Amphibious unmanned ship for cleaning oil stain of dam flood discharge device

Abstract

The utility model relates to the technical field of unmanned ships, in particular to an amphibious unmanned ship for oil stain cleaning of a dam flood discharge device, which comprises a ship body, a walking assembly and an oil absorption cable. The walking assembly comprises a walking frame, a driving wheel, a guide wheel, a driving part and a walking crawler belt, the walking frame is installed on the ship body, the driving wheel and the guide wheel are both installed on the walking frame, the driving part is connected with the driving wheel to drive the driving wheel to rotate, the driving wheel and the guide wheel are sleeved with the walking crawler belt, and the oil absorption cable is installed at the tail of the ship body. Under the cooperation of the driving wheel, the guide wheel, the driving piece and the walking crawler belt, the ship body is driven to continuously move in the corridor, and the oil absorption rope at the tail of the ship body adsorbs leaked oil dirt. The oil stain cleaning device has the effect of conveniently cleaning oil stains in the dam gallery.

Description

Technical Field

[0001] This application relates to the technical field of unmanned vessels, and in particular to an amphibious unmanned vessel for cleaning oil spills from dam spillway devices. Background Technology

[0002] When the hydraulic system of the dam's flood discharge device discharges floodwater, it needs to withstand a large load and large pressure fluctuations. The seals of the hydraulic system are subjected to great pressure, which causes the seals to creep and loosen, resulting in the leakage of hydraulic oil from the system.

[0003] Currently, the combined catamaran unmanned surface vessel (USV) disclosed in CN117508483A for oil spill cleanup in open waters consists of a main hull and an auxiliary hull. Each hull is equipped with two stern thrusters and one bow thruster. An electromagnetic attraction and disengagement device is installed between the two hulls, which controls the attraction force of the electromagnet by controlling the magnitude of the current, thereby facilitating the combination and disengagement of the hulls. The main hull is responsible for sensing, path planning, and issuing control commands, and is equipped with a winch at the stern of the main hull for retrieving and releasing the oil containment rope. The auxiliary hull fixes the other end of the oil containment rope and is equipped with an oil suction device and an oil-water separation device.

[0004] Regarding the aforementioned technologies, the oil spill from the dam is usually initially located in the channel, which is narrow and has a low water level, making it difficult for unmanned vessels to pass through. Utility Model Content

[0005] To facilitate the cleaning of oil spills in the dam corridor, this application provides an amphibious unmanned vessel for cleaning oil spills from dam spillway devices.

[0006] This application provides a technical solution for cleaning oil spills from dam spillway devices using an amphibious unmanned surface vessel, as follows:

[0007] An amphibious unmanned surface vessel for cleaning oil spills from dam spillway devices includes:

[0008] hull;

[0009] The traveling assembly includes a traveling frame, a drive wheel, a guide wheel, a drive component, and a traveling track. The traveling frame is mounted on the hull, the drive wheel and the guide wheel are both mounted on the traveling frame, the drive component is connected to the drive wheel to drive the drive wheel to rotate, and the traveling track is fitted on the drive wheel and the guide wheel.

[0010] Oil suction cables are installed on the hull.

[0011] By adopting the technical scheme, the ship body is driven to move into the gallery, the walking track contacts the bottom of the gallery when the water level is low, then the driving member drives the driving wheel to rotate, the driving wheel drives the track to rotate, the track moves with the ship body in the gallery under the guidance of the guide wheel, the oil absorption rope at the tail of the ship body absorbs the leaked oil when the ship body moves through the oil stain, thereby the oil stain in the gallery of the dam is cleaned.

[0012] Since the gallery has the oil stain, the conventional driving wheel is prone to slipping, and the walking is inconvenient, therefore the walking track is adopted to avoid the slip of the walking assembly when driving the ship body to move, and the walking assembly drives the ship body to move more smoothly.

[0013] Optionally, the walking frame comprises two fixed frames symmetrically arranged relative to the ship body and a cross frame connecting the two symmetrically arranged fixed frames, the cross frame is arranged on the ship body and fixedly connected with the ship body, and the driving wheel and the guide wheel are both mounted on the fixed frame.

[0014] By adopting the technical scheme, the symmetric fixed frame makes the walking assembly drive the ship body to move more stably.

[0015] Optionally, the guide wheel comprises a plurality of supporting wheels, the supporting wheels are mounted below the fixed frame, and the walking track is sleeved on the supporting wheels.

