing; the hydraulic motor 311 may be replaced with a dc motor. The chain and chain wheel transmission can be replaced by synchronous wheel and synchronous belt transmission. Wherein the rake and wire mesh 203 can be fixed to a hole or stop on the timing belt.

The hydraulic motor 311 may be replaced with an electric motor; in addition to the above-mentioned transmission modes, the two driving sprockets 313 are mounted on a transmission shaft, and the transmission shaft is driven by a hydraulic motor or an electric motor directly or by belt transmission ratios such as belt pulleys.

As shown in fig. 6, 7 and 8, the hydraulic vertical lifting device 122 includes: a lifting beam 401, a lifting hydraulic rod pin 402, a lifting hydraulic rod 403, a lifting hydraulic cylinder 404, a lifting hydraulic cylinder fixing hinge 405, a ship bow cover bolt 406, a guide rail fixing bolt 407, a guide rail 408, a lifting beam top block 409, a guide rail pulley 410 and a guide rail pulley tip 411; the connection relationship is that the lifting beam 401 passes through the two guard plates 201 of the bucket type chain net type collecting and conveying device 103 and is axially positioned by two lifting beam top blocks 409; one end of a lifting hydraulic rod 403 is connected with the lifting beam 401 through a lifting hydraulic rod pin 402, and the other end of the lifting hydraulic rod is matched with a lifting hydraulic cylinder 404; the lifting hydraulic cylinder 404 is fixed on the deck 107 through a lifting hydraulic cylinder fixing hinge 405; the guide rail pulley 410 is fixed on the guard plate 201 through a guide rail pulley tip 411, and the guide rail pulley 410 is tangent to the guide rail 408; the guide rail 408 is fixed to the bow 105 by a guide rail fixing bolt 407, and the bow cover 104 is fixed to the bow 105 by a bow cover bolt 406. The lift hydraulic rod 403 and lift hydraulic cylinder 404 may be replaced with direct motors. The hydraulic vertical lift device 122 is used to adjust the penetration of the bucket-type chain-net collection conveyor. When the water surface garbage cleaning ship enters a non-working mode, namely a free sailing mode, the bucket type chain net type collecting and transmitting device is lifted out of the water surface, so that the water resistance during sailing is reduced; when the working mode is entered, the hydraulic vertical lifting device enables the hydraulic vertical lifting device to be immersed into the proper depth again. On the other hand, due to the influence of the increase of the garbage loading capacity on the immersion depth of the ship body and the adaptation to the different immersion depths of the garbage on the water surface, the horizontal section of the bucket type chain net type collecting and conveying device can better contact the garbage or collect floating objects with different water depths, and water level self-adapting devices are arranged on two sides of the bucket type chain net type collecting and conveying device. When the horizontal section of the bucket type chain net type collecting and transmitting device is too high or too deep from the water surface, the action sends a signal to a lifting hydraulic cylinder of the bucket type chain net type collecting and transmitting device to adjust the immersion depth of the lifting hydraulic cylinder.

As shown in fig. 9, the water level adaptive apparatus 102 includes: a floater guide rod 501, an upper fixed contact 502, a water level self-adaptive device shell 503, a lower fixed contact 504, a floater 505, a movable contact 506 and a fixed contact screw 507; an upper fixed contact 502 and a lower fixed contact 504 are fixed on a water level self-adaptive device shell 503 through fixed contact screws 507, and a movable contact 506 is inserted on a float guide rod 501; the float 505 is fixed at the lower end of the float guide rod 501, and the float guide rod 501 is in clearance fit with a hole on the water level self-adaptive device shell 503. The stationary contact of the water level adaptive device is divided into two, i.e. an upper stationary contact 502 and a lower stationary contact 504, forming a lower non-contact area, i.e. a control boundary. The rod connected to the float guide rod 501 is the moving contact 506, when the bucket-type chain-net type collecting and conveying device is too deep, the float is forced to relatively move upwards to reach the upper boundary of the control area, the moving contact and the static contact are connected, a circuit is connected, and a control signal is sent to the hydraulic vertical lifting device to enable the lifting hydraulic cylinder 404 to work to lift the bucket-type chain-net type collecting and conveying device to a proper position, and vice versa. The relative distance between the upper and lower stationary contact screws 507 can be adjusted, so that the upper and lower limit rings for controlling the liquid level can be effectively adjusted within 25-100 mm. Can be adapted to water areas with different water conditions such as waves and the like. The water level self-adapting device is used for providing a lifting signal for the hydraulic vertical lifting device, so that the bucket type chain net type collecting and conveying device keeps the optimal working immersion depth.

