CN108385641A - A kind of drive-in water oil stain cleaning robot of wind light mutual complementing - Google Patents
A kind of drive-in water oil stain cleaning robot of wind light mutual complementing Download PDFInfo
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- CN108385641A CN108385641A CN201810415074.XA CN201810415074A CN108385641A CN 108385641 A CN108385641 A CN 108385641A CN 201810415074 A CN201810415074 A CN 201810415074A CN 108385641 A CN108385641 A CN 108385641A
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- shell
- water
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- drive
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 92
- 238000004140 cleaning Methods 0.000 title claims abstract description 19
- 230000006835 compression Effects 0.000 claims abstract description 23
- 238000007906 compression Methods 0.000 claims abstract description 23
- 230000005540 biological transmission Effects 0.000 claims abstract description 17
- 239000003921 oil Substances 0.000 claims description 41
- 238000005192 partition Methods 0.000 claims description 8
- 229920002635 polyurethane Polymers 0.000 claims description 7
- 239000004814 polyurethane Substances 0.000 claims description 7
- 229920001971 elastomer Polymers 0.000 claims description 3
- 229910021421 monocrystalline silicon Inorganic materials 0.000 claims description 3
- HBBGRARXTFLTSG-UHFFFAOYSA-N Lithium ion Chemical group [Li+] HBBGRARXTFLTSG-UHFFFAOYSA-N 0.000 claims description 2
- 238000007667 floating Methods 0.000 claims description 2
- 229910001416 lithium ion Inorganic materials 0.000 claims description 2
- 239000006260 foam Substances 0.000 claims 1
- 235000019198 oils Nutrition 0.000 abstract description 33
- 235000019476 oil-water mixture Nutrition 0.000 abstract description 16
- 239000003643 water by type Substances 0.000 abstract description 10
- 238000013461 design Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 239000002245 particle Substances 0.000 description 3
- 238000000926 separation method Methods 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 241000251468 Actinopterygii Species 0.000 description 2
- 230000015556 catabolic process Effects 0.000 description 2
- 238000006731 degradation reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- UFHFLCQGNIYNRP-UHFFFAOYSA-N Hydrogen Chemical compound [H][H] UFHFLCQGNIYNRP-UHFFFAOYSA-N 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 229920002125 Sokalan® Polymers 0.000 description 1
- 230000037007 arousal Effects 0.000 description 1
- 238000006065 biodegradation reaction Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000009792 diffusion process Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004945 emulsification Methods 0.000 description 1
- 238000001704 evaporation Methods 0.000 description 1
- 230000008020 evaporation Effects 0.000 description 1
- 210000003746 feather Anatomy 0.000 description 1
- 230000012447 hatching Effects 0.000 description 1
- 239000001307 helium Substances 0.000 description 1
- 229910052734 helium Inorganic materials 0.000 description 1
- SWQJXJOGLNCZEY-UHFFFAOYSA-N helium atom Chemical compound [He] SWQJXJOGLNCZEY-UHFFFAOYSA-N 0.000 description 1
- RSKGMYDENCAJEN-UHFFFAOYSA-N hexadecyl(trimethoxy)silane Chemical compound CCCCCCCCCCCCCCCC[Si](OC)(OC)OC RSKGMYDENCAJEN-UHFFFAOYSA-N 0.000 description 1
- 239000001257 hydrogen Substances 0.000 description 1
- 229910052739 hydrogen Inorganic materials 0.000 description 1
- 230000002209 hydrophobic effect Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 239000010721 machine oil Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000017448 oviposition Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 239000004584 polyacrylic acid Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000003075 superhydrophobic effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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
- E02B15/10—Devices for removing the material from the surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B35/32—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for for collecting pollution from 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
- E02B15/045—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
- E02B15/046—Collection of oil using vessels, i.e. boats, barges
-
- 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
- E02B15/106—Overflow skimmers with suction heads; suction heads
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02S—GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES
- H02S10/00—PV power plants; Combinations of PV energy systems with other systems for the generation of electric power
- H02S10/10—PV power plants; Combinations of PV energy systems with other systems for the generation of electric power including a supplementary source of electric power, e.g. hybrid diesel-PV energy systems
- H02S10/12—Hybrid wind-PV energy systems
-
- 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
-
- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/50—Photovoltaic [PV] energy
-
- 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
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/727—Offshore wind turbines
Landscapes
- 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)
- Life Sciences & Earth Sciences (AREA)
- Oil, Petroleum & Natural Gas (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Health & Medical Sciences (AREA)
- Public Health (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The present invention provides a kind of drive-in water oil stains of wind light mutual complementing to clear up robot,Including shell,It is divided into cleaning layer and control layer in the shell,The control layer is located at the lower section of the cleaning layer,Wash-up tray is equipped in the cleaning layer,Floater shot of the present invention can make robot float on the water surface,Propeller drives propeller rotation by crank connecting link,Robot is set to advance on the water surface,Expand the cleanup area of water oil stain,While robot motion,Oil water mixture near pump working sucking,The communicated band transmission of oil water mixture,Greasy dirt is absorbed by the oleophilic drainage layer of transmission belt surface,And water reenters waters from discharge outlet,The greasy dirt that oleophilic drainage layer absorbs after compression roller is to extruding, which is released, temporarily to be stored,To realize water-oil separating,Voluntarily the greasy dirt on the water surface can be cleared up,Without manual intervention,Can under the conditions of harsh climate or foul water carry out operation.
