Water surface oil stain cleaning robot

Abstract

The utility model relates to the technical field of water surface greasy dirt cleaning, in particular to a water surface greasy dirt cleaning robot which comprises a main machine frame, a floater, an oil suction assembly, a lifting mechanism, a translation mechanism and a propelling and steering mechanism. The thrust direction of the propeller is changed by changing the direction of the propeller bracket, so that the robot advances towards an area with high oil contamination concentration; the two ends of the floater are in a streamline shape and can rotate around the center shaft, so that the floater can change the direction in the water flow direction, and the advancing resistance of the robot is reduced. And the translation mechanism and the lifting mechanism are matched with each other, so that the oil scraping movable plate scrapes an oil film in front to the water surface below the oil absorption block, and the local concentration of oil stains on the water surface is improved. And the oil absorption block on the middle plate is extruded to release the absorbed waste oil under the action that the electromagnet on the upper plate generates an attraction force on the lower plate. The motor drives the roller to wind the traction rope, the middle plate where the oil absorption block is located, the upper plate and the lower plate are pulled to rotate around the shaft at the same time to incline, and extruded waste oil flows downwards along the lower plate to be recycled.

Description

Technical Field

[0001] The utility model relates to the technical field of water surface oil pollution cleaning, in particular to a water surface oil pollution cleaning robot. Background Art

[0002] Oily wastewater secretly discharged by some petrochemical plants and refineries, crude oil leaked from oil tankers in accidents, and oil leaked from submarine oil extraction will form large oil films on the water surface. These will not only damage the ecological environment of the water body and endanger the survival of aquatic organisms, but also have adverse effects on aquaculture, tourism, and shipping industries.

[0003] Existing methods for oil pollution control in waters include installing oil isolation booms and manually scooping oil using boats. These methods are not only immobile but also time-consuming and labor-intensive. Patents also exist for using unmanned boats and surface robots for oil pollution cleanup. For example, utility model patent CN220953303U discloses a surface oil pollution cleaning robot. However, the rotation of its propeller spreads the oil film, and the oil-absorbing felt can only absorb the thin oil film nearby. Once the oil concentration near the water surface drops to a very low level, the robot's oil absorption efficiency drops significantly.

[0004] Based on this, this case is brought forward. Utility Model Content

[0005] The purpose of the utility model is to provide a water surface oil pollution cleaning robot to achieve efficient cleaning of water surface oil pollution.

[0006] To achieve the above purpose, the technical solution of the utility model is as follows:

[0007] A water surface oil cleaning robot, comprising:

[0008] Main frame;

[0009] A float, mounted on the main frame, is used to provide buoyancy;

[0010] The propulsion and steering mechanism is installed on the main frame and is used to provide power for travel and steering;

[0011] The oil scraper mechanism is installed on the main frame and is used to collect oil on the water surface;

[0012] The oil suction assembly is installed on the oil scraping mechanism to absorb the oil accumulated on the water surface.

[0013] Furthermore, the oil scraping mechanism includes a lifting mechanism and a translation mechanism;

[0014] The lifting mechanism includes a lifting drive unit, a flat plate, and a front fixed plate. The lifting drive unit is fixed to the main frame, and its lifting end is fixed to the center of the flat plate. The flat plate is provided with lifting guide columns on its circumference, and the main frame is provided with lifting guide column holes that cooperate with the lifting guide columns. The front fixed plates are composed of two pieces, which are symmetrically mounted on both sides of the front end of the flat plate. The lifting drive unit drives the flat plate to make the front fixed plate move up and down.

[0015] The translation mechanism includes a guide plate and a translation drive unit, wherein the guide plate is slidably connected to the flat plate, and the translation drive unit is used to drive the guide plate to move forward and backward along the flat plate. The front end of the guide plate protrudes from the flat plate and is fixed with an oil scraper plate. The oil scraper plate and the front fixed plate form an oil enclosed area.

[0016] The oil absorption assembly is installed on the front fixed plate and is located in the oil-contaminated area.

[0017] Furthermore, the oil suction assembly includes an upper plate, a middle plate, and a lower plate in sequence, wherein a plurality of guide posts are passed through the upper plate, the middle plate, and the lower plate. The upper plate is connected to the front fixed plate, and the middle plate and the lower plate can slide along the guide posts. The diameter of the ends of the guide posts passing through the upper plate and the lower plate is enlarged to form a limit ring, which is used to limit the maximum distance between the upper plate and the lower plate.