As shown in fig. 11 and 12; the diversion device and the water spraying device 106 comprises a water spraying pipe 701, a water spraying pipe hydraulic cylinder rod 702, a water spraying pipe hydraulic cylinder 703, a water pump 704, a water pump base 705, a water spraying pipe hydraulic cylinder mounting hinge 706, a horizontal position angle adjustment front hydraulic cylinder rod 707, a horizontal position angle adjustment front hydraulic cylinder 708, a water pump water inlet pipe 709, a water spraying device base 110, a horizontal position angle adjustment handle 711, a horizontal position angle adjustment rear hydraulic cylinder rod 712, a horizontal position angle adjustment rear hydraulic cylinder 713, a water spraying device adjustment base 714, a water pump water outlet pipe 715, a water spraying pipe support 716 and a horizontal position angle adjustment hydraulic cylinder slide rod 717; the connection relationship is as follows: the front hinge of the spray pipe 701 is connected with the spray pipe hydraulic cylinder rod 702 through a pin, and the rear hinge is connected with the spray pipe support 716 through a pin; the spout support 716 is fixed to the sprinkler adjustment base 714; the spray pipe hydraulic cylinder rod 702 is connected with the spray pipe hydraulic cylinder 703 in a sleeved mode, and the spray pipe hydraulic cylinder 703 is connected with the spray pipe hydraulic cylinder mounting hinge 706 through a pin; four spaced hydraulic cylinder mounting hinges 706 for the spray pipes are fixed to the sprinkler adjustment base 714; one end of a horizontal position angle adjustment front hydraulic cylinder rod 707 is connected with a horizontal position angle adjustment handle 711 in a matching way, and the other end of the horizontal position angle adjustment front hydraulic cylinder rod 708 is sleeved with a horizontal position angle adjustment front hydraulic cylinder rod; six horizontal position angle adjustment handles 711 separated from each other are fixed on the water spraying device adjustment base 714; one end of the horizontal position angle-adjusted hydraulic cylinder rod 712 is connected with the horizontal position angle-adjusted handle 711 in a matching way, and the horizontal position angle-adjusted hydraulic cylinder 713 at one end is sleeved; the horizontal position angle adjustment front hydraulic cylinder 708 and the horizontal position angle adjustment rear hydraulic cylinder 713 are sleeved on a horizontal position angle adjustment hydraulic cylinder sliding rod 717; the water inlet pipe 709 of the water pump is connected with the inlet end of the water pump 704, one end of the water outlet pipe 715 of the water pump is connected with the outlet end of the water pump 704, and the other end is connected with the spray pipe 701; the water pump 704 is fixed to the base 705, and the base 705 is placed on the deck 107. The spray pipe hydraulic cylinder rod 702 and the spray pipe hydraulic cylinder 703, the horizontal position angle adjustment front hydraulic cylinder rod 707 and the horizontal position angle adjustment front hydraulic cylinder 708, and the horizontal position angle adjustment rear hydraulic cylinder rod 712 and the horizontal position angle adjustment rear hydraulic cylinder 713 can be respectively replaced by direct motors.

The hydraulic control automatic steering water spraying device can freely change angles in the horizontal direction and the vertical direction. In the vertical plane, the elevation angle of the water jet pipe is adjusted by extending and contracting the water jet pipe hydraulic cylinder rod 702 and the water jet pipe hydraulic cylinder 703. The sprinkler cylinder 703 may be attached to one of four spaced sprinkler cylinder mounting hinges 706 secured to the sprinkler adjustment base 714, thereby changing the range of adjustment of the elevation angle of the sprinkler jet. The horizontal position angle adjustment front hydraulic cylinder 708 and the horizontal position angle adjustment rear hydraulic cylinder 713 can slide freely on the horizontal position angle adjustment hydraulic cylinder slide bar 717, and the horizontal direction of the spray pipe can be adjusted by differential expansion and contraction by changing the extension amounts of the horizontal position angle adjustment front hydraulic cylinder rod 707 and the horizontal position angle adjustment rear hydraulic cylinder rod 712. It can be seen from the figure that the automatic swing angle range adjustment is realized by changing the matching connection of the hydraulic cylinder rod 707 before horizontal position angle adjustment or the hydraulic cylinder rod 712 after horizontal position angle adjustment and 6 horizontal position angle adjustment handles 711 which are separated from each other. A hydraulic control automatic steering water spraying device is arranged beside the bow of the ship, so that garbage on the shoreside beach is flushed down, and garbage at corners and other places difficult to reach is flushed out. In addition, the water inlet of the water supply pump used by the water spraying device is arranged behind the bucket type chain net type collecting and conveying device, so that the flow guide is facilitated, a better working flow passage is formed, and the water pump and the water inlet pipe thereof also form a flow guide device.

As shown in fig. 13 and 14, the satellite boat collecting device 110 includes: the system comprises a grid belt bolt 801, a grid belt 802, a satellite ship propeller 803, a satellite ship guide wheel 804, a satellite ship guide wheel bolt 805, a satellite ship body 806, a hanging hinge 807 and a satellite ship hook 808; the grid belt 802 is connected on the deck 107 through a grid belt bolt 801; the satellite ship guide wheel 804 is fixed on the satellite ship body 806 through a satellite ship guide wheel bolt 805; the other end of the strap 802 is connected to a hitch hinge 807 on the satellite hull 806; when the satellite ship does not work, the hanging hinge 807 is hung on a satellite ship hook 808; the satellite ship corner travel switch 809 is installed on the ship body near the end where the grid strip 802 and the grid strip bolt 801 are connected. Two satellite boats are on either side of the boat, and forward or reverse motion is achieved by satellite boat thrusters 803 in front of and behind the satellite boat hull 806, while the satellite boat runners allow it to travel along the shore. When the ship moves forwards, the grid belt 802 connected with the mother ship is driven to slowly push the garbage around the ship to the inlet of the ship-ahead collecting device, so that the collecting efficiency is greatly improved, and the flexibility is enhanced. The grid belt 802 can slide on a grid belt bolt 801 connected with the mother ship, so that the satellite ship and the mother ship can be self-adjusted up and down when the immersion depths of the satellite ship and the mother ship are different. The satellite ship guide wheel 804 is used for enabling the satellite ship to touch the shore when the mother ship works in the shore-approaching working mode, and the satellite ship guide wheel 804 can automatically steer and continue to advance along the shore so as to drive the garbage on the shore into the land in a net mode. Because of the varying distances between the hull and the shore at shore, a soft grid 802 is used in the design. When the satellite ship works, the largest included angle between the hanging hinge 807 and the grid belt 802 is 90 degrees, namely the angle A is 0 degree, so that the satellite ship can pull the grid belt 802 along the tangential direction, and the grid belt 802 is opened as much as possible. When the satellite ship works, when the satellite ship drives the grid belt 802 to move to a position where the included angle between the grid belt 802 and the ship body is set to be 150-180 degrees, the grid belt is in contact with a satellite ship corner travel switch 809, the travel switch acts, a control circuit of a satellite ship motor is switched, the motor is enabled to rotate reversely, and the satellite ship is enabled to retreat until the satellite ship hook 808 is reset. When the satellite ship does not work, the satellite ship hook 808 can be hung on the wall of the ship: when the satellite ship needs to be started to work, the satellite ship hook 808 is put down, and the satellite ship is loosened; when the sub-ship returns to stop working, the satellite ship hook 808 is lifted up by the stroke of the satellite ship hook 808, and the sub-ship is locked.