[0016] By adopting the technical scheme, the plurality of supporting wheels improves the adaptability of the walking track to the ground, reduces the pressure of the walking track to the ground, and protects the ground structure of the dam. Meanwhile, the plurality of supporting wheels makes the track run more stably.

[0017] Optionally, a movable rod and a shock absorber are connected between each fixed frame and the supporting wheel, one end of each movable rod is hinged to the fixed frame, the other end is hinged to the supporting wheel, one end of each shock absorber is hinged to the fixed frame, and the other end is hinged to the supporting wheel.

[0018] By adopting the technical scheme, the cooperation of the movable rod and the shock absorber reduces the impact of the ship body in the uneven ground, protects the ship body and the walking assembly, and improves the stability of the structure.

[0019] Optionally, the guide wheel comprises a tensioning wheel, a tensioning member is mounted between the tensioning wheel and the fixed frame, and the tensioning member is used to drive the tensioning wheel to move close to or away from the fixed frame.

[0020] By adopting the technical scheme, the tensioning member controls the distance between the tensioning wheel and the fixed frame, adjusts the tightness of the track, ensures that the track is not too loose or too tight, improves the transmission efficiency, reduces the wear, and prolongs the service life.

[0021] Optionally, the guide wheel comprises a support wheel fixedly connected above the fixed frame.

[0022] By adopting the above technical scheme, the support wheel supports the upper part of the track to prevent sagging or disengagement, especially during high-speed operation or load change, so that the track can be kept in the correct position and the risk of disengagement failure can be reduced.

[0023] Optionally, a flushing module is installed on the bow of the hull, and the flushing module is used to spray water to the front of the hull.

[0024] By adopting the above technical scheme, the flushing module can spray water to clean the front area of the hull, pre-treat the oil stains, soften and disperse the oil stains, facilitate more effective adsorption of the oil absorption rope, and improve the overall cleaning efficiency.

[0025] Optionally, the flushing module comprises a rotating seat, a mounting block, a spray head, and a pitch element, the rotating seat is rotationally connected to the hull, the mounting block is fixedly connected to the rotating seat, the spray head is rotationally connected to the mounting block, and the pitch element is installed on the mounting block and rotationally connected with the spray head to drive the spray head to pitch.

[0026] By adopting the above technical scheme, the horizontal direction of the spray head is adjusted by rotating the rotating seat, and the pitch of the spray head is adjusted by the pitch element, so that the spray head can be adjusted in multiple directions to adapt to oil stains at different positions and improve the cleaning range and flexibility.

[0027] Optionally, the pitch element comprises a pitch motor, a driving wheel, a driven wheel, and a synchronous belt, the pitch motor is fixedly connected to the mounting block, the driving wheel is coaxially fixedly connected with the output shaft of the pitch motor, the driven wheel is fixedly connected with the spray head, and one end of the synchronous belt is wound around the driving wheel and the other end is wound around the driven wheel.

[0028] By adopting the above technical scheme, the driving wheel is driven to rotate by the pitch motor, the driving wheel is driven to rotate by the synchronous belt, and the driven wheel is driven to rotate to control the spray head to pitch.

[0029] Optionally, a camera is fixedly connected to the spray head of the spray head, and the camera faces the spray direction of the spray head.

[0030] By adopting the above technical scheme, the camera faces the water spraying direction, so that the cleaning effect can be monitored in real time, the direction and angle of the spray head can be adjusted, and accurate cleaning can be realized.

[0031] In summary, the present application has at least one of the following beneficial technical effects:

[0032] 1. Through the cooperation of the ship body, walking frame, drive wheel, guide wheel, drive part, walking track and oil suction rope, the track moves continuously in the corridor under the guidance of the guide wheel, and when the ship body moves through the oil stain, the oil suction rope at the tail of the ship body adsorbs the leaked oil stain, thereby completing the cleaning of the oil stain in the dam corridor;

[0033] 2. Through the cooperation of the fixed frame, track, tensioning wheel and tensioning part, the distance between the tensioning wheel and the fixed frame is controlled by the tensioning part to adjust the tightness of the track, so that the track is not too loose or too tight, the transmission efficiency is improved, the wear is reduced, and the service life is prolonged;

[0034] 3. Through the cooperation of the rotating seat, mounting block, spray head and pitching part, the horizontal direction of the spray head is adjusted by the rotation of the rotating seat, and then the pitch of the spray head is adjusted by the pitching part, so that the spray head is multi-directionally adjustable, suitable for oil stains at different positions, and the cleaning range and flexibility are improved. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 is a structural schematic diagram of a water route amphibious unmanned ship for oil stain cleaning of a dam flood discharge device in the embodiment of the present application.