[0018] The upper plate is provided with an electromagnet, the lower plate is provided with a material that can be attracted by magnets, and the upper and lower surfaces of the middle plate are both provided with oil absorbing blocks.

[0019] Furthermore, the oil suction assembly includes a traction part installed on the flat plate, an upper plate shaft hole is provided on the upper plate, a rotating shaft that can cooperate with the upper plate shaft hole is provided between the two front fixed plates, and the traction part is used to pull the upper plate to rotate around the rotating shaft.

[0020] Furthermore, the oil absorption block is made of polypropylene material.

[0021] Furthermore, a temporary storage box module is installed on the main frame to receive the oil squeezed out from the oil absorption block.

[0022] Furthermore, the float includes an upper float, a medium short shaft and a lower float. The main frame is connected to the medium short shaft by an axial hole, so that the medium short shaft can rotate around its central axis. The cross-sections of the upper float and the lower float are both spindle-shaped with pointed ends and a round middle. The upper float and the lower float are respectively installed at the upper and lower ends of the medium short shaft. The cross-sectional dimensions of the upper float and the lower float are larger than the cross-sectional dimensions of the medium short shaft.

[0023] Furthermore, the propulsion and steering mechanism includes a steering drive unit, a propeller bracket steering shaft and a propeller bracket. The steering drive unit is installed on the main frame. The upper end of the propeller bracket steering shaft passes through the main frame and is transmission-connected to the steering drive unit, and the lower end is fixed to the propeller bracket. A plurality of propellers and a propeller drive unit for driving the propellers are installed on the propeller bracket.

[0024] Furthermore, an annular protective cover is installed on the outside of the propeller.

[0025] Furthermore, there are four propellers distributed in front, back, left and right directions, and each propeller is equipped with a propeller driving unit.

[0026] The advantages of the present invention are:

[0027] 1. The coordination of the lifting and translation mechanisms enables the oil scraper and front plate in front of the robot to rise and fall simultaneously, and can change the area enclosed by the oil scraper and front plate. When the enclosed area changes from large to small, the waste oil concentration on the local water surface will increase, which can improve the oil absorption efficiency of the polypropylene oil absorbent block;

[0028] 2. When the electromagnet on the upper plate of the oil absorption assembly is energized, it generates electromagnetic suction, causing the upper and lower plates to squeeze the polypropylene oil absorption block array on the middle plate. By pulling the upper plate, the upper, lower and middle plates rotate around their axes and tilt, and the squeezed waste oil flows down the lower plate under the action of gravity and is recovered. When the electromagnet is energized, it generates an attractive force on the lower plate, and the impact of the attractive force is buffered by the polypropylene oil absorption block array. The entire oil absorption assembly has a simple structure and is stable and reliable.

[0029] 3. The two ends of the float are streamlined, wide at the top and bottom and thin in the middle, and can passively rotate around the central axis. This structure allows it to change direction according to the direction of the water flow, which can reduce the resistance of the robot when moving in a straight line. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the overall structure of the water surface oil cleaning robot in the embodiment;

[0031] Figure 2 Schematic diagram of the structure of the oil suction component of the water surface oil pollution cleaning robot in the embodiment;

[0032] Figure 3 Schematic diagram of the structure of the lifting mechanism of the water surface oil pollution cleaning robot in the embodiment;

[0033] Figure 4 Schematic diagram of the structure of the translation mechanism of the water surface oil pollution cleaning robot in the embodiment;

[0034] Figure 5Schematic diagram of the structure of the propulsion and steering mechanism of the surface oil pollution cleaning robot in the embodiment;

[0035] Figure 6 This is an enlarged schematic diagram of the structure of the oil suction component of the water surface oil pollution cleaning robot in the embodiment;

[0036] Figure 7 Schematic diagram of the structure of the middle plate of the oil suction assembly of the water surface oil pollution cleaning robot in the embodiment;

[0037] Figure 8a Schematic diagram of the positions of the oil suction assembly and the temporary storage box in the embodiment;

[0038] Figure 8b This is a schematic diagram of the position of the oil suction assembly after it is raised and the temporary storage box is translated in the embodiment;

[0039] Figure 8c Schematic diagram of the position where the oil absorption assembly is pulled and tilted in the embodiment, and oil can enter the temporary storage box.