The waste disposal system comprises a cutting device 121 and a compressing device 112.

A cutting device is arranged at the upper end of the bucket type chain net type collecting and conveying device, and is used for cutting wide garbage, so that the garbage can smoothly enter the compressing device. As shown in fig. 10, the cutting device 121 includes a cutting device frame 601, a cutting blade 602, and a cutting motor 603; the connection relationship is that the cutting blade 602 is installed on the shaft of the cutting motor 603, the cutting motor 603 is fixed on the cutting device frame 601, and the cutting device frame 601 is assembled on the guard plate 201 through bolts. When the bucket type chain net type collecting and transmitting device is transmitted to work, the cutting device is operated. In some waters without large pieces of garbage, the water tank can not be opened.

As shown in fig. 15, the compressing device 112 includes: the garbage falling auxiliary harrow 901, a reel left bearing seat 902, a compression box 903, a reel 904, a compression hydraulic cylinder 905, a compression hydraulic cylinder rod 906, a buffer gear coil 907, a compression head connecting pin 908, a compression head 909, a compression box water left flow passage 918, a reel right bearing seat 923 and a compression box water right flow passage 924; the connection relationship is as follows: the garbage falling auxiliary rake 901 is fixed on the compression box 903 through bolts; the winding drum 904 is fixed on one side of the compression box 903 through a winding drum left bearing seat 902 and a winding drum right bearing seat 923; a buffer file roll 907 is connected to the winding drum 904 in a winding manner at one end and is fixed to the compression head 909 at one end; a compression head 909 that slides on the floor of the compression box 903 and the unloader plate 919 is attached to the compression cylinder rod 906 by a compression head attachment pin 908, and the compression cylinder rod 906 is nested on the compression cylinder 905; the compression hydraulic cylinder 905 is fixed on the bow 105 through bolts, and the bow 105 is fixed on the deck 107; the left compression tank water flow passage 918 and the right compression tank water flow passage 924 are respectively arranged at two sides of the compression tank 903, one end of the left compression tank water flow passage is open and connected with a water leakage hole on the unloading plate 919, and the other end of the left compression tank water flow passage is in butt joint with a butt joint notch of the deck 107. The space between the rake teeth of the rubbish shedding auxiliary rake 901 is staggered with the rake teeth 302 of the bucket type chain net type collecting and conveying device, and the rubbish shedding auxiliary rake is used for assisting the rubbish shedding of the rubbish conveyed by the bucket type chain net type collecting and conveying device. Buffer roll 907 is connected to compression head 909 through a slot in the back plate of compression box 903. When the compression head 909 advances, the refuse further conveyed from the bucket-type chain-mesh type collection conveyor falls onto the buffer catch 907, and when the ram returns, the buffer catch 907 interacts with the groove of the rear plate of the compression box 903 to scrape the refuse into the compression zone, i.e., in front of the compression head 909. The back plate acts as a squeegee. The water compressed by the garbage reaches the left channel 918 and the right channel 924 of the compression box water respectively arranged at the two sides of the compression box 903 through the water leakage holes on the unloading plate 919, and is discharged out of the ship through the butt joint gap of the deck 107.

The garbage unloading system comprises a garbage unloading device 104, a garbage can 113 and an awning opening device 119;

as shown in fig. 16 and 17, the garbage unloading apparatus 104 includes: the unloading device comprises an unloading lower connecting rod 910, an unloading hydraulic rod 911, an unloading hydraulic cylinder 912, an unloading hydraulic cylinder hinge 913, an unloading plate rod 914, an unloading travel switch base 915, a garbage can body 916, an unloading travel switch 917, an unloading plate 919, an unloading upper connecting rod 920, an unloading connecting rod shaft 921, an unloading supporting rod 922 and a garbage can hanging ring 925; the connection relationship is as follows: the unloading plate 919 is fixed on the two unloading plate rods 914; one end of the unloading upper connecting rod 920 is hinged with the unloading plate bar 914, and the other end is hinged with the unloading lower connecting rod 910 through an unloading connecting rod shaft 921; the other end of the unloading lower connecting rod 910 is connected with an unloading support rod 922; two unloading struts 922 are fixed to deck 107.

As shown in fig. 17, the unloading lower link 910, the unloading plate lever 914, the unloading upper link 920 and the unloading support lever 922 form a four-bar linkage, the garbage unloading device skillfully applies the dead point substance of the four-bar linkage to be self-locked well in the non-working state, so that the unloading plate 919 is locked reliably, when the compression device sends a signal to the garbage unloading device to open the unloading plate 919, the unloading hydraulic lever 911 pushes the unloading link shaft 921 connecting the dead points of the two parallel four-bar linkages by the hydraulic oil entering the unloading hydraulic cylinder 912 with little force, so as to open the unloading plate 919, and the garbage can slide down to the garbage bin 113. The unload stroke switch 917 is used to send a signal to the control box 111 when the unload plate 919 is open to contact with it, and the control signal is analyzed by a computer or the like and output to stop the delivery of hydraulic oil to the unload cylinder 912. After an appropriate time, the control box 111 sends a signal to draw out the hydraulic oil of the unloading hydraulic cylinder 912, thereby allowing the unloading hydraulic lever 911 to pull the unloading link shaft 921 back to the dead point, thereby closing the unloading plate 919. The opening and closing time of the unloading plate 919 should match the working state of the compression device.

The garbage is compressed by the compression head 909 using the hydraulic cylinder as the pressure source, and after several times of garbage compression, when the excessive pressure and the small stroke of the compression hydraulic cylinder are detected, a signal is sent to the garbage unloading device 104 to transfer the garbage in the compression box to the garbage collection box to complete the recovery work. When the collection container is full, it is returned to the shore or from a preceding auxiliary vessel, and the dustbin 113 is lifted out and replaced by a crane. The simple and replaceable garbage can 113 can make the garbage unloading more rapid and simple. The dustbin 113 is composed of a dustbin body 916 and a dustbin ring 925, and is placed in a corresponding recess of the deck 107. Most of the existing collection ships directly collect the collected garbage into own cabins, and the moisture of the garbage is accumulated in the cabins, so that the garbage loading capacity of the ships is reduced. The bottom plate of the dustbin 11 is provided with water leakage holes, and incomplete water can flow out of the ship through the water leakage holes and the single water leakage hole of the lower deck 107 after compression. The simple and replaceable garbage can 113 can make the garbage unloading more rapid and simple.