Description
Technical field
The present invention relates to robotics equipment field, more particularly to the drive-in water oil stain of a kind of wind light mutual complementing is cleared 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, the present invention provides a kind of drive-in water oil stains of wind light mutual complementing to clear up robot,
Floater shot can make robot float on the water surface, and propeller drives propeller to rotate, makes robot on the water surface by crank connecting link
Advance, expands the cleanup area of water oil stain, while robot motion, the oil water mixture near pump working sucking,
The communicated band transmission of oil water mixture, greasy dirt is absorbed by the oleophilic drainage layer of transmission belt surface, and water is reentered from discharge outlet
Waters, the greasy dirt that oleophilic drainage layer absorbs after compression roller is to extruding, which is released, temporarily to be stored, to realize oil
Water detaches, and can voluntarily clear up the greasy dirt on the water surface, is not necessarily to manual intervention, can be under the conditions of harsh climate or dangerous
Waters carries out operation.
(2) technical solution
A kind of drive-in water oil stain of wind light mutual complementing clears up robot, including shell, is divided into cleaning layer in the shell
And control layer, the control layer are located at the lower section of the cleaning layer, wash-up tray, the wash-up tray and institute are equipped in the cleaning layer
It states shell and shares front, the back side and top, be divided into liquid-storing cavity and disengagement chamber, the liquid-storing cavity and the separation in the wash-up tray
Partition board is equipped between chamber, the top of the partition board and the top of the wash-up tray are equipped with gap, the liquid-storing cavity and the separation
Chamber is connected by the gap, and the lower part of the liquid-storing cavity is equipped with filter screen, and the disengagement chamber is interior equipped with drive roll and driven
Roller, the drive roll and the driven voller are rotatably to be set between the two sides of the wash-up tray, the drive roll position
In the bulkhead sides, the driven voller is located at the back side of the wash-up tray, and the driven voller is less than the drive roll, the master
Dynamic that conveyer belt is equipped between roller and the driven voller, the conveyer belt covers the bottom of the disengagement chamber, the table of the conveyer belt
Face is equipped with oleophilic drainage layer, and the lower part of the conveyer belt is equipped with several compression rollers pair, and the compression roller is to including upper compression roller
With lower compression roller, the upper compression roller is located at the top of the conveyer belt, and the lower compression roller is located at the lower section of the conveyer belt,
One lateral outer of the wash-up tray is equipped with motor, and the output shaft of the motor is connected with the drive roll, described
The back side of wash-up tray is equipped with discharge outlet, and the discharge outlet is higher than the driven voller, and the discharge outlet is exposed to the back of the body of the shell
Face, the disengagement chamber are equipped with infrared sensor pair, and the infrared sensor is to including infrared emitting sensor and infrared
Line receiving sensor, the infrared emitting sensor and the infrared receiver sensor level it is opposite be located at the separation
Above the madial wall of chamber, the infrared sensor is equipped with the side in the lower section of the conveyer belt, the control layer
Water pump, the water pump are located at the front inside of the shell, and the water sucking mouth of the water pump through the shell and is exposed to described
The water outlet in the front of shell, the water pump through the bottom of the wash-up tray and stretches into the liquid-storing cavity, the control layer
Bottom it is placed in the middle be equipped with propeller, the crank connecting link of the propeller through the bottom of the shell and stretches out in the shell,
The crank connecting link is connected by rubber seal with the bottom of the shell, and the end of the crank connecting link is equipped with spiral
Paddle, the other side in the control layer are equipped with steering engine, and the steering engine is located at the back side inside of the shell, the transmission of the steering engine
Axis stretches out in the back side of the shell, and the side of the end connection rudderpost of the transmission shaft, the other side of the rudderpost is equipped with rudder