[0040] Label Description

[0041] 1. Oil suction assembly; 2. Lifting mechanism; 3. Translation mechanism; 4. Float; 5. Main frame; 6. Propulsion and steering mechanism; 7. Temporary storage box;

[0042] 101. Lower plate; 102. Middle plate; 103. Upper plate; 104. Polypropylene oil-absorbing block; 105. Guide post; 106. Roller bracket; 107. Roller; 108. Oil-absorbing assembly drive motor; 109. Oil-absorbing assembly drive motor bracket; 110. Traction rope; 111. Upper plate shaft hole; 112. Rotating shaft; 113. Electromagnet; 114. Traction rope fixed end; 115. Guide post hole; 201. Front fixed plate; 202. Flat plate; 203. Electric cylinder piston rod; 204. Electric cylinder; 205. Lift Lowering guide column; 206, electric cylinder mounting plate; 207, support rod; 208, lifting guide column hole; 301, scraper plate; 302, left track; 303, middle track; 304, right track; 305, guide plate; 306, translation drive motor; 307, translation mechanism gear; 308, translation mechanism rack; 601, propeller shield; 602, propeller; 603, propeller drive motor; 604, propeller bracket; 605, propeller bracket steering shaft; 606, propeller bracket steering motor. DETAILED DESCRIPTION

[0043] The present invention is further described in detail below in conjunction with the embodiments. It should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc. used in the text to indicate directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they should not be understood as limiting the present invention.

[0044] This embodiment proposes a water surface oil cleaning robot. Figure 1 The surface oil cleaning robot includes an oil suction assembly 1, a lifting mechanism 2, a translation mechanism 3, a float 4, a main frame 5, and a propulsion and steering mechanism 6. The lifting mechanism 2 and the translation mechanism 3 form an oil scraping mechanism. The two mechanisms work together to scrape oil from a larger area of ​​the surface to a smaller area, increasing the concentration of oil on the surface. After the oil suction assembly 1 absorbs enough waste oil in this higher-concentration area, it is squeezed by the upper and lower plates, forcing the waste oil out for recovery or temporary storage.

[0045] See also Figure 2 、 Figure 6 and Figure 7 In this embodiment, the oil absorption assembly 1 sandwiches a middle plate 102 between the upper plate 103 and the lower plate 101. Eight guide posts 105 extend through these three plates. The guide posts 105 have larger diameters at both ends, limiting the maximum distance between the upper plate 103 and the lower plate 101. Polypropylene oil absorbent blocks 104, a material with excellent oleophilic and hydrophobic properties, are evenly distributed in two dimensions on the upper and lower surfaces of the middle plate 102. Three electromagnets 113 are mounted on the upper plate 103, while the lower plate 101 is provided with a magnetically attractable material. When powered on, the resulting attraction draws the lower plate 101 closer, compressing the polypropylene oil absorbent blocks 104 on the middle plate 102 and squeezing out the waste oil. When the electromagnets 113 are de-energized, gravity pulls the lower plate 101 away from the upper plate 103, causing the polypropylene oil absorbent blocks 104 to return to their original state and resume absorbing waste oil. Upper plate 103's upper plate axis hole 111 engages with rotational axis 112. Upper plate 103 drives middle plate 102 and lower plate 101 to rotate about rotational axis 112, allowing the three plates to be horizontal or tilted. In the horizontal position, oil suction is performed, while in the tilted position, the extruded waste oil flows out along lower plate 101 and is stored. The state changes of the three plates are driven by the traction of traction rope 110, which is powered by the oil suction assembly drive motor 108 fixed to the lifting mechanism 2, which drives the roller 107.

[0046] See also Figure 3In this embodiment, the cylinder body of the electric cylinder 204 of the lifting mechanism 2 is fixed to the electric cylinder mounting plate 206, which is fixed to the main frame 5 via four support rods 207. The four lifting guide post holes 208 on the main frame 5 provide guidance for the lifting of the four lifting guide posts 205 on the flat plate 202. The front fixed plate 201 consists of two pieces and is symmetrically fixed to the front end of the flat plate 202. The end of the electric cylinder piston rod 203 is connected to the center of the flat plate 202. The telescopic movement of the electric cylinder piston rod 203 drives the flat plate 202 and then drives the front fixed plate 201 to move up and down. Figure 2 As shown, both ends of the rotating shaft 112 connected to the oil suction assembly 1 are fixed on the front fixed plates 201 on both sides respectively. When the front fixed plates 201 move up and down, the oil suction assembly 1 can move up and down synchronously.

