CN108374400A - A kind of water jet water oil stain cleaning robot - Google Patents
A kind of water jet water oil stain cleaning robot Download PDFInfo
- Publication number
- CN108374400A CN108374400A CN201810416427.8A CN201810416427A CN108374400A CN 108374400 A CN108374400 A CN 108374400A CN 201810416427 A CN201810416427 A CN 201810416427A CN 108374400 A CN108374400 A CN 108374400A
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- Prior art keywords
- shell
- separator box
- water
- floating plate
- robot
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Classifications
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/045—Separating means for recovering oil floating on a surface of open water
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02B—HYDRAULIC ENGINEERING
- E02B15/00—Cleaning or keeping clear the surface of open water; Apparatus therefor
- E02B15/04—Devices for cleaning or keeping clear the surface of open water from oil or like floating materials by separating or removing these materials
- E02B15/10—Devices for removing the material from the surface
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
- Y02A20/204—Keeping clear the surface of open water from oil spills
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Environmental & Geological Engineering (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Oil, Petroleum & Natural Gas (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The present invention provides a kind of water jet water oil stains to clear up robot,Including robot body,The robot body includes shell,The robot body further includes floating plate,The floating plate is cyclic structure,The inner ring of the floating plate is inlet,Floating plate and flexible concertina cover of the present invention can make robot body float on the water surface,Water pump draws the flow of cleaning intracavitary,It is sprayed through sparge pipe high speed,Obtain the reaction force of flow,Robot body is pushed to advance,Expand the cleanup area of water oil stain,Water pump makes cleaning intracavitary form negative pressure simultaneously,Oil water mixture near floating plate is sucked from inlet,Oil water mixture is transmitted by conveyer belt,Greasy dirt is absorbed by the oleophilic drainage layer on conveyer belt,It is kept in the bottom that flow enters cleaning chamber from discharge outlet,The greasy dirt that oleophilic drainage layer absorbs after compression roller is to extruding is released,To realize water-oil separating,Voluntarily the greasy dirt on the water surface can be cleared up.
Description
Technical field
The present invention relates to robotics equipment field, more particularly to a kind of water jet water oil stain clears up robot.
Background technology
During oil pollution refers to oil exploitation, transport, handling, processing and use, draw due to leaking and discharging oil
The pollution risen, occurs mainly in ocean.Oil floats across the sea, diffuses to form oil film rapidly, can be by diffusion, evaporation, molten
Solution, emulsification, light degradation and the modes such as biodegradation and absorption are migrated, are converted.Oils can attach on the fish gill, and fish is made to stop up
Breath inhibits aquatic bird oviposition and hatching, destroys the impermeability of its feather, reduces aquatic product quality.Oil film formation can hinder water body
Oxic processes, influence halomereid growth, destroy marine ecology balance.Therefore it needs timely and effectively to handle on the water surface
Greasy dirt, avoid ocean from further being polluted.
The existing oil dirt from water surface cleaning plant bodily form is all more huge, and device is extremely complex, needs special operating personnel
It is manipulated, but under the conditions of some comparison harsh climates or when foul water carries out operation, to the life of operating personnel
Safety produces influence.
Invention content
(1) the technical issues of solving
To solve the above-mentioned problems, robot is cleared up the present invention provides a kind of water jet water oil stain, floating plate and soft
Property telescopic cover robot body can be made to float on the water surface, water pump draws the flow of cleaning intracavitary, is sprayed through sparge pipe high speed, obtains
The reaction force of flow pushes robot body to advance, expands the cleanup area of water oil stain, while water pump makes cleaning intracavitary
Negative pressure is formed, the oil water mixture near floating plate is sucked from inlet, oil water mixture is transmitted by conveyer belt, greasy dirt quilt
Oleophilic drainage layer on conveyer belt absorbs, and the bottom that flow enters cleaning chamber from discharge outlet is kept in, and oleophilic drainage layer is through squeezing
Pressure roller is released the greasy dirt absorbed after extruding, to realize water-oil separating, can voluntarily be carried out to the greasy dirt on the water surface
Cleaning, be not necessarily to manual intervention, can under the conditions of harsh climate or foul water carry out operation.