Leaf is additionally provided with control cabinet and accumulator in the control layer, and the control cabinet is between the steering engine and the propeller, institute
Accumulator is stated between the propeller and the water pump, it is fixed that control module, memory module and GPS are equipped in the control cabinet
Position module, the front and side of the shell are equipped with several avoidance radars, and the avoidance radar is located at the top of the water sucking mouth,
The outer circumferential of the shell is equipped with several floater shots, and the water sucking mouth is located at the top of the floater shot, the floater shot and
Shell flexible connection, the floater shot divide internal layer and outer layer, and the internal layer is cavity, the outer layer be it is degradable foamed,
The top of the shell is equipped with solar energy photovoltaic panel, and fixing bracket, the fixing bracket position are equipped on the outside of the back side of the shell
In the top of the discharge outlet, the fixing bracket is portal structures, and the fixing bracket is equipped with wind turbine, the avoidance thunder
Up to the input terminal with the infrared sensor to the connection control module, the output end of the control module is separately connected institute
Motor, the propeller, the water pump and the steering engine are stated, the control module is connected with each other with the memory module, institute
It states control module to communicate to connect by the GPS positioning module and GPS positioning satellite, the solar energy photovoltaic panel and the wind wheel
Machine is electrically connected with the accumulator, and the accumulator provides operating voltage for the control module.
Further, the quantity of the floater shot is at least 4 or more even number.
Further, the oleophilic drainage layer is polyurethane sponge.
Further, the GPS positioning module selects ET-318 SiRF Star III GPS chip groups.
Further, the memory module stores offline map packet.
Further, the control module selects 16 microcontroller MC95S12DJ128.
Further, the solar energy photovoltaic panel is mono-crystalline silicon solar photovoltaic panel.
Further, the accumulator is lithium-ions battery.
(3) advantageous effect
The present invention provides a kind of drive-in water oil stains of wind light mutual complementing to clear up robot, and floater shot can be such that robot floats
It bubbles through the water column, propeller drives propeller to rotate by crank connecting link, so that robot is advanced on the water surface, expands water oil stain
Cleanup area, while robot motion, the oil water mixture near pump working sucking, filter screen filters out oil water mixture
In solid particle polluter, oil water mixture communicated band transmission, greasy dirt is absorbed by the oleophilic drainage layer of transmission belt surface, and water
Waters is reentered from discharge outlet, the greasy dirt that oleophilic drainage layer absorbs after compression roller is to extruding, which is released, temporarily to be deposited
Storage, to realize water-oil separating, can voluntarily clear up the greasy dirt on the water surface, and avoidance radar moves road to robot body
Barrier on line is positioned, and when needing to turn to, control module controls servo driving rudderpost and rudder blade rotation, to change
The moving direction of robot body, can very flexible avoiding obstacles, infrared sensor to monitoring temporary greasy dirt in real time
Amount, when the predetermined threshold is reached, robot body combine offline map packet and GPS positioning data to make a return voyage automatically, automation and intelligence
Degree is high, is not necessarily to manual intervention, can be under the conditions of harsh climate or foul water carries out operation, solar energy photovoltaic panel and wind
Turbine charges to accumulator simultaneously, to power to robot, natural energy resources is fully efficiently utilized, meet energy-saving ring
The design concept of guarantor, simple in sturcture, ingenious in design, accuracy of detection is high, fast response time, and stability and good reliability have
Good practicability and scalability can be widely applied to the cleaning oil pollution of the waters surface such as various oceans, lake, river, beach.
Description of the drawings
Fig. 1 is that a kind of external structure of the drive-in water oil stain cleaning robot of wind light mutual complementing according to the present invention is shown
It is intended to.
Fig. 2 is that a kind of internal structure of the drive-in water oil stain cleaning robot of wind light mutual complementing according to the present invention is shown
It is intended to.