[0036] Figure 2 is a structural schematic diagram of a walking assembly in the embodiment of the present application.

[0037] Figure 3 is a structural schematic diagram of a ship body in the embodiment of the present application.

[0038] Figure 4 is Figure 3 is an enlarged view of A in

[0039] BRIEF DESCRIPTION OF DRAWINGS

[0040] 1, ship body; 2, walking assembly; 21, walking frame; 211, fixed frame; 212, cross frame; 213, movable rod; 214, shock absorber; 22, drive wheel; 23, guide wheel; 231, supporting wheel; 232, tensioning wheel; 233, supporting wheel; 24, drive part; 25, walking track; 26, drive gear; 3, oil suction rope; 4, tensioning part; 41, screw rod; 42, screw cylinder; 5, flushing module; 51, rotating seat; 52, mounting block; 53, spray head; 54, pitching part; 541, pitching motor; 542, driving wheel; 543, driven wheel; 544, synchronous belt; 55, dust cover; 6, camera. DETAILED DESCRIPTION

[0041] The following will be described in detail in combination with the accompanying Figures 1-4 The present application is further described in detail.

[0042] The embodiment of the application discloses a waterway amphibious unmanned ship for oil cleaning of a dam flood discharge device.

[0043] Refer to Figure 1 And Figure 2 The waterway amphibious unmanned ship for oil cleaning of the dam flood discharge device comprises a ship body 1, a walking assembly 2 and an oil absorption rope 3. The walking assembly 2 comprises a walking frame 21, a driving wheel 22, a guide wheel 23, a driving part 24 and a walking track 25, the walking frame 21 is installed on the ship body 1, the driving wheel 22 and the guide wheel 23 are both installed on the walking frame 21, the driving part 24 is connected with the driving wheel 22 to drive the driving wheel 22 to rotate, the walking track 25 is sleeved on the driving wheel 22 and the guide wheel 23, and the oil absorption rope 3 is installed at the tail of the ship body 1. By cooperation of the driving wheel 22, the guide wheel 23, the driving part 24 and the walking track 25, the ship body 1 is continuously moved in the corridor, and the oil absorption rope 3 at the tail of the ship body 1 adsorbs the leaked oil, so that the oil in the dam corridor is cleaned.

[0044] The walking frame 21 comprises two symmetrical fixing frames 211 arranged on the ship body 1 and a cross frame 212 connecting the two symmetrical fixing frames 211, the cross frame 212 is penetrated on the ship body 1 and is fixedly connected with the ship body 1, and the driving wheel 22 and the guide wheel 23 are both installed on the fixing frame 211. The walking frame 21 is installed on the ship body 1 by cooperation of the fixing frame 211 and the cross frame 212, and the symmetrical fixing frames 211 make the walking assembly 2 more stable when driving the ship body 1 to move.

[0045] A plurality of driving teeth 26 are fixedly connected on the walking track 25, the driving teeth 26 are engaged with the driving wheel 22, the driving part 24 is a driving motor, the driving motor is fixedly connected on the ship body 1, and the output shaft of the driving motor is fixedly connected with the driving wheel 22 in the same axis.

[0046] Because there is oil in the corridor, the conventional driving wheel 22 is prone to slipping, so that walking is inconvenient, therefore, the walking track 25 is adopted in the application, so as to avoid slipping when the walking assembly 2 drives the ship body 1 to move, and make the walking assembly 2 drive the ship body 1 to move more smoothly.

[0047] The driving wheel 22 comprises a plurality of supporting wheels 231, tensioning wheels 232 and supporting wheels 233. The supporting wheels 231 in the embodiment are provided with four, and the four supporting wheels 231 are uniformly distributed on the lower track. In other embodiments, the supporting wheels 231 can be provided with five or six, the supporting wheels 231 are installed below the fixing frame 211, and the walking track 25 is sleeved on the supporting wheels 231. The four supporting wheels 231 improve the adaptability of the walking track 25 to the ground, reduce the pressure of the walking track 25 to the ground, and protect the dam ground structure. Meanwhile, the plurality of supporting wheels 231 can make the track run more stably.