(2) technical solution
A kind of water jet water oil stain cleaning robot, including robot body, the robot body include shell, institute
It further includes floating plate to state robot body, and the floating plate is cyclic structure, and the inner ring of the floating plate is inlet, it is described into
Liquid mouth be structure wide at the top and narrow at the bottom, between the shell and the floating plate be equipped with flexible concertina cover, the one of the flexible concertina cover
End is connected with the bottom of the floating plate, is connected at the top of the other end and the shell of the flexible concertina cover, described
Inlet is connected with the inner cavity of the flexible concertina cover, and cleaning chamber and control chamber, the control chamber position are divided into the shell
In the lower section of the cleaning chamber, partition board is equipped between the cleaning chamber and the control chamber, the cleaning intracavitary is equipped with separator box,
The separator box is upper end opening structure, and the upper end opening of the separator box is connected with the inner cavity of the flexible concertina cover, institute
It states separator box by link block to be connected with the shell, the top of the link block and the top of the shell are located at same water
On horizontal line, drive roll and driven voller are equipped in the separator box, the drive roll and the driven voller are rotatably to be set to
Between the two sides of the separator box, the drive roll is located at the front inside of the separator box, and the driven voller is located at described
On the inside of the back side of separator box, the driven voller is less than the drive roll, and transmission is equipped between the drive roll and the driven voller
Band, the conveyer belt cover the bottom of the separator box, and the surface of the conveyer belt is equipped with oleophilic drainage layer, the conveyer belt
Lower part is equipped with several compression rollers pair, and to including upper compression roller and lower compression roller, the upper compression roller is located at described the compression roller
The top of conveyer belt, the lower compression roller are located at the lower section of the conveyer belt, and a lateral outer of the separator box is equipped with electricity
The output shaft of motivation, the motor is connected through the side of the separator box with the drive roll, and the output shaft passes through
Bearing is connected with the side of the separator box, and the back side of the separator box is equipped with discharge outlet, the discharge outlet higher than it is described from
It moves roller and is less than the link block, be equipped with infrared sensor pair in the separator box, the infrared sensor is to including red
Outside line emission sensor and infrared receiver sensor, the infrared emitting sensor and the infrared receiver sensor point
Horizontal not opposite in the front inside wall of the separator box and back side inner wall, the infrared sensor is to being located at the biography
The lower section of band is sent, the side in the control chamber is equipped with steering engine, and the steering engine is located on the inside of the back side of the shell, the steering engine
Transmission shaft through the shell and stretch out in the back side of the shell, the back side that the transmission shaft passes through bearing and the shell
It is connected, the end of the transmission shaft connects rudder blade, and the upper surface of described steering engine is equipped with water pump, and the suction hose of the water pump runs through institute
It states partition board and stretches into the cleaning chamber, the sparge pipe of the water pump runs through the shell and stretches out in the back side of the shell, institute
The other side for stating control chamber is equipped with control cabinet, and the control cabinet is located at the front inside of the shell, is equipped in the control cabinet
Control module, memory module and GPS positioning module are additionally provided with accumulator in the control chamber, and the accumulator is located at the control
Between case processed and the steering engine, the outside of the shell is equipped with fixing bracket, and the fixing bracket is portal structures, the fixation
The top of holder is higher than the top of the floating plate, and the fixing bracket is equipped with wind turbine, the support bracket fastened front water
Flat symmetrical a pair of of avoidance radar, the avoidance radar and the infrared sensor of being equipped with is to the defeated of the connection control module
Enter end, the output end of the control module is separately connected the motor, the water pump and the steering engine, the control module with
The memory module is connected with each other, and the control module is communicated to connect by the GPS positioning module and GPS positioning satellite, institute
It states wind turbine to be electrically connected with the accumulator, the accumulator provides operating voltage for the robot body.
Further, the floating plate is made of pvc material.
Further, the oleophilic drainage layer is polyurethane sponge.
Further, the GPS positioning module selects ET-318SiRF Star III GPS chip groups.
Further, the memory module stores offline map packet.
Further, the control module selects 16 microcontroller MC95S12DJ128.
Further, the accumulator is lithium-ions battery.