Fig. 3 is that a kind of drive-in water oil stain of wind light mutual complementing according to the present invention clears up bowing for the wash-up tray of robot
Depending on structural schematic diagram.
Fig. 4 is that a kind of drive-in water oil stain of wind light mutual complementing according to the present invention clears up the interior of the floater shot of robot
Portion's structural schematic diagram.
Fig. 5 is that a kind of drive-in water oil stain of wind light mutual complementing according to the present invention clears up the system work original of robot
Reason figure.
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, the drive-in water oil stain of wind light mutual complementing a kind of clears up robot, including shell 1, in shell 1
It is divided into cleaning layer and control layer, control layer is located at the lower section of cleaning layer, wash-up tray 2, wash-up tray 2 and shell 1 are equipped in cleaning layer
Share front, the back side and top, be divided into liquid-storing cavity 3 and disengagement chamber 4 in wash-up tray 2, be equipped between liquid-storing cavity 3 and disengagement chamber 4 every
Plate 5, the top of partition board 5 are equipped with gap with the top of wash-up tray 2, and liquid-storing cavity 3 is connected with disengagement chamber 4 by gap, liquid-storing cavity 3
Lower part be equipped with filter screen 6, drive roll 7 and driven voller 8 are equipped in disengagement chamber 4, drive roll 7 and driven voller 8 are rotatable
Between the two sides of wash-up tray 2, drive roll 7 is located at 5 side of partition board, and driven voller 8 is located at the back side of wash-up tray 2, driven voller 8
Less than drive roll 7, conveyer belt 9 is equipped between drive roll 7 and driven voller 8, conveyer belt 9 covers the bottom of disengagement chamber 4, conveyer belt 9
Surface be equipped with oleophilic drainage layer, the lower part of conveyer belt 9 is equipped with several compression rollers pair 10, and compression roller pair 10 includes upper compression roller
With lower compression roller, upper compression roller is located at the top of conveyer belt 9, and lower compression roller is located at the lower section of conveyer belt 9, one of wash-up tray 2
Lateral outer is equipped with motor 11, and the output shaft of motor 11 is connected with drive roll 7, and the back side of wash-up tray 2 is equipped with discharge outlet
26, discharge outlet 26 is higher than driven voller 8, and discharge outlet 26 is exposed to the back side of shell 1, and disengagement chamber 4 is equipped with infrared sensor pair 12,
Infrared sensor pair 12 includes infrared emitting sensor and infrared receiver sensor, infrared emitting sensor and infrared
Line receiving sensor level it is opposite above the madial wall of disengagement chamber 4, infrared sensor pair 12 is located under conveyer belt 9
Square, the side in control layer is equipped with water pump 13, and water pump 13 is located at the front inside of shell 1, and shell is run through in the water sucking mouth 14 of water pump 13
The water outlet 15 in body 1 and the front for being exposed to shell 1, water pump 13 through the bottom of wash-up tray 2 and stretches into liquid-storing cavity 3, control layer
Bottom it is placed in the middle be equipped with propeller 16, the crank connecting link 17 of propeller 16 through the bottom of shell 1 and stretches out in shell 1, bent
Handle connecting rod 17 is connected by rubber seal 18 with the bottom of shell 1, and the end of crank connecting link 17 is equipped with propeller 19, control
The other side in layer is equipped with steering engine 20, and steering engine 20 is located on the inside of the back side of shell 1, and the transmission shaft 21 of steering engine 20 stretches out in shell 1
The back side, the side of the end connection rudderpost 22 of transmission shaft 21, the other side of rudderpost 22 is equipped with rudder blade 23, is additionally provided in control layer
Control cabinet 24 and accumulator 25, for control cabinet 24 between steering engine 20 and propeller 16, accumulator 25 is located at propeller 16 and water
Between pump 13, control module, memory module and GPS positioning module are equipped in control cabinet 24, if the front and side of shell 1 are equipped with
Dry avoidance radar 28, avoidance radar 28 are located at the top of water sucking mouth 14, and the outer circumferential of shell 1 is equipped with several floater shots 29, inhales
The mouth of a river 14 is located at the top of floater shot 29, and floater shot 29 is flexibly connected with shell 1, and floater shot 29 divides internal layer 31 and outer layer 30, interior
Layer 31 is cavity, and outer layer 30 is degradable foamed, and the top of shell 1 is equipped with solar energy photovoltaic panel 27, is set on the outside of the back side of shell 1
There are fixing bracket 32, fixing bracket 32 to be located at the top of discharge outlet 26, fixing bracket 32 is portal structures, is set on fixing bracket 32
There are wind turbine 33, the input terminal of 12 link control module of avoidance radar 28 and infrared sensor pair, the output end of control module
It is separately connected motor 11, propeller 16, water pump 13 and steering engine 20, control module is connected with each other with memory module, control module
It is communicated to connect by GPS positioning module and GPS positioning satellite, solar energy photovoltaic panel 27 is electrical with accumulator 25 with wind turbine 33
Connection, module provides operating voltage to accumulator 25 in order to control.