In order to enable the boat to work in the weather, it is designed with a canopy 1006. When the garbage can needs to be unloaded, the canopy 1006 needs to be opened automatically. Therefore, this automatic canopy opening device is designed to control opening and closing of the canopy 1006. As shown in FIGS. 18-20; the canopy opening device 119 comprises: the awning device comprises an awning opening motor 1001, awning retracting rods 1002, a side screen 1003, an awning opening device support beam 1004, an awning opening guide rail 1005, an awning cover 1006, an awning opening guide wheel 1007, an awning cover guide rod 1008, an awning retracting travel switch 1009, an awning retracting rod belt pulley 1010, an awning retracting rod belt 1011, an awning retracting rod right bearing seat 1012, an awning opening device base 1013, an awning opening motor belt pulley 1014 and an awning retracting rod left bearing seat 1015; the canopy opening motor 1001 is fixed on the canopy opening device base 1013 through bolts; the canopy-retracting roller belt pulley 1010 is matched with the canopy-retracting roller 1002 and is connected with a canopy-opening motor belt pulley 1014 matched with the canopy-opening motor 1001 through a canopy-retracting roller belt 1011; the canopy roll 1002 is fixed on the canopy device base 1013 through the canopy roll right bearing seat 1012 and the canopy roll left bearing seat 1015, and the canopy device base 1013 is fixed on the canopy device support beam 1004 through bolts; a travel switch 1009 is fixed to the canopy opening rail 1005; the two canopy opening guide rails 1005 are fixedly connected with four canopy opening device support beams 1004, and the four canopy opening device support beams 1004 are fixed on the deck 107; one end of the roof 1006 is connected with the roof rod 1002, and the tail end is connected with the roof guide rod 1008; the canopy opening guide wheels 1007 are arranged on two sides of the canopy guide rod 1008 and are in contact with the canopy opening guide rails 1005. The canopy opening device is driven by a canopy opening motor 1001 through a belt to drive a canopy retracting stick 1002 to retract the canopy 1006. And stops when hitting the canopy limit switch 1009. One end of the roof 1006 is connected with the roof rod 1002, and the tail end is connected with the roof guide rod 1008; the canopy opening guide wheels 1007 are arranged on two sides of the canopy guide rod 1008 and can slide on the canopy opening guide rails 1005. When the canopy needs to be put down, the motor rotates reversely slowly and is closed under the inertia force of the pulley and the rod and the thrust of the canopy collecting stick.

The detection system comprises a monitoring camera 120, a ship sensor 123, and a computer, an industrial personal computer and other devices in a master control box (111) for processing, analyzing and controlling signals and images). The monitoring camera (120) is fixed in the center of the bow cover (104), and the visual angle of the monitoring camera can be adjusted in a large range; the ship side sensors (123) on the deck are embedded and installed on two sides of the ship plate (107), and two sensors on each side are installed at intervals; the data signal lines of the monitoring camera (120) and the ship sensor (123) are connected with a master control box (111) (comprising a computer, an industrial personal computer and other devices for signal processing, analysis and control and the like) for communication.

As shown in fig. 22, the surface garbage disposal ship is divided into three operation modes: a free-sailing mode, an ashore operation mode and a non-ashore operation mode. When the water surface garbage cleaning ship is in a non-working mode, such as sailing, returning or converting a working water area, the ship enters a free sailing mode, the propeller is started at full speed, and the sailing speed can be 6 km/h. When the operation is started, the detection system is initialized, and the monitoring camera 120 collects the water surface image, analyzes and detects the water area with garbage. When a garbage area is found, the navigation device goes to the water area, and the operation mode is switched to, and the ship sensor 002 on the ship determines whether the ship is in a shore-in state, so that the ship can select to enter the shore-in operation mode or the non-shore-in operation mode. When the working mode is in the bank-approaching working mode, the hydraulic automatic steering water-jetting device works in a matching way to wash off the garbage on the bank and flush out the garbage at the places where the collecting device is difficult to reach, such as corners. Because the landing operation mode is low in navigational speed, the bucket type chain net type conveyor belt device is set to be in a continuous operation mode, so that the collection effect and the collection capacity are improved. In the non-shore working mode of sea areas and the like, the hydraulic automatic steering water jet device does not work, and the navigation speed is accelerated to be 4 km/h. When the ship sails, the garbage has a relative flow velocity towards the bow direction relative to the bow, which is beneficial to the rapid collection of the garbage. In addition, the bucket type chain-mesh conveyor device can be set to an intermittent operation mode due to scattering of garbage in the water area. And after N mins, acquiring images again to judge whether garbage exists. If the ship is still in the cleaning state, the position of the ship is adjusted, and cleaning is continued. And if the area is cleaned, the navigation device is matched to enter a free navigation mode to go to the area outside the monitored view field, images are continuously collected for analysis, the next algorithm cycle is entered, when the cycle number k exceeds the given search number, the operation is stopped, and the free navigation mode is entered and the navigation is performed.

When the detection system detects a garbage water area, the navigation system allows the water surface garbage cleaning ship to reach the water area, and the hydraulic vertical lifting device 122 lowers the bucket-type chain-net type collecting and transmitting device 103 into the water. The bucket type chain net type collecting and conveying device can realize a continuous working mode or an intermittent working mode according to the quantity of garbage. For example, when the amount of waste is small and the operation mode is not in the land-side operation mode, the bucket type link-type collection and transfer device 103 may be put into the intermittent operation mode, that is, the hydraulic motor 311 of the bucket type link-type collection and transfer device is not turned on, and is turned on again when a certain amount of waste is collected, and the waste is transferred to the waste disposal system. Through the switching of two modes of continuous work or intermittent working mode, the recovery is more energy-saving and effective.