(3) advantageous effect
The present invention provides a kind of water jet water oil stains to clear up robot, and floating plate and flexible concertina cover can make robot
Ontology floats on the water surface, and water pump draws the flow of cleaning intracavitary, is sprayed through sparge pipe high speed, obtains the reaction force of flow, push away
Mobile robot ontology advances, and the cleanup area of water oil stain is expanded, while water pump makes cleaning intracavitary form negative pressure, by floating plate
Neighbouring oil water mixture is sucked from inlet, and oil water mixture is transmitted by conveyer belt, and greasy dirt is dredged by the oleophylic on conveyer belt
Water layer absorbs, and the bottom that flow enters cleaning chamber from discharge outlet is kept in, and oleophilic drainage layer absorbs after compression roller is to extruding
Greasy dirt be released, to realize water-oil separating, voluntarily the greasy dirt on the water surface can be cleared up, avoidance radar is to machine
Barrier in device human body's mobile route positions, and when needing to turn to, control module controls the rotation of servo driving rudder blade,
To change the moving direction of robot body, can very flexible avoiding obstacles, infrared sensor is in separator box
Greasy dirt amount monitors in real time, and when the predetermined threshold is reached, robot body combines offline map packet and GPS positioning data to make a return voyage automatically, from
Dynamicization and intelligence degree are high, are not necessarily to manual intervention, can be under the conditions of harsh climate or foul water carries out operation, wind wheel
Machine takes full advantage of the feature of waters air quantity abundance, charges to accumulator, to power to robot body, fully efficiently
Natural energy resources are utilized, meet energy-saving and environment-friendly design concept, simple in sturcture, ingenious in design, accuracy of detection is high, response speed
Degree is fast, stability and good reliability, has good practicability and scalability, can be widely applied to various oceans, lake, river
The cleaning oil pollution of the waters surface such as road, beach.
Description of the drawings
Fig. 1 is the external structure schematic diagram that a kind of water jet water oil stain according to the present invention clears up robot.
Fig. 2 is the internal structure schematic diagram that a kind of water jet water oil stain according to the present invention clears up robot.
Fig. 3 is the plan structure signal for the separator box that a kind of water jet water oil stain according to the present invention clears up robot
Figure.
Fig. 4 is that the support bracket fastened Facad structure that a kind of water jet water oil stain according to the present invention clears up robot shows
It is intended to.
Fig. 5 is the System Working Principle figure that a kind of water jet water oil stain according to the present invention clears up robot.
Specific implementation mode
Embodiment according to the present invention is described in further details below in conjunction with the accompanying drawings.
In conjunction with Fig. 1~Fig. 5, a kind of water jet water oil stain cleaning robot, including robot body, robot body packet
Shell 1 is included, robot body further includes floating plate 2, and floating plate 2 is cyclic structure, and the inner ring of floating plate 2 is inlet 3, feed liquor
Mouth 3 is structure wide at the top and narrow at the bottom, and flexible concertina cover 4, one end of flexible concertina cover 4 and floating plate are equipped between shell 1 and floating plate 2
2 bottom is connected, and the other end of flexible concertina cover 4 is connected with the top of shell 1, and inlet 3 is interior with flexible concertina cover 4
Chamber is connected, and is divided into cleaning chamber 5 and control chamber in shell 1, and control chamber is located at the lower section of cleaning chamber 5, cleaning chamber 5 and control chamber it
Between be equipped with partition board 6, cleaning chamber 5 in be equipped with separator box 8, separator box 8 be upper end opening structure, the upper end opening of separator box 8 with it is soft
Property telescopic cover 4 inner cavity be connected, separator box 8 is connected by link block 7 with shell 1, the top of link block 7 and shell 1
Top is located in same horizontal line, drive roll 9 and driven voller 10 is equipped in separator box 8, drive roll 9 and driven voller 10 are that can turn
Dynamic drive roll 9 is located at the front inside of separator box 8 between the two sides of separator box 8, and driven voller 10 is located at separator box 8
The back side on the inside of, driven voller 10 be less than drive roll 9, between drive roll 10 and driven voller 9 be equipped with conveyer belt 11, conveyer belt 11 cover
The surface of the bottom of separator box 8, conveyer belt 11 is equipped with oleophilic drainage layer, and the lower part of conveyer belt 11 is equipped with several compression rollers pair 26,
Compression roller pair 26 includes upper compression roller and lower compression roller, and upper compression roller is located at the top of conveyer belt 11, and lower compression roller is located at transmission
With 11 lower section, a lateral outer of separator box 8 is equipped with motor 12, and the output shaft of motor 12 runs through the side of separator box 8