[0047] See also Figure 4 In this embodiment, the left rail 302, middle rail 303, and right rail 304 of the translation mechanism 3 are mounted on the flat plate 202 of the lifting mechanism 2. The guide plate 305 is guided by these three rails, moving the oil scraper plate 301 back and forth. The power for the movement of the oil scraper plate 301 is provided by a translation drive motor 306, which drives the translation mechanism gear 307, thereby driving the back and forth movement of the translation mechanism rack 308 fixed to the guide plate 305. The lifting mechanism 2 and translation mechanism 3 cooperate to change the area enclosed by the front plate 201 and the oil scraper plate 301. The specific operation is as follows: the front plate 201 and the oil scraper plate 301 are simultaneously raised, and the oil scraper plate 301 extends relative to the front plate 201. The front plate 201 and the oil scraper plate 301 are simultaneously lowered, and the oil scraper plate 301 retracts relative to the front plate 201, thereby scraping the oil stains from a larger area on the water surface into a smaller area.

[0048] See also Figure 5 In this embodiment, the main frame 5 is constructed with four cross beams welded to a central circular frame. A propeller bracket steering motor 606 is mounted in the center of the main frame 5. It drives the rotation of the propeller bracket 604 below via a propeller bracket steering shaft 605. Four propeller bracket steering motors 606 and four propellers 602 are mounted on the front, back, left, and right sides of the propeller bracket 604. Propeller shields 601 are installed on the outside of the propellers 602. The four propellers 602 are independently driven. When they rotate simultaneously, the robot can move forward. When two propellers 602 on one side stop rotating and the two propellers 602 on the other side rotate, the robot can turn. The propeller bracket steering motor 606 drives the propeller bracket 604 to rotate, changing the thrust direction of the four propellers and, therefore, the robot's forward direction. This mobility allows the robot to flexibly turn or directly change its direction, moving toward areas with high waste oil concentrations.

[0049] See also Figure 1 and Figure 5 The float 4 includes an upper float, a short shaft, and a lower float. The main frame and the short shaft are connected by an axial hole, allowing the short shaft to rotate about its central axis. The upper and lower floats each have a spindle-shaped cross-section, with pointed ends and a rounded center. They are mounted at the upper and lower ends of the short shaft, respectively, with the cross-sections of the upper and lower floats larger than that of the short shaft. Each float 4 can rotate about its center, and the spindle-shaped streamlined structure ensures that when the propeller bracket steering motor 606 drives the propeller bracket 604 to rotate, changing the robot's direction of travel, the four floats 4 will conform to the water flow resistance and passively align the narrow streamlined side to face the water flow. This passively changes the float's orientation with the robot's forward direction, thereby reducing the robot's forward resistance.

[0050] The present embodiment designs a surface oil cleaning robot that changes its direction of travel by actively changing the orientation of its propeller bracket according to the gradient of oil concentration. The float's streamlined ends, with a wide upper and lower axis and a thin middle axis, allow it to rotate around its own axis, adapting to water resistance and passively changing its orientation to reduce the robot's travel resistance. The lifting and translation mechanisms work together to allow the scraper plate to scrape the oil film in front of it onto the water surface below the polypropylene oil-absorbing block, increasing the local concentration of oil on the surface. The middle plate, where the polypropylene oil-absorbing block is located, is squeezed and released by the attraction exerted on the lower plate by the electromagnet installed above the upper plate. The oil-absorbing assembly's drive motor drives the roller, which uses a traction rope to pull the upper, middle, and lower plates to rotate simultaneously, causing them to tilt. The squeezed waste oil flows out along the lower plate and is recovered.

[0051] The waste oil can be recovered by the robot after the oil absorption block 4 is full and then brought back to the shore for recycling or a temporary storage box can be set on the main frame 5 for temporary storage. Figure 8a 、 Figure 8b and Figure 8c As shown, this embodiment proposes a temporary storage box module, including a temporary storage box installed on a main frame and a transverse movement mechanism (not shown in the figure) for driving the temporary storage box to move forward and backward. Figure 8a As shown, when sucking oil, the oil suction assembly 1 is in a lowered state; Figure 8b As shown, when the oil is fully absorbed, the oil absorption assembly 1 is lifted by the lifting mechanism 2, and the temporary storage box is moved toward the oil absorption assembly side by the transverse mechanism until it is located below the oil absorption assembly; Figure 8c As shown, the traction rope 110 pulls the upper plate 103, driving the upper plate 103, the middle plate 102 and the lower plate 101 to rotate and tilt around the axis, the electromagnet is energized and squeezed, the oil absorption block 4 releases the waste oil, and the squeezed waste oil flows along the lower plate into the temporary storage box 7 for temporary storage; then the oil absorption assembly 1 and the temporary storage box 7 are reset, and the oil absorption operation continues.