Claims

1. A ship for cleaning garbage on water surface is composed of ship body, collecting system, garbage treating system, garbage unloading system and detecting navigation system

The ship body device comprises a bow (105), a deck (107), double ship bodies (108), a general control box (111), a diesel oil tank (109), a diesel engine (114), a hydraulic pump (115), a guardrail (116), a hydraulic oil tank (118) and double propellers (005);

the collecting system comprises a hydraulic net-shifting arm device (101), a bucket type chain net type collecting and conveying device (103), a hydraulic vertical lifting device (122), a water level self-adaption device (102), a flow guide device, a water spraying device (106) and a satellite ship collecting device (110);

the bucket type chain net type collecting and conveying device (103) comprises a metal net (203), a shield (301), harrow teeth (302), harrow handles (303), a support (304), a transverse shaft (305), a driven chain wheel (306), a double-row chain with lugs (307), a chain tensioning wheel (308), a shaft support (309), a hydraulic motor bearing (310), a hydraulic motor (311), a hydraulic motor key (312) and a driving chain wheel (313); the connecting relationship is that the bracket (304) is matched with 5 transverse shafts (305), the outer ends of the transverse shafts (305) are matched with a shaft support (309), and the shaft support (309) is fixed on the protective cover (301) through bolts; the driven chain wheel (306) is connected with the bracket (304) through a pin; the driving chain wheel (313) is matched with an output shaft of a hydraulic motor (311) of the bucket type chain net type collection and transmission device, and a hydraulic motor key (312) of the bucket type chain net type collection and transmission device is arranged between the matching parts; the hydraulic motor bearing (310) is matched with a hydraulic motor (311) of the bucket type chain net type collecting and transmitting device and is arranged in the bracket (304); the double-row chain (307) with the lugs is arranged on the driven chain wheel (306) and the driving chain wheel (313); the harrow teeth (302) are arranged on a harrow handle (303), and the harrow handle (303) is pressed on a metal net (203) and is arranged on the chain lugs of the double-row chain (307) with the lugs; a hydraulic motor (311) of the bucket type chain net type collection and transmission device is fixed on the shield (301); the guard plate (201) is arranged on the shield (301);

-the waste disposal system comprises a cutting device (121) and a compression device (112);

-the waste unloading system comprises a waste unloading device (104), a waste bin (113), and a canopy opening device (119);

the detection system comprises a monitoring camera (120), a ship-side sensor (123), a computer in the master control box (111) and an industrial personal computer for signal and image processing analysis control; the monitoring camera (120) is fixed in the center of the bow cover (104); the ship side sensors (123) on the deck are embedded and installed on two sides of the deck (107), and two sensors on each side are installed at intervals; the data signal lines of the monitoring camera (120) and the ship side sensor (123) are connected with the master control box (111) for communication.

2. A surface garbage disposal vessel according to claim 1, characterized in that the double hull (108) comprises a left hull (1101), a right hull (1106); the left hull (1101) and the right hull (1106) are respectively fixed at two ends of the deck; the double-propeller (005) comprises a left propeller (1102), a propeller fixing pipe (1103), a propeller immersion adjusting ring (1104) and a right propeller (1105); the connection relation is that a left propeller (1102) and a right propeller (1105) are fixed on a propeller fixing pipe (1103), the propeller fixing pipe (1103) is sleeved in a propeller immersion adjusting ring (1104), and the propeller immersion adjusting rings (1104) are respectively fixed at two ends of a deck; the water surface garbage cleaning ship sails by adopting double propellers without rudders.

3. A vessel according to claim 1 or 2, characterised in that the hydraulic screen-moving arm unit (101) is mounted at the front end of the apron (201) of the bucket-type chain-screen collecting and conveying unit (103); the water level self-adapting device (102) is arranged at the bottom end of the bucket type chain net type collecting and conveying device (103) and is partially immersed in water; one end of the hydraulic vertical lifting device (122) is supported by a guard plate (201) of the bucket type chain net type collecting and conveying device (103) through a lifting beam (401), and the other end is connected with a deck (107); the diversion device and the water spraying device (106) are arranged above the right side of the ship deck (107); the satellite ship collecting devices (110) are respectively provided with a set on two sides of the ship and lean against one side of the double ship body (108); the cutting device (121) is arranged on a guard plate (201) of the bucket type chain net type collecting and conveying device (103); the compression device (112) is tightly supported behind the bucket type chain net type collection and transmission device (103); the waste unloading device (104) is arranged below the compressing device (112), and the waste bin (113) is closely supported behind the compressing device (112) by the waste unloading device (104); the double propellers (005) are arranged at the rear end of the ship;

the two hydraulic net shifting arms are respectively arranged on two side guard plates (201) at the inlet of the bucket type chain net type collecting and conveying device, and are used for assisting in bringing the garbage near the inlet into the bucket type chain net type collecting and conveying device;

one part of the hydraulic net shifting arm device (101) is immersed in water and is opened forwards in a splayed shape, and the front garbage is guided into the width range of the garbage collection device; the hydraulic net shifting arm device (101) comprises a net shifting arm mounting pin (202), a net shifting arm driving rod (204), a net shifting (205), a net shifting frame (206), a net shifting hydraulic cylinder rod (207), a net shifting hydraulic cylinder (209) and a hydraulic cylinder mounting pin (211); the net shifting frame (206) is sleeved with the middle part of the net shifting frame (206), and the rear end of the net shifting frame (206) is fixed on the guard plate (201) through a net shifting arm mounting pin (202); a net shifting hydraulic cylinder rod (207) of the net shifting hydraulic cylinder (209) is connected with a net shifting arm driving rod (204), and the net shifting hydraulic cylinder (209) is arranged on the guard plate (201) through a hydraulic cylinder mounting pin (211); when the device is started, hydraulic oil enters or is drawn out of a net shifting hydraulic cylinder (209) to push or pull a net shifting hydraulic cylinder rod (207), so that a net shifting frame (206) connected with a net shifting arm driving rod (204) is driven, and a net shifting (205) on the net shifting frame (206) swings in a reciprocating mode to help garbage near an inlet to enter the inlet of the bucket type chain net type collection and transmission device;