Face is connected with drive roll 9, and output shaft is connected by bearing with the side of separator box 8, and the back side of separator box 8 is equipped with discharge outlet
13, discharge outlet 13 is higher than driven voller 10 and is less than link block 13, and infrared sensor pair 14 is equipped in separator box 8, and infrared ray passes
Sensor pair 14 includes infrared emitting sensor and infrared receiver sensor, and infrared emitting sensor and infrared receiver pass
Sensor is horizontal opposite positioned at the front inside wall of separator box 8 and back side inner wall in respectively, and infrared sensor pair 14, which is located at, to be transmitted
With 11 lower section, the side in control chamber is equipped with steering engine 15, and steering engine 15 is located on the inside of the back side of shell 1, the transmission shaft of steering engine 15
16 run through shell 1 and stretch out in the back side of shell 1, and transmission shaft 16 is connected by bearing with the back side of shell 1, transmission shaft 16
End connects rudder blade 17, and the upper surface of steering engine 15 is equipped with water pump 18, and the suction hose 19 of water pump 18 through partition board 6 and stretches into cleaning chamber 5,
The sparge pipe 20 of water pump 18 runs through shell 1 and stretches out in the back side of shell 1, and the other side of control chamber is equipped with control cabinet 21, control
Case 21 is located at the front inside of shell 1, is equipped with control module, memory module and GPS positioning module in control cabinet 21, in control chamber
It is additionally provided with accumulator 22, for accumulator 22 between control cabinet 21 and steering engine 15, the outside of shell 1 is equipped with fixing bracket 23, Gu
Fixed rack 23 is portal structures, and the top of fixing bracket 23 is higher than the top of floating plate 2, and fixing bracket 23 is equipped with wind turbine
24, the positive horizontal symmetrical of fixing bracket 23 is equipped with a pair of of avoidance radar 25, avoidance radar 25 and infrared sensor pair 14
The output end of the input terminal of link control module, control module is separately connected motor 12, water pump 18 and steering engine 15, control module
It is connected with each other with memory module, control module is communicated to connect by GPS positioning module and GPS positioning satellite, wind turbine 24 and storage
Battery 22 is electrically connected, and accumulator 22 provides operating voltage for robot body.
Robot body is put into waters for clearance, since floating plate 2 is made of pvc material, polyvinyl chloride is nothing
The white general-purpose plastics of amorphous configuration, the degree of branching is smaller, and relative density only 1.4 or so may float on the water surface.Telescopic rubber cover
4 make to form flexible connection between floating plate 2 and shell 1, and floating plate 2 is made to be floated always in the case where robot body gravity changes
It bubbles through the water column.Inlet 3 is structure wide at the top and narrow at the bottom so that the flow near floating plate 2 can rapidly enter.
While robot floats, control module controls water pump 18 and presses the intermittent work of certain frequency, the suction of water pump 18
Water pipe 19 draws the flow in cleaning chamber 5, sprays outside shell 1 at a high speed through sparge pipe 20, to obtain the reaction force of flow, pushes away
Mobile robot ontology advances, and expands the cleanup area of water oil stain.Clear up upper end of the chamber 5 by discharge outlet 13 and separator box 8
Opening in communication, to be connected with inlet 3, water pump 18 extracts the flow in cleaning chamber 5 so that is formed in cleaning chamber 5 negative
Pressure, by the oil water mixture near floating plate 2 out of inlet 3 suction casing 1.Motor 12 drives drive roll 9 to rotate, actively
Roller 9 drives driven voller 10 to rotate together by conveyer belt 11.The communicated band 11 of oil water mixture transmits, due to 11 surface of conveyer belt
Equipped with oleophilic drainage layer, and oleophilic drainage layer is polyurethane sponge, and the surface of polyurethane sponge is by hexadecyl trimethoxy silicon
Alkane is modified and the covering polyacrylic acid that is graft-polymerized, therefore polyurethane sponge has the characteristic of super-hydrophobic super-oleophylic, keeps grease mixed
The greasy dirt closed in object absorbs, and polyurethane sponge can absorb the oil of about 20 times of own wts, and by the method for extruding, inhale
The oil of receipts can release so that polyurethane sponge can reuse, and reduce cost, avoid waste, more environmentally-friendly.Oil
Greasy dirt in aqueous mixtures is absorbed by the oleophilic drainage layer on 11 surface of conveyer belt, and water enters the bottom of cleaning chamber 5 through discharge outlet 13
Portion returns waters to wait for being extracted again by water pump 18.The oleophilic drainage layer for absorbing greasy dirt follows conveyer belt 11 to move to lower part
When, 26 pairs of oleophilic drainage layers of several compression rollers pair squeeze, and the greasy dirt extruding of absorption is released, separator box 8 is fallen into
It is kept in bottom.Infrared sensor pair 14 monitors the greasy dirt amount kept in separator box 8 in real time, when greasy dirt amount reaches infrared ray
When the given threshold of sensor pair 14, robot body enters state of making a return voyage, and water pump 18 is stopped at this time.