[0048] Each fixed frame 211 is connected with an active rod 213 and a shock absorber 214, one end of each active rod 213 is hinged with the fixed frame 211, the other end is hinged with the supporting wheel 231, one end of each shock absorber 214 is hinged with the fixed frame 211, the other end is hinged with the supporting wheel 231. The cooperation of the active rod 213 and the shock absorber 214 can reduce the impact of the ship body 1 in the bumpy environment of the uneven ground, protect the ship body 1 and the walking assembly 2, and improve the stability of the structure.

[0049] The tensioning wheel 232 is installed with a tensioning piece 4 between the fixed frame 211, the tensioning piece 4 in this embodiment adopts the cooperation of a screw rod 41 and a screw cylinder 42, the driving screw rod 41 is in the position of the screw cylinder 42, so that the tensioning wheel 232 is close to or away from the fixed frame 211, and then the distance between the tensioning wheel 232 and the fixed frame 211 is controlled to adjust the tightness of the track, so as to ensure that the track is not too loose or too tight, improve the transmission efficiency, reduce the wear and tear, and prolong the service life.

[0050] The supporting wheel 233 is fixedly connected above the fixed frame 211, which supports the upper part of the track by the supporting wheel 233 to prevent sagging or disengagement, especially when running at high speed or load changes, the correct position of the track can be maintained, and the risk of track disengagement failure is reduced.

[0051] Referring to Figure 3 and Figure 4 In an optional embodiment, a flushing module 5 is also installed on the bow of the ship body 1, the flushing module 5 includes a rotating seat 51, a mounting block 52, a spray head 53 and a pitching piece 54, the rotating seat 51 is rotatably connected to the ship body 1, the mounting block 52 is fixedly connected to the rotating seat 51, the spray head 53 is rotatably connected to the mounting block 52, and the pitching piece 54 is installed on the mounting block 52 and rotatably connected with the spray head 53 to drive the spray head 53 to pitch.

[0052] The driving motor is installed in the ship body 1 to drive the rotating seat 51 to rotate, the horizontal direction of the spray head 53 is adjusted by the rotation of the rotating seat 51, and the pitching of the spray head 53 is adjusted by the pitching piece 54, so that the spray head 53 is multi-directionally adjustable, suitable for oil stains in different positions, and improves the cleaning range and flexibility. The water sprayed by the spray head 53 is used to clean the front area of the ship body 1, to pretreat the oil stains, to soften and disperse the oil stains, to facilitate more effective adsorption of the oil suction rope 3, and to improve the overall cleaning efficiency.

[0053] The pitching member 54 comprises a pitching motor 541, a driving wheel 542, a driven wheel 543 and a synchronous belt 544, the pitching motor 541 is fixedly connected to the mounting block 52, the driving wheel 542 is coaxially fixedly connected to the output shaft of the pitching motor 541, the driven wheel 543 is fixedly connected to the nozzle 53, one end of the synchronous belt 544 is wound on the driving wheel 542, and the other end is wound on the driven wheel 543. The driving wheel 542 is driven to rotate by the pitching motor 541, the driving wheel 542 rotates through the synchronous belt 544 to drive the driven wheel 543 to rotate, and the driven wheel 543 rotates to control the nozzle 53 to pitch.

[0054] The nozzle 53 is fixedly connected with a camera 6, and the camera 6 faces the spraying direction of the nozzle 53. The camera 6 faces the water spraying direction, can monitor the cleaning effect in real time, adjusts the direction and angle of the nozzle 53, and realizes accurate cleaning.

[0055] Referring to Figure 1 The pitching member 54 further comprises a dust cover 55, the dust cover 55 covers the rotating seat 51, the mounting block 52 and the pitching member 54, so as to avoid damage to the parts inside the flushing module 5.

[0056] The implementation principle of the water route amphibious unmanned ship for oil cleaning of the dam flood discharge device is that the ship body 1 is driven to move into the corridor, when the water level is low, the walking track 25 is in contact with the bottom of the corridor, then the driving member 24 drives the driving wheel 22 to rotate, the driving wheel 22 drives the track to rotate, and the track moves the ship body 1 in the corridor under the guidance of the guide wheel 23, when the ship body 1 moves through the oil pollution, the oil absorption rope 3 at the tail of the ship body 1 absorbs the leaked oil pollution.