[0052] The above embodiments are only used to illustrate the concept of the present invention, and are not intended to limit the protection of the present invention. Any non-substantial changes to the present invention using this concept should fall within the scope of protection of the present invention.

Claims

1. A water surface oil cleaning robot, characterized in that: include: Main frame; A float, mounted on the main frame, is used to provide buoyancy; The propulsion and steering mechanism is installed on the main frame and is used to provide power for travel and steering; The oil scraper mechanism is installed on the main frame and is used to collect oil on the water surface; The oil suction assembly is installed on the oil scraping mechanism to absorb the oil accumulated on the water surface.

2. A water surface oil cleaning robot according to claim 1, characterized in that: The oil scraping mechanism includes a lifting mechanism and a translation mechanism; The lifting mechanism includes a lifting drive unit, a flat plate, and a front fixed plate. The lifting drive unit is fixed to the main frame, and its lifting end is fixed to the center of the flat plate. The flat plate is provided with lifting guide columns on its circumference, and the main frame is provided with lifting guide column holes that cooperate with the lifting guide columns. The front fixed plates are composed of two pieces, which are symmetrically mounted on both sides of the front end of the flat plate. The lifting drive unit drives the flat plate to make the front fixed plate move up and down. The translation mechanism includes a guide plate and a translation drive unit, wherein the guide plate is slidably connected to the flat plate, and the translation drive unit is used to drive the guide plate to move forward and backward along the flat plate. The front end of the guide plate protrudes from the flat plate and is fixed with an oil scraper plate. The oil scraper plate and the front fixed plate form an oil enclosed area. The oil absorption assembly is installed on the front fixed plate and is located in the oil-contaminated area.

3. A water surface oil cleaning robot according to claim 2, characterized in that: The oil suction assembly includes an upper plate, a middle plate, and a lower plate in sequence. A plurality of guide posts are passed through the upper plate, the middle plate, and the lower plate. The upper plate is connected to the front fixed plate, and the middle plate and the lower plate can slide along the guide posts. The diameter of the ends of the guide posts passing through the upper plate and the lower plate is enlarged to form a limit ring, which is used to limit the maximum distance between the upper plate and the lower plate. The upper plate is provided with an electromagnet, the lower plate is provided with a material that can be attracted by magnets, and the upper and lower surfaces of the middle plate are both provided with oil absorbing blocks.

4. A water surface oil cleaning robot according to claim 3, characterized in that: The oil suction assembly includes a traction part installed on a flat plate, an upper plate shaft hole is provided on the upper plate, a rotating shaft that can cooperate with the upper plate shaft hole is provided between the two front fixed plates, and the traction part is used to pull the upper plate to rotate around the rotating shaft.

5. The surface oil cleaning robot according to claim 3, characterized in that: The oil absorption block is made of polypropylene material.

6. The surface oil cleaning robot according to claim 4, characterized in that: A temporary storage box module is installed on the main frame to receive the oil squeezed out from the oil absorption block.

7. The surface oil cleaning robot according to claim 1, characterized in that: The float includes an upper float, a medium short shaft and a lower float. The main frame is connected to the medium short shaft by an axial hole, so that the medium short shaft can rotate around its central axis. The cross-sections of the upper float and the lower float are both spindle-shaped with pointed ends and a round middle. The upper float and the lower float are respectively installed at the upper and lower ends of the medium short shaft. The cross-sectional dimensions of the upper float and the lower float are larger than those of the medium short shaft.

8. The surface oil cleaning robot according to claim 1, characterized in that: The propulsion and steering mechanism includes a steering drive unit, a propeller bracket steering shaft and a propeller bracket. The steering drive unit is installed on the main frame. The upper end of the propeller bracket steering shaft passes through the main frame and is transmission-connected to the steering drive unit, and the lower end is fixed to the propeller bracket. A plurality of propellers and a propeller drive unit for driving the propellers are installed on the propeller bracket.

9. The surface oil cleaning robot according to claim 8, characterized in that: An annular protective cover is installed on the outside of the propeller.

10. The surface oil cleaning robot according to claim 8, characterized in that: There are four propellers distributed in front, back, left and right directions, and each propeller is equipped with a propeller driving unit.

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