Control module receives the navigation message of GPS positioning satellite by GPS positioning module, and GPS positioning module selects ET-
318 SiRF Star III GPS chip groups, SiRF Star III GPS chip groups have high sensitivity, under low signal quickly
TTFF (primary positioning time), the full visual field tracking in 20 channels, tracking velocity precision is 0.1m/s, supports NMEA0183 and SiRF bis-
Into bit protocol, data information as defined in output NMEA0183 is fixed by serial ports.It is fixed that MC95S12DJ128 receives recommendation therein
Position information, obtains the information such as time, longitude and latitude.The offline map packet in waters for clearance is pre-deposited in memory module, controls mould
Agllutination closes offline map packet and GPS positioning data are maked a return voyage automatically, and automation and intelligence degree are high.
The avoidance radar 25 on 23 surface of fixing bracket positions the barrier in robot body mobile route, when need
When turning to, control module controls steering engine 15 and works, and steering engine 15 drives transmission shaft 16 to rotate, and transmission shaft 16 drives rudder blade 17 together
Rotation, changes the direction of flow, to make robot change direction of advance, realizes very flexible avoiding obstacles.
Control module handles the detection input signal of avoidance radar 25 and infrared sensor pair 14, output control
Signal controls motor 12, water pump 18 and steering engine 15 and works respectively, while control module reads the offline map packet of memory module
Data, and be communicatively coupled by GPS positioning module and GPS positioning satellite.In order to simplify circuit, cost is reduced, system is improved
The scalability in system later stage, control module select 16 microcontroller MC95S12DJ128, Flash, 8KB's of built-in 128KB
There is the EEPROM of RAM and 2KB 5V inputs and driving capability, CPU working frequencies can reach 50MHz.The independent number I/ in 29 tunnels
O Interface, 20 road bands interrupt and the digital I/O interfaces of arousal function, and 10 A/D converters in 28 channels are defeated with 8 channels
Enter capture/output to compare, also there are 8 programmable channels PWM.With 2 serial asynchronous communication interface SCI, 2 synchronous serials
Peripheral Interface SPI, I2C bus and CAN function modules etc., meet design requirement.
Since water environment air quantity is more sufficient, the progress wind-power electricity generation of wind turbine 24 is set on robot body, is filled
Divide and natural energy resources efficiently are utilized, ensure that the good cruising ability of robot.The power storage that wind turbine 24 is converted is in storage
In battery 22, accumulator 22 uses lithium-ions battery, and repeated charge number is high, and service life is long, and transformation efficiency is high, body
Energy-saving and environment-friendly spirit is showed.
The present invention provides a kind of water jet water oil stains to clear up robot, and floating plate and flexible concertina cover can make robot
Ontology floats on the water surface, and water pump draws the flow of cleaning intracavitary, is sprayed through sparge pipe high speed, obtains the reaction force of flow, push away
Mobile robot ontology advances, and the cleanup area of water oil stain is expanded, while water pump makes cleaning intracavitary form negative pressure, by floating plate
Neighbouring oil water mixture is sucked from inlet, and oil water mixture is transmitted by conveyer belt, and greasy dirt is dredged by the oleophylic on conveyer belt
Water layer absorbs, and the bottom that flow enters cleaning chamber from discharge outlet is kept in, and oleophilic drainage layer absorbs after compression roller is to extruding
Greasy dirt be released, to realize water-oil separating, voluntarily the greasy dirt on the water surface can be cleared up, avoidance radar is to machine
Barrier in device human body's mobile route positions, and when needing to turn to, control module controls the rotation of servo driving rudder blade,
To change the moving direction of robot body, can very flexible avoiding obstacles, infrared sensor is in separator box
Greasy dirt amount monitors in real time, and when the predetermined threshold is reached, robot body combines offline map packet and GPS positioning data to make a return voyage automatically, from
Dynamicization and intelligence degree are high, are not necessarily to manual intervention, can be under the conditions of harsh climate or foul water carries out operation, wind wheel
Machine takes full advantage of the feature of waters air quantity abundance, charges to accumulator, to power to robot body, fully efficiently
Natural energy resources are utilized, meet energy-saving and environment-friendly design concept, simple in sturcture, ingenious in design, accuracy of detection is high, response speed
Degree is fast, stability and good reliability, has good practicability and scalability, can be widely applied to various oceans, lake, river
The cleaning oil pollution of the waters surface such as road, beach.