[0057] At the same time, when the ship body 1 moves in the corridor, the rotating seat 51 is controlled to rotate, and the pitching member 54 controls the nozzle 53 to pitch, so that the camera 6 can observe the oil leakage in the corridor, when the oil pollution is observed, the nozzle 53 is controlled to spray water column to pretreat the oil pollution, soften and disperse the oil pollution, facilitate the oil absorption rope 3 to absorb more effectively, and thus complete the cleaning of all oil pollution in the dam corridor.

[0058] The above are preferred embodiments of the present application, which do not limit the protection scope of the present application, therefore: any equivalent changes made on the structure, shape and principle of the present application should be covered within the protection scope of the present application.

Claims

1. An amphibious unmanned surface vessel for cleaning oil spills from dam spillway devices, characterized in that, include: hull(1); The walking assembly (2) includes a walking frame (21), a drive wheel (22), a guide wheel (23), a drive component (24), and a walking track (25). The walking frame (21) is mounted on the hull (1). The drive wheel (22) and the guide wheel (23) are both mounted on the walking frame (21). The drive component (24) is connected to the drive wheel (22) to drive the drive wheel (22) to rotate. The walking track (25) is sleeved on the drive wheel (22) and the guide wheel (23). Oil suction cable (3) is installed on the hull (1).

2. The amphibious unmanned vessel for cleaning oil spills from dam spillway devices according to claim 1, characterized in that: The traveling frame (21) includes two fixed frames (211) symmetrically arranged about the hull (1) and a cross frame (212) connecting the two symmetrically arranged fixed frames (211). The cross frame (212) passes through the hull (1) and is fixedly connected to the hull (1). The drive wheel (22) and the guide wheel (23) are both mounted on the fixed frames (211).

3. The amphibious unmanned vessel for cleaning oil spills from dam spillway devices according to claim 2, characterized in that: The guide wheel (23) includes a plurality of support wheels (231), the support wheels (231) are installed below the fixed frame (211), and the walking track (25) is fitted on the support wheels (231).

4. The amphibious unmanned vessel for cleaning oil spills from dam spillway devices according to claim 3, characterized in that: Each of the fixed frames (211) is connected to the support roller (231) by a movable rod (213) and a shock absorber (214). One end of each movable rod (213) is hinged to the fixed frame (211) and the other end is hinged to the support roller (231). One end of each shock absorber (214) is hinged to the fixed frame (211) and the other end is hinged to the support roller (231).

5. The amphibious unmanned surface vessel for cleaning oil spills from dam spillway devices according to any one of claims 2-4, characterized in that: The guide wheel (23) includes a tension wheel (232), and a tensioning member (4) is installed between the tension wheel (232) and the fixed frame (211). The tensioning member (4) is used to drive the tension wheel (232) to move closer to or away from the fixed frame (211).

6. The amphibious unmanned vessel for cleaning oil spills from dam spillway devices according to claim 2, characterized in that: The guide wheel (23) includes a support wheel (233), which is fixedly connected above the fixed frame (211).

7. The amphibious unmanned vessel for cleaning oil spills from dam spillway devices according to claim 1, characterized in that: A flushing module (5) is installed on the bow of the hull (1), and the flushing module (5) is used to spray water in front of the hull (1).

8. The amphibious unmanned vessel for cleaning oil spills from dam spillway devices according to claim 7, characterized in that: The flushing module (5) includes a rotating base (51), a mounting block (52), a nozzle (53), and a pitching component (54). The rotating base (51) is rotatably connected to the hull (1). The mounting block (52) is fixedly connected to the rotating base (51). The nozzle (53) is rotatably connected to the mounting block (52). The pitching component (54) is mounted on the mounting block (52) and is rotatably connected to the nozzle (53) to drive the nozzle (53) to pitch.

9. The amphibious unmanned vessel for cleaning oil spills from dam spillway devices according to claim 8, characterized in that: The pitch component (54) includes a pitch motor (541), a drive wheel (542), a driven wheel (543), and a timing belt (544). The pitch motor (541) is fixedly connected to the mounting block (52). The drive wheel (542) is coaxially fixedly connected to the output shaft of the pitch motor (541). The driven wheel (543) is fixedly connected to the nozzle (53). One end of the timing belt (544) is wound around the drive wheel (542), and the other end is wound around the driven wheel (543).

10. The amphibious unmanned vessel for cleaning oil spills from dam spillway devices according to claim 8, characterized in that: A camera (6) is fixedly connected to the nozzle (53) at the spray end, and the camera (6) faces the spray direction of the nozzle (53).

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