the hydraulic vertical lift device (122) comprises: the device comprises a lifting cross beam (401), a lifting hydraulic rod pin (402), a lifting hydraulic rod (403), a lifting hydraulic cylinder (404), a lifting hydraulic cylinder fixing hinge (405), a ship bow cover bolt (406), a guide rail fixing bolt (407), a guide rail (408), a lifting cross beam top block (409), a guide rail pulley (410) and a guide rail pulley tip (411); the connection relationship is that the lifting beam (401) passes through two guard plates (201) of the bucket type chain net type collecting and conveying device (103) and is axially positioned by two lifting beam top blocks (409); one end of a lifting hydraulic rod (403) is connected with the lifting beam (401) through a lifting hydraulic rod pin (402), and the other end of the lifting hydraulic rod is matched with a lifting hydraulic cylinder (404); the lifting hydraulic cylinder (404) is fixed on the deck (107) through a lifting hydraulic cylinder fixing hinge (405); the guide rail pulley (410) is fixed on the guard plate (201) through a guide rail pulley tip (411), and the guide rail pulley (410) is tangent to the guide rail (408); the guide rail (408) is fixed on the bow (105) through a guide rail fixing bolt (407), and the bow cover (104) is fixed on the bow (105) through a bow cover bolt (406); the hydraulic vertical lifting device (122) is used for adjusting the immersion depth of the bucket type chain net type collecting and conveying device;

the water level adaptive device (102) comprises: the water level self-adaptive device comprises a floater guide rod (501), an upper fixed contact (502), a water level self-adaptive device shell (503), a lower fixed contact (504), a floater (505), a movable contact (506) and a fixed contact screw (507); the upper fixed contact (502) and the lower fixed contact (504) are fixed on a water level self-adaptive device shell (503) through fixed contact screws (507), and the movable contact (506) is inserted on the float guide rod (501); the floater (505) is fixed at the lower end of a floater guide rod (501), and the floater guide rod (501) is in clearance fit with a hole on the water level self-adaptive device shell (503); the static contact of the water level self-adaptive device is divided into an upper static contact (502) and a lower static contact (504) to form a lower non-contact area, namely a control boundary; the rod connected to the float guide rod (501) is a movable contact (506); when the bucket type chain net type collecting and transmitting device is deeply immersed, the floater is forced to relatively upwards reach the upper boundary of the control area, the movable contact and the static contact are connected, a circuit is connected, a control signal is sent to the hydraulic vertical lifting device, the lifting hydraulic cylinder (404)) works, and the bucket type chain net type collecting and transmitting device is lifted to a proper position, and vice versa; the relative distance between the upper and lower static contact screws (507) can be adjusted, so that the upper and lower limit normal rings for controlling the liquid level can be effectively adjusted within 25-100 mm; can adapt to water areas with different water conditions such as waves and the like; the water level self-adapting device is used for providing a lifting signal for the hydraulic vertical lifting device so as to ensure that the bucket type chain net type collecting and conveying device keeps the optimal working immersion depth;

the diversion device and the water spraying device (106) comprise a water spraying pipe (701), a water spraying pipe hydraulic cylinder rod (702), a water spraying pipe hydraulic cylinder (703), a water pump (704), a water pump base (705), a water spraying pipe hydraulic cylinder mounting hinge (706), a horizontal position angle adjustment front hydraulic cylinder rod (707), a horizontal position angle adjustment front hydraulic cylinder (708), a water pump water inlet pipe (709), a water spraying device base (110), a horizontal position angle adjustment handle (711), a horizontal position angle adjustment rear hydraulic cylinder rod (712), a horizontal position angle adjustment rear hydraulic cylinder (713), a water spraying device adjustment base (714), a water pump water outlet pipe (715), a water spraying pipe support (716) and a horizontal position angle adjustment hydraulic cylinder slide rod (717); the connection relationship is that the front hinge of the spray pipe (701) is connected with a spray pipe hydraulic cylinder rod (702) through a pin, and the rear hinge is connected with a spray pipe support (716) through a pin; the spray pipe support column (716) is fixed on the water spraying device adjusting base (714); a spray pipe hydraulic cylinder rod (702) is connected with a spray pipe hydraulic cylinder (703) in a sleeved mode, and the spray pipe hydraulic cylinder (703) is connected with a spray pipe hydraulic cylinder mounting hinge (706) through a pin; four separated hydraulic cylinder mounting hinges (706) of the spray pipe are fixed on a spray device adjusting base (714); one end of a horizontal position angle adjustment front hydraulic cylinder rod (707) is matched and connected with a horizontal position angle adjustment handle (711), and one end of the horizontal position angle adjustment front hydraulic cylinder rod (708) is sleeved; six horizontal position angle adjusting handles (711) which are separated from each other are fixed on an adjusting base (714) of the water spraying device; one end of a horizontal position angle-adjusted hydraulic cylinder rod (712) is connected with a horizontal position angle-adjusted handle (711) in a matching way, and the horizontal position angle-adjusted hydraulic cylinder (713) at one end is sleeved; the hydraulic cylinder (708) before the horizontal position angle adjustment and the hydraulic cylinder (713) after the horizontal position angle adjustment are sleeved on a sliding rod (717) of the horizontal position angle adjustment hydraulic cylinder; one end of a water pump water inlet pipe (709) is connected with the inlet end of the water pump (704), one end of a water pump water outlet pipe (715) is connected with the outlet end of the water pump (704), and the other end is connected with the water spray pipe (701); the water pump (704) is fixed on the water pump base (705), and the water pump base (705) is arranged on the deck (107); a water spray pipe hydraulic cylinder rod (702), a water spray pipe hydraulic cylinder (703), a horizontal position angle adjustment front hydraulic cylinder rod (707) and a horizontal position angle adjustment front hydraulic cylinder (708), wherein a horizontal position angle adjustment rear hydraulic cylinder rod (712) and a horizontal position angle adjustment rear hydraulic cylinder (713) are respectively replaced by a direct current motor;