The above-described embodiments are merely illustrative of preferred embodiments of the present invention, not to the structure of the present invention
Think and range is defined.Under the premise of not departing from design concept of the present invention, technology of the ordinary people in the field to the present invention
The all variations and modifications that scheme is made, should all drop into protection scope of the present invention, the claimed technology contents of the present invention,
It has all recorded in detail in the claims.
Claims (7)
1. a kind of water jet water oil stain clears up robot, including robot body, the robot body include shell, special
Sign is：The robot body further includes floating plate, and the floating plate is cyclic structure, and the inner ring of the floating plate is feed liquor
Mouthful, the inlet is structure wide at the top and narrow at the bottom, and flexible concertina cover is equipped between the shell and the floating plate, and the flexibility is stretched
One end of contracting cover is connected with the bottom of the floating plate, and the other end of the flexible concertina cover is connected with the top of the shell
It connects, the inlet is connected with the inner cavity of the flexible concertina cover, and cleaning chamber and control chamber, the control are divided into the shell
Chamber processed is located at the lower section of the cleaning chamber, partition board is equipped between the cleaning chamber and the control chamber, the cleaning intracavitary is equipped with
Separator box, the separator box are upper end opening structure, the inner cavity phase of the upper end opening of the separator box and the flexible concertina cover
Connection, the separator box are connected by link block with the shell, the top position at the top of the link block and the shell
In in same horizontal line, drive roll and driven voller are equipped in the separator box, the drive roll and the driven voller are that can turn
It is dynamic between the two sides of the separator box, the drive roll is located at the front inside of the separator box, the driven voller
On the inside of the back side of the separator box, the driven voller is less than the drive roll, between the drive roll and the driven voller
Equipped with conveyer belt, the conveyer belt covers the bottom of the separator box, and the surface of the conveyer belt is equipped with oleophilic drainage layer, described
The lower part of conveyer belt is equipped with several compression rollers pair, and the compression roller is to including upper compression roller and lower compression roller, the upper compression roller
Positioned at the top of the conveyer belt, the lower compression roller is located at the lower section of the conveyer belt, outside a side of the separator box
Portion is equipped with motor, and the output shaft of the motor is connected through the side of the separator box with the drive roll, described defeated
Shaft is connected by bearing with the side of the separator box, and the back side of the separator box is equipped with discharge outlet, and the discharge outlet is high
In the driven voller and it is less than the link block, infrared sensor pair, the infrared sensor is equipped in the separator box
To including infrared emitting sensor and infrared receiver sensor, the infrared emitting sensor and the infrared receiver
Sensor is horizontal opposite positioned at the front inside wall of the separator box and back side inner wall in respectively, and the infrared sensor aligns
It is equipped with steering engine in the side in the lower section of the conveyer belt, the control chamber, the steering engine is located on the inside of the back side of the shell,
The transmission shaft of the steering engine runs through the shell and stretches out in the back side of the shell, and the transmission shaft passes through bearing and the shell
The back side of body is connected, and the end of the transmission shaft connects rudder blade, and the upper surface of described steering engine is equipped with water pump, the water suction of the water pump
Pipe is through the partition board and stretches into the cleaning chamber, and the sparge pipe of the water pump through the shell and stretches out in the shell
The other side at the back side, the control chamber is equipped with control cabinet, and the control cabinet is located at the front inside of the shell, the control cabinet
It is interior to be equipped with control module, memory module and GPS positioning module, it is additionally provided with accumulator in the control chamber, the accumulator is located at
Between the control cabinet and the steering engine, the outside of the shell is equipped with fixing bracket, and the fixing bracket is portal structures, institute
The top that support bracket fastened top is higher than the floating plate is stated, the fixing bracket is equipped with wind turbine, described support bracket fastened
Positive horizontal symmetrical is equipped with a pair of of avoidance radar, and the avoidance radar and the infrared sensor are to connecting the control mould
The output end of the input terminal of block, the control module is separately connected the motor, the water pump and the steering engine, the control
Module is connected with each other with the memory module, and the control module passes through the GPS positioning module and GPS positioning satellite communication link
It connects, the wind turbine is electrically connected with the accumulator, and the accumulator provides operating voltage for the robot body.