Robot is put into waters for clearance, since the outer layer 30 of floater shot 29 is degradable foamed, internal layer 31 is cavity,
Robot is floated on the water surface.Simultaneously because outer layer 30 is made of degradation material, it, can be straight when floater shot 29 is damaged
It is discarded to connect replacement, environment will not be damaged.It, can be inside the cavity of internal layer 31 in order to increase the floating capacity of floater shot 29
Inject hydrogen or helium.In order to ensure that the stability of robot in water, the quantity of floater shot 29 are at least 4 or more even number
It is a.
While robot floats, control module controls propeller 16 and works, and propeller 16 is driven by crank connecting link 17
Propeller 19 rotates, and generates forward propulsive force, robot is made to move forward, expand the cleanup area of water oil stain.Machine
While being moved on the water surface, control module controls water pump 13 and presses certain frequency intermittent work people, from water sucking mouth 14 by machine
Oil water mixture sucking near device people, then be expelled in the liquid-storing cavity 3 of wash-up tray 2 from water outlet 15.The mistake of 3 lower part of liquid-storing cavity
Strainer 6 filters out the solid particle polluter in oil water mixture, when the water of sucking is more than the height of partition board 5, oil water mixture
Enter disengagement chamber 4 from the gap between 2 top of partition board 5 and wash-up tray.Motor 11 drives drive roll 7 to rotate, and drive roll 7 passes through
Conveyer belt 9 drives driven voller 8 to rotate together.The communicated band 9 of oil water mixture transmits, since 9 surface of conveyer belt is dredged equipped with oleophylic
Water layer, and oleophilic drainage layer is polyurethane sponge, the surface of polyurethane sponge modified by hexadecyl trimethoxy silane and
Be graft-polymerized covering polyacrylic acid, therefore polyurethane sponge has the characteristic of super-hydrophobic super-oleophylic, makes the oil in oil water mixture
Dirt absorbs, and polyurethane sponge can absorb the oil of about 20 times of own wts, and by the method for extruding, and the oil of absorption can be with
It releases so that polyurethane sponge can reuse, and reduce cost, avoid waste, more environmentally-friendly.In oil water mixture
Greasy dirt absorbed by the oleophilic drainage layer on 9 surface of conveyer belt, and water reenters waters through discharge outlet 26.Absorb the oleophylic of greasy dirt
When hydrophobic layer follows conveyer belt 9 to move to lower part, 10 pairs of oleophilic drainage layers of several compression rollers pair squeeze, by the oil of absorption
Dirt is squeezed and is released, and the bottom for falling into disengagement chamber 4 is kept in.The greasy dirt that monitoring is kept in real time of infrared sensor pair 12
Amount, when greasy dirt amount reaches the given threshold of infrared sensor pair 12, robot enters state of making a return voyage, and water pump 13 stops at this time
Work.
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 28 on 1 surface of shell positions the barrier in robot mobile route, when needing to turn to,
Control module controls steering engine 20 and works, and steering engine 20 drives transmission shaft 21 to rotate, and transmission shaft 21 drives rudderpost 22 and rudder blade above
23 rotate together, and change the direction of flow, to make robot change direction of advance, realize and flexibly avoid very much obstacle
Object.