the hydraulic control automatic steering water spraying device can freely change angles in the horizontal direction and the vertical direction; on the vertical plane, the elevation angle of the spray pipe is adjusted by utilizing the expansion and contraction of a spray pipe hydraulic cylinder rod (702) and a spray pipe hydraulic cylinder (703); the spray pipe hydraulic cylinder (703) can be connected with one of four spaced spray pipe hydraulic cylinder mounting hinges (706) fixed on the water spraying device adjusting base (714), thereby changing the adjusting range of the spray elevation angle of the spray pipe; in the horizontal direction, the hydraulic cylinder (708) before the horizontal position angle adjustment and the hydraulic cylinder (713) after the horizontal position angle adjustment can freely slide on a sliding rod (717) of the hydraulic cylinder for the horizontal position angle adjustment, and the spraying direction of the water spraying pipe is adjusted in the horizontal direction by changing the extension of a hydraulic cylinder rod (707) before the horizontal position angle adjustment and a hydraulic cylinder rod (712) after the horizontal position angle adjustment and differential expansion; the range adjustment of the automatic swing angle is realized by changing the matching connection of a hydraulic cylinder rod (707) before the horizontal position angle adjustment or a hydraulic cylinder rod (712) after the horizontal position angle adjustment and 6 separated horizontal position angle adjustment handles (711); a hydraulic control automatic steering water spraying device is arranged beside the bow of the ship, so that garbage on the shoreside beach is flushed down, and garbage at corners and other places difficult to reach is flushed out; in addition, a water inlet of a water supply pump used by the water spraying device is arranged at the back of the bucket type chain net type collecting and conveying device, and the water pump and a water inlet pipe thereof form a flow guide device;

the satellite ship collecting device (110) comprises: the device comprises a grid belt bolt (801), a grid belt (802), a satellite ship propeller (803), a satellite ship guide wheel (804), a satellite ship guide wheel bolt (805), a satellite ship body (806), a hanging hinge (807) and a satellite ship hook (808); the grid belt (802) is connected to the deck (107) through a grid belt bolt (801); the satellite ship guide wheel (804) is fixed on the satellite ship body (806) through a satellite ship guide wheel bolt (805); the other end of the grid belt (802) is connected with a hanging hinge (807) on the satellite ship body (806); when the satellite ship does not work, the hanging hinge (807) is hung on a hook (808) of the satellite ship; the satellite ship corner travel switch (809) is arranged on the ship body and is arranged beside one end where the grid belt (802) and the grid belt bolt (801) are connected; two satellite ships are arranged at two sides of the ship, the forward or backward movement can be realized through satellite ship propellers (803) at the front and the back of a satellite ship body (806), and a satellite ship guide wheel enables the ship to run along the bank; when the ship moves forwards, the grid belt (802) connected with the mother ship is driven to slowly push the garbage around the ship to the inlet of the ship-ahead collecting device, so that the collecting efficiency is greatly improved, and the flexibility is enhanced; wherein the grid belt (802) can slide on a grid belt bolt (801) connected with the mother ship, so that the satellite ship and the mother ship can be self-adjusted up and down when the immersion depths of the satellite ship and the mother ship are different; the satellite ship guide wheel (804) is used for enabling the satellite ship to touch the shore when the mother ship is in a shore working mode, automatically steering through the satellite ship guide wheel (804), and continuously advancing along the shore so as to drive the shore garbage into the mother ship in a net mode; because the distance between the ship body and the shore is different when the ship is on the shore, a soft grid band (802) is used in the design; when the satellite ship works, the largest included angle between the hanging hinge (807) and the grid belt (802) is 90 degrees, namely the angle A is 0 degree, so that the satellite ship can pull the grid belt (802) along the tangential direction, and the grid belt (802) is opened as much as possible; when the satellite ship works, when the satellite ship drives the grid belt (802) to move to a position with a set included angle of 150-180 degrees with the ship body, the grid belt is in contact with a satellite ship corner travel switch (809), the travel switch acts to switch a control circuit of a satellite ship motor, the motor is enabled to rotate reversely, and the satellite ship is enabled to retreat until the satellite ship hook (808) is reset; when the satellite ship does not work, a satellite ship hook (808) attached to the ship wall is hung: when the satellite ship is started to work, the satellite ship hook (808) is put down, and the satellite ship is loosened; when the sub-ship returns to stop working, the satellite ship hook (808) is lifted up by the stroke of the satellite ship hook (808), and the sub-ship is locked.

4. A vessel as claimed in claim 3, wherein a cutting device is provided at the upper end of the bucket-type chain-net type collection and delivery device for cutting the wide garbage to facilitate the garbage to enter the compressing device; the cutting device (121) comprises a cutting device frame (601), a cutting piece (602) and a cutting motor (603); the connection relationship is that the cutting blade (602) is arranged on the shaft of the cutting motor (603), the cutting motor (603) is fixed on the cutting device frame (601), and the cutting device frame (601) is arranged on the guard plate (201) through a bolt; when the bucket type chain net type collecting and transmitting device is used for transmitting work, the cutting device works; the water area without large garbage can not be opened;