2. a kind of water jet water oil stain according to claim 1 clears up robot, it is characterised in that：The floating plate by
Pvc material is made.
3. a kind of water jet water oil stain according to claim 1 clears up robot, it is characterised in that：The oleophilic drainage
Layer is polyurethane sponge.
4. a kind of water jet water oil stain according to claim 1 clears up robot, it is characterised in that：The GPS positioning
Module selects ET-318SiRF Star III GPS chip groups.
5. a kind of water jet water oil stain according to claim 1 clears up robot, it is characterised in that：The memory module
Store offline map packet.
6. a kind of water jet water oil stain according to claim 1 clears up robot, it is characterised in that：The control module
Select 16 microcontroller MC95S12DJ128.
7. a kind of water jet water oil stain according to claim 1 clears up robot, it is characterised in that：The accumulator is
Lithium-ions battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810416427.8A CN108374400A (en) | 2018-05-03 | 2018-05-03 | A kind of water jet water oil stain cleaning robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810416427.8A CN108374400A (en) | 2018-05-03 | 2018-05-03 | A kind of water jet water oil stain cleaning robot |
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| Publication Number | Publication Date |
|---|---|
| CN108374400A true CN108374400A (en) | 2018-08-07 |
Family
ID=63033303
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| CN201810416427.8A Withdrawn CN108374400A (en) | 2018-05-03 | 2018-05-03 | A kind of water jet water oil stain cleaning robot |
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| CN110904933A (en) * | 2019-11-27 | 2020-03-24 | 天津大学 | Underwater robot for collecting garbage on surface layer of water body |
| CN111762908A (en) * | 2020-07-09 | 2020-10-13 | 广东汉渔生态科技有限公司 | Ecological treatment system and treatment method for aquaculture water |
| CN111851448A (en) * | 2020-07-22 | 2020-10-30 | 郭潜 | Huff-and-puff type water surface solid suspended matter cleaning device based on water pollution treatment |
| CN112412689A (en) * | 2020-11-20 | 2021-02-26 | 罗湘碧 | Wave energy capturing device |
| CN113320653A (en) * | 2021-06-25 | 2021-08-31 | 石明霞 | Water surface garbage collector advancing mechanism |
| CN113668486A (en) * | 2021-08-31 | 2021-11-19 | 安徽新宇生态产业股份有限公司 | Automatic water surface floating oil collecting device |
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2018
- 2018-05-03 CN CN201810416427.8A patent/CN108374400A/en not_active Withdrawn
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| CN110615502A (en) * | 2019-09-24 | 2019-12-27 | 西南石油大学 | Forced demulsification separator arranged in oil-water separation tank in suspension |
| CN110615502B (en) * | 2019-09-24 | 2021-08-20 | 西南石油大学 | Forced demulsification separator arranged in oil-water separation tank in suspension |
| CN110904933A (en) * | 2019-11-27 | 2020-03-24 | 天津大学 | Underwater robot for collecting garbage on surface layer of water body |
| CN111762908A (en) * | 2020-07-09 | 2020-10-13 | 广东汉渔生态科技有限公司 | Ecological treatment system and treatment method for aquaculture water |
| CN111851448A (en) * | 2020-07-22 | 2020-10-30 | 郭潜 | Huff-and-puff type water surface solid suspended matter cleaning device based on water pollution treatment |
| CN111851448B (en) * | 2020-07-22 | 2021-11-09 | 淮北德林机械设备有限公司 | Huff-and-puff type water surface solid suspended matter cleaning device based on water pollution treatment |
| CN112412689A (en) * | 2020-11-20 | 2021-02-26 | 罗湘碧 | Wave energy capturing device |
| CN112412689B (en) * | 2020-11-20 | 2022-07-26 | 苏州琦谷佳科技有限公司 | Wave energy capturing device |
| CN113320653A (en) * | 2021-06-25 | 2021-08-31 | 石明霞 | Water surface garbage collector advancing mechanism |
| CN113668486A (en) * | 2021-08-31 | 2021-11-19 | 安徽新宇生态产业股份有限公司 | Automatic water surface floating oil collecting device |
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