Control module handles the detection input signal of avoidance radar 28 and infrared sensor pair 12, output control
Signal controls motor 11 respectively, propeller 16, water pump 13 and steering engine 20 work, at the same control module read memory module from
Line map bag data, and be communicatively coupled by GPS positioning module and GPS positioning satellite.In order to simplify circuit, reduce at
This, improves the scalability in system later stage, and control module selects 16 microcontroller MC95S12DJ128, built-in 128KB's
There is the EEPROM of the RAM and 2KB of Flash, 8KB 5V inputs and driving capability, CPU working frequencies can reach 50MHz.29 tunnels
Independent number I/O interfaces, 20 road bands interrupt and the digital I/O interfaces of arousal function, 10 A/D converters in 28 channels,
Input capture/output with 8 channels is compared, and also has 8 programmable channels PWM.With 2 serial asynchronous communication interfaces
SCI, 2 synchronous serial Peripheral Interface SPI, I2C buses and CAN function modules etc., meets design requirement.
In view of robot need to work long hours under solarization environment, solar energy photovoltaic panel is covered at the top of robot
27, solar energy photovoltaic panel 27 is mono-crystalline silicon solar photovoltaic panel, has high photovoltaic conversion efficiency, improves solar energy profit
With rate, sufficient electric energy is provided for robot.Simultaneously because water environment air quantity is more sufficient, wind is also set on robot
Turbine 33 carries out wind-power electricity generation, and when encountering continuous rainy weather, solar energy photovoltaic panel 27 can not work at this time, by wind wheel
Machine 33 is powered for robot, realizes wind light mutual complementing, natural energy resources are fully efficiently utilized, and ensure that the good continuous of robot
Boat ability.The electric energy that solar energy photovoltaic panel 27 and wind turbine 33 are converted is stored in accumulator 25, accumulator 25 using lithium from
Sub- accumulator, repeated charge number is high, and service life is long, and transformation efficiency is high, embodies energy-saving and environment-friendly spirit.
The present invention provides a kind of drive-in water oil stains of wind light mutual complementing to clear up robot, and floater shot can be such that robot floats
It bubbles through the water column, propeller drives propeller to rotate by crank connecting link, so that robot is advanced on the water surface, expands water oil stain
Cleanup area, while robot motion, the oil water mixture near pump working sucking, filter screen filters out oil water mixture
In solid particle polluter, oil water mixture communicated band transmission, greasy dirt is absorbed by the oleophilic drainage layer of transmission belt surface, and water
Waters is reentered from discharge outlet, the greasy dirt that oleophilic drainage layer absorbs after compression roller is to extruding, which is released, temporarily to be deposited
Storage, to realize water-oil separating, can voluntarily clear up the greasy dirt on the water surface, and avoidance radar moves road to robot body
Barrier on line is positioned, and when needing to turn to, control module controls servo driving rudderpost and rudder blade rotation, to change
The moving direction of robot body, can very flexible avoiding obstacles, infrared sensor to monitoring temporary greasy dirt in real time
Amount, when the predetermined threshold is reached, robot body combine offline map packet and GPS positioning data to make a return voyage automatically, automation and intelligence
Degree is high, is not necessarily to manual intervention, can be under the conditions of harsh climate or foul water carries out operation, solar energy photovoltaic panel and wind
Turbine charges to accumulator simultaneously, to power to robot, natural energy resources is fully efficiently utilized, meet energy-saving ring
The design concept of guarantor, simple in sturcture, ingenious in design, accuracy of detection is high, fast response time, and stability and good reliability have
Good practicability and scalability can be widely applied to the cleaning oil pollution of the waters surface such as various oceans, lake, river, 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 (8)
1. a kind of drive-in water oil stain of wind light mutual complementing clears up robot, including shell, it is characterised in that：Divide in the shell
For cleaning layer and control layer, the control layer is located at the lower section of the cleaning layer, and wash-up tray is equipped in the cleaning layer, described clear
Manage case and the shell and share front, the back side and top, be divided into liquid-storing cavity and disengagement chamber in the wash-up tray, the liquid-storing cavity and
Be equipped with partition board between the disengagement chamber, the top of the top of the partition board and the wash-up tray is equipped with gap, the liquid-storing cavity and
The disengagement chamber is connected by the gap, and the lower part of the liquid-storing cavity is equipped with filter screen, is equipped with actively in the disengagement chamber
Roller and driven voller, the drive roll and the driven voller are rotatably to be set between the two sides of the wash-up tray, described
