CN103818522B - A kind of oil spilling recycling machine people - Google Patents
A kind of oil spilling recycling machine people Download PDFInfo
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- CN103818522B CN103818522B CN201210466385.1A CN201210466385A CN103818522B CN 103818522 B CN103818522 B CN 103818522B CN 201210466385 A CN201210466385 A CN 201210466385A CN 103818522 B CN103818522 B CN 103818522B
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- oil
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- machine people
- recycling machine
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Abstract
The open a kind of oil spilling recycling machine people of the present invention, after specifically a kind of generation marine oil overflow accident, under the equipment such as the oil fence coordinate, can independently complete oil spilling recycling machine people, and it is made up of robot body and automatic collecting oil system two parts；Robot body uses big buoyancy pressure-resistant cabin formula structure, is responsible for providing reliable and stable mobile platform；The oil-water mixture sucked in robot navigation after oil skimmer and oil water separator separate, is automatically changed and segregation apparatus by automatic collecting oil system by oil storage bag, enters oil storage bag；Oil storage bag can be spontaneously decoupled after filling, and robot changes new oil sac and continued oil spilling recovery operation；The present invention greatly improves the concentration reclaiming oil spilling by oil-water separation, adds the oil spilling collecting amount of robot, improves organic efficiency, and economy is good, it is adaptable to oil products.
Description
Technical field
The present invention relates to marine oil overflow recycling machine people, specifically one oil spill accident at sea occur
After, independently complete oil spilling recycling machine people.
Background technology
With economic sustained and rapid development, China's offshore oil exploitation activity is day by day frequent, China in 2010
The marine oil gas platform in production reaches 195, and marine oil spill accident risk raises；Oil shipping import
Amount increases day by day, and ship spill contamination accident happens occasionally.The Gulf of Mexico deep water oil spilling occurred for 2010
Accident and Dalian 7.16 oil spill accident and Bohai Sea Gulf Kang Fei oil accident in 2011, beat to people
The alarm bell of sea environment-friendly.In general, oil can constitute harm to major part aquatic organism.Secondly.Its meeting
The secondary disasters such as initiation fire.Additionally can also result in marine and littoral facility, boats and ships damage because of
This, oil spilling reclaims the energy that not only can collect waste, and for preserving the ecological environment and mankind itself
It is significant.The most general oil spilling recovery method is Physical, i.e. there is shape not changing oil spilling
In the case of state by oil spilling from hot separation out, generic way is to use ship to take formula oil skimmer to carry out oil spilling
Reclaim.The subject matter of this mode is that Financial cost is high, and the most not only cost is high, and carries out every time
The operation cost that oil spilling reclaims operation is the most extremely expensive.And organic efficiency is relatively low.Therefore a kind of warp it is badly in need of
The device that Ji is reliable, organic efficiency is high, sea situation is adaptable carries out oil spilling recovery.
Summary of the invention
In order to solve that cost in existing oil spilling way of recycling is high, efficiency is low, problem, the invention solves the problems that
Technical problem be to provide one oil spill accident at sea occur after, independently complete oil spilling recycling machine people.
It is an object of the invention to be achieved through the following technical solutions
A kind of oil spilling recycling machine people, including robot body, and on the basis of have additional automatic collecting oil system
System；Wherein robot body uses big buoyancy pressure-resistant cabin formula structure, and the positive buoyancy of this pressure-resistant cabin formula structure is
A height of 50 millimeters of 100kg, metancenter, is responsible for providing reliable and stable mobile platform；Automatic collecting oil system is solid
It is scheduled on robot body framework, it is achieved overflow oil recovery.
Automatic collecting oil system is by oil skimming separator, automatically change segregation apparatus, oil storage bag and automatic collecting oil control
System processed forms, and described oil skimming separator, automatic replacing are connected by oil pipe between segregation apparatus and oil storage bag
Lead to and controlled by automatic collecting oil control system respectively.
Described oil skimming separator is made up of oil skimmer and oil water separator, and oil skimming separator rear and front end mouth divides
It is not connected with electrodynamic pump.
Described automatic replacing segregation apparatus includes linear electric motors, blasting bolt and the method for connection linear electric motors
Orchid, this is automatically changed segregation apparatus and is used by linear electric motors automatically changing for oil storage bag, blasting bolt
Separation in oil storage bag.
Robot body mainly includes carrier system, energy resource system, control and navigation system, propulsion system
And two set metancenter regulation system；Wherein, carrier system front end is respectively provided on two sides with oil fence formula and sweeps oil arm,
Oil fence formula sweeps oil arm for guiding oil-water mixture to flow into automatic collecting oil system.
Energy resource system is oil/power drive system, and wherein oil drive system is mainly by diesel engine and 2 fuel tanks
Constituting, be arranged on carrier system framework, it is that oil skimming separates that two fuel tanks are placed in the both sides of oil skimming separator
Device provides power；Power drive system is mainly made up of set of cells and management system, is arranged on carrier system resistance to
In ballasting, regulate oneself in system and automatic collecting oil system for control and navigation system, propeller, metancenter
Dynamic segregation apparatus of changing provides power.
Described control and navigation system include that wireless aerial is arranged in robot upper part, are used for and the oil fence
On the communication of local area differential GPS system；Cursor is made up of light emitting diode and control circuit, is used for showing
Robot location；Automatic Pilot computer uses PC104 bus mode, by standard board and self-control function
Board forms, and is responsible for the management decision-making of whole robot.
Described propulsion system is arranged on robot stern, by two screw propellers and electric-motor drive unit
Composition, is responsible for the navigation of robot and turns to
Two set metancenter regulation systems, are separately mounted to both sides, robot bottom, and often set metancenter regulation system is equal
Including leather bag, hydraulic oil container, hydraulic pump and reversal valve；Wherein, leather bag is placed in outside robot, its
Remaining part is divided in robot pressure-resistant cabin, and when robot metancenter changes, the oil in hydraulic oil container is by pump
Suction leather bag or from leather bag suction fuel tank, and then change displacement of volume to change metancenter.
Beneficial effects of the present invention and advantage be:
The most with low cost.Relative to traditional overflow oil recovering ship, not only cost is low, and receives oil work every time
The operation cost of industry also greatly reduces.And owing to have employed the mode of AUTONOMOUS TASK (all by robot
Substitute operation), cost is substantially reduced.
2. organic efficiency is high, wide coverage.Robot is provided with two set metancenter regulation systems plus automatically
Attitude regulation