the compression device (112) comprises: the garbage falling auxiliary harrow comprises a garbage falling auxiliary harrow (901), a reel left bearing seat (902), a compression box (903), a reel (904), a compression hydraulic cylinder (905), a compression hydraulic cylinder rod (906), a buffer gear coil (907), a compression head connecting pin (908), a compression head (909), a compression box water left flow channel (918), a reel right bearing seat (923) and a compression box water right flow channel (924); the connection relationship is as follows: the garbage falling auxiliary rake (901) is fixed on the compression box (903) through bolts; the winding drum (904) is fixed on one side of the compression box (903) through a winding drum left bearing seat (902) and a winding drum right bearing seat (923); one end of the buffer file roll (907) is connected to the winding drum (904) in a winding mode, and the other end of the buffer file roll is fixed to the compression head (909); a compression head (909) which slides on a bottom plate of the compression box (903) and a discharge plate (919) is connected to a compression hydraulic cylinder rod (906) through a compression head connecting pin (908), and the compression hydraulic cylinder rod (906) is sleeved on a compression hydraulic cylinder (905); the compression hydraulic cylinder (905) is fixed on the bow (105) through bolts, and the bow (105) is fixed on the deck (107); the left flow channel (918) and the right flow channel (924) of the compression tank water are respectively arranged at two sides of the compression tank (903), one end of the left flow channel is opened and connected with a water leakage hole on the unloading plate (919), and the other end of the left flow channel and the right flow channel is butted with a butt joint notch of the deck (107); the space between the rake teeth of the garbage falling auxiliary rake (901) is staggered with the rake teeth (302) on the bucket type chain net type collecting and conveying device, and the garbage falling auxiliary rake is used for assisting the falling of the garbage conveyed by the bucket type chain net type collecting and conveying device; a buffer baffle (907) connected with the compression head (909) through a groove of a rear plate of the compression box (903); when the compression head (909) advances, the garbage continuously conveyed from the bucket type chain net type collection and conveying device falls on the buffer baffle roll (907), and when the pressure head returns, the buffer baffle roll (907) and the groove of the rear plate of the compression box (903) act to scrape the garbage to the compression area, namely the front of the compression head (909); the back plate is equivalent to a scraper plate; the water compressed by the garbage reaches a left compression box water flow passage (918) and a right compression box water flow passage (924) which are respectively arranged at two sides of the compression box (903) through water leakage holes on the unloading plate (919), and is discharged out of the ship through a butt joint gap of the deck (107).

5. A vessel according to claim 4, characterised in that the waste unloading device (104) comprises: the unloading device comprises an unloading lower connecting rod (910), an unloading hydraulic rod (911), an unloading hydraulic cylinder (912), an unloading hydraulic cylinder hinge (913), an unloading plate rod (914), an unloading travel switch base (915), a garbage box body (916), an unloading travel switch (917), an unloading plate (919), an unloading upper connecting rod (920), an unloading connecting rod shaft (921), an unloading supporting rod (922) and a garbage box hanging ring (925); the connection relationship is as follows: the unloading plate (919) is fixed on the two unloading plate rods (914); one end of the unloading upper connecting rod (920) is hinged with the unloading plate rod (914), and the other end of the unloading upper connecting rod (920) is hinged with the unloading lower connecting rod (910) through an unloading connecting rod shaft (921); the other end of the unloading lower connecting rod (910) is connected with an unloading support rod (922); two unloading struts (922) are fixed on the deck (107).

6. A vessel according to claim 5, characterised in that the bucket-type chain-net collecting and conveying device (103) is divided into a horizontal section and an inclined section, the inclined section forming an angle of 150 ° with the horizontal section; the protective plate (201) and the protective cover (301) on two sides form a bucket; the metal net (203) is arranged on the chain lug of the double-row chain (307) with the lug to form a chain net type transmission device; the collecting device is therefore called a bucket-type chain-net collecting and conveying device; when the collecting device works in an intermittent working mode, garbage enters the collecting device and is continuously accumulated, and when a rated amount of the garbage is accumulated, a hydraulic motor (311) of the bucket type chain net type collecting and conveying device is started, so that a driving chain wheel (313) drives a double-row chain (307) with lugs, and a harrow formed by a metal net, harrow teeth (302) and a harrow handle (303) moves together to convey the garbage to a garbage disposal system; the rake teeth (302) and the rake handle (303) can be manufactured together as a whole; in addition to the above-mentioned modes of transmission of the driving sprockets (313), two driving sprockets (313) of the bucket type chain-net type collecting and transmitting device which are symmetrical left and right are mounted on a transmission shaft, and the transmission shaft is driven by a hydraulic motor or an electric motor directly or by a belt transmission ratio such as a belt pulley.

7. A surface garbage disposal ship according to claim 6, further comprising a canopy control, canopy opening device (119) comprising: the device comprises a sail opening motor (1001), sail opening sticks (1002), a side screen (1003), a sail opening device support beam (1004), a sail opening guide rail (1005), a sail (1006), a sail opening guide wheel (1007), a sail guide rod (1008), a sail closing travel switch (1009), a sail closing stick belt pulley (1010), a sail closing stick belt (1011), a sail closing stick right bearing seat (1012), a sail opening device base (1013), a sail opening motor belt pulley (1014) and a sail closing stick left bearing seat (1015); the awning opening motor (1001) is fixed on the awning opening device base (1013) through bolts; the awning stick belt pulley (1010) is matched with the awning stick (1002) and is connected with the awning opening motor belt pulley (1014) matched with the awning opening motor (1001) through an awning stick belt (1011); the awning collecting stick (1002) is fixed on the awning device base (1013) through an awning collecting stick right bearing seat (1012) and an awning collecting stick left bearing seat (1015), and the awning device base (1013) is fixed on the awning device support beam (1004) through bolts; the awning retracting travel switch (1009) is fixed on the awning opening guide rail (1005); the two canopy opening guide rails (1005) are fixedly connected with four canopy opening device supporting beams (1004), and the four canopy opening device supporting beams (1004) are fixed on the deck (107); one end of the roof (1006) is connected out of the roof collecting stick (1002), and the tail end of the roof is connected with the roof guide rod (1008); the canopy opening guide wheels (1007) are arranged on two sides of the canopy guide rod (1008) and are in contact with the canopy opening guide rail (1005); the canopy opening device is driven by a canopy opening motor (1001) through a belt to drive a canopy retracting stick (1002) to retract the canopy (1006); when the telescopic device touches a canopy retracting travel switch (1009), the telescopic device stops; one end of the roof (1006) is connected out of the roof collecting stick (1002), and the tail end of the roof is connected with the roof guide rod (1008); the canopy opening guide wheels (1007) are arranged on two sides of the canopy guide rod (1008) and can slide on the canopy opening guide rail (1005); when the canopy needs to be put down, the motor rotates reversely slowly and is closed under the inertia force of the pulley and the rod and the thrust of the canopy collecting stick.