Drive roll is located at the bulkhead sides, and the driven voller is located at the back side of the wash-up tray, and the driven voller is less than the active
Roller, is equipped with conveyer belt between the drive roll and the driven voller, the conveyer belt covers the bottom of the disengagement chamber, the biography
The surface of band is sent to be equipped with oleophilic drainage layer, the lower part of the 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 are located at the top of the conveyer belt, and the lower compression roller is located at the transmission
One lateral outer of the lower section of band, the wash-up tray is equipped with motor, the output shaft of the motor and the drive roll phase
The back side of connection, the wash-up tray is equipped with discharge outlet, and the discharge outlet is higher than the driven voller, and the discharge outlet is exposed to described
The back side of shell, the disengagement chamber are equipped with infrared sensor pair, and the infrared sensor is to including infrared emitting sensing
Device and infrared receiver sensor, the infrared emitting sensor and infrared receiver sensor level is opposite is located at
Above the madial wall of the disengagement chamber, the infrared sensor is in the lower section of the conveyer belt, the control layer
Side is equipped with water pump, and the water pump is located at the front inside of the shell, and the water sucking mouth of the water pump through the shell and is revealed
For the front of the shell, the water outlet of the water pump through the bottom of the wash-up tray and stretches into the liquid-storing cavity, described
The bottom of control layer it is placed in the middle be equipped with propeller, the crank connecting link of the propeller through the bottom of the shell and stretches out in institute
Shell is stated, the crank connecting link is connected by rubber seal with the bottom of the shell, and the end of the crank connecting link is set
There is propeller, the other side in the control layer 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 stretch out in the back side of the shell, the side of the end connection rudderpost of the transmission shaft, the other side of the rudderpost
Equipped with rudder blade, control cabinet and accumulator are additionally provided in the control layer, the control cabinet is located at the steering engine and the propeller
Between, the accumulator is equipped with control module, memory module between the propeller and the water pump in the control cabinet
And GPS positioning module, the front and side of the shell are equipped with several avoidance radars, the avoidance radar is located at the water sucking mouth
Top, the outer circumferential of the shell is equipped with several floater shots, and the water sucking mouth is located at the top of the floater shot, the drift
Floating ball is flexibly connected with the shell, and the floater shot divides internal layer and outer layer, the internal layer to be cavity, and the outer layer is degradable
The top of foam, the shell is equipped with solar energy photovoltaic panel, and fixing bracket, the fixed branch are equipped on the outside of the back side of the shell
Frame is located at the top of the discharge outlet, and the fixing bracket is portal structures, and the fixing bracket is equipped with wind turbine, described to keep away
Hinder the input terminal of radar and the infrared sensor to the connection control module, the output end of the control module connects respectively
The motor, the propeller, the water pump and the steering engine are connect, the control module is mutually interconnected with the memory module
It connects, the control module is communicated to connect by the GPS positioning module and GPS positioning satellite, the solar energy photovoltaic panel and institute
It states wind turbine to be electrically connected with the accumulator, the accumulator provides operating voltage for the control module.
2. a kind of drive-in water oil stain of wind light mutual complementing according to claim 1 clears up robot, it is characterised in that：Institute
The quantity for stating floater shot is at least 4 or more even number.
3. a kind of drive-in water oil stain of wind light mutual complementing according to claim 1 clears up robot, it is characterised in that：Institute
It is polyurethane sponge to state oleophilic drainage layer.
4. a kind of drive-in water oil stain of wind light mutual complementing according to claim 1 clears up robot, it is characterised in that：Institute
It states GPS positioning module and selects ET-318SiRF Star III GPS chip groups.
5. a kind of drive-in water oil stain of wind light mutual complementing according to claim 1 clears up robot, it is characterised in that：Institute
It states memory module and stores offline map packet.
6. a kind of drive-in water oil stain of wind light mutual complementing according to claim 1 clears up robot, it is characterised in that：Institute
It states control module and selects 16 microcontroller MC95S12DJ128.
7. a kind of drive-in water oil stain of wind light mutual complementing according to claim 1 clears up robot, it is characterised in that：Institute
It is mono-crystalline silicon solar photovoltaic panel to state solar energy photovoltaic panel.
8. a kind of drive-in water oil stain of wind light mutual complementing according to claim 1 clears up robot, it is characterised in that：Institute
It is lithium-ions battery to state accumulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810415074.XA CN108385641A (en) | 2018-05-03 | 2018-05-03 | A kind of drive-in water oil stain cleaning robot of wind light mutual complementing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810415074.XA CN108385641A (en) | 2018-05-03 | 2018-05-03 | A kind of drive-in water oil stain cleaning robot of wind light mutual complementing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108385641A true CN108385641A (en) | 2018-08-10 |
Family
ID=63066306
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810415074.XA Withdrawn CN108385641A (en) | 2018-05-03 | 2018-05-03 | A kind of drive-in water oil stain cleaning robot of wind light mutual complementing |
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| CN (1) | CN108385641A (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109384275A (en) * | 2018-10-31 | 2019-02-26 | 四川天宜石油化工工程有限公司 | Sump oil separates purifier and method |
| CN109774871A (en) * | 2019-02-15 | 2019-05-21 | 南京帕维克新能源科技有限公司 | A kind of intelligent water surface robot |
| CN110528480A (en) * | 2019-09-02 | 2019-12-03 | 浙江海洋大学 | A kind of overflow oil recovering ship |
| CN110725293A (en) * | 2019-10-30 | 2020-01-24 | 彭川 | Spiral water suspension rubbish clean-up equipment |
| CN111254898A (en) * | 2020-03-13 | 2020-06-09 | 温州市推木科技有限公司 | Wind-solar complementary lake and river channel cleaning robot |
| CN111997026A (en) * | 2020-09-02 | 2020-11-27 | 广州达都动力科技有限公司 | Wind energy and hydroenergy hybrid drive's marine waste oil collection device |
| CN113461107A (en) * | 2021-06-15 | 2021-10-01 | 湖北汉源环境科技有限公司 | Water surface oil stain adsorption device |
| 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 |
| CN114991101A (en) * | 2022-06-10 | 2022-09-02 | 浙江科技学院 | Intelligent system for removing oil pollutants in water body by utilizing shape memory biomass charcoal |
| CN115240347A (en) * | 2022-06-02 | 2022-10-25 | 中国人民解放军军事科学院国防科技创新研究院 | Self-maintaining robot cluster system for fire monitoring and control |
| CN116812090A (en) * | 2023-06-30 | 2023-09-29 | 深圳大学 | Greasy dirt absorption imitation water-strider robot based on solar drive |
| CN117626915A (en) * | 2024-01-25 | 2024-03-01 | 河海大学 | Floating oil stain physical absorption device for ocean environmental protection |
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2018
- 2018-05-03 CN CN201810415074.XA patent/CN108385641A/en not_active Withdrawn
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109384275A (en) * | 2018-10-31 | 2019-02-26 | 四川天宜石油化工工程有限公司 | Sump oil separates purifier and method |
| CN109774871A (en) * | 2019-02-15 | 2019-05-21 | 南京帕维克新能源科技有限公司 | A kind of intelligent water surface robot |
| CN110528480A (en) * | 2019-09-02 | 2019-12-03 | 浙江海洋大学 | A kind of overflow oil recovering ship |
| CN110725293B (en) * | 2019-10-30 | 2021-09-14 | 浙江古伽智能科技有限公司 | Spiral water suspension rubbish clean-up equipment |
| CN110725293A (en) * | 2019-10-30 | 2020-01-24 | 彭川 | Spiral water suspension rubbish clean-up equipment |
| CN111254898A (en) * | 2020-03-13 | 2020-06-09 | 温州市推木科技有限公司 | Wind-solar complementary lake and river channel cleaning robot |
| CN111997026A (en) * | 2020-09-02 | 2020-11-27 | 广州达都动力科技有限公司 | Wind energy and hydroenergy hybrid drive's marine waste oil collection device |
| CN113461107A (en) * | 2021-06-15 | 2021-10-01 | 湖北汉源环境科技有限公司 | Water surface oil stain adsorption device |
| 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 |
| CN115240347A (en) * | 2022-06-02 | 2022-10-25 | 中国人民解放军军事科学院国防科技创新研究院 | Self-maintaining robot cluster system for fire monitoring and control |
| CN114991101A (en) * | 2022-06-10 | 2022-09-02 | 浙江科技学院 | Intelligent system for removing oil pollutants in water body by utilizing shape memory biomass charcoal |
| CN116812090A (en) * | 2023-06-30 | 2023-09-29 | 深圳大学 | Greasy dirt absorption imitation water-strider robot based on solar drive |
| CN117626915A (en) * | 2024-01-25 | 2024-03-01 | 河海大学 | Floating oil stain physical absorption device for ocean environmental protection |
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Application publication date: 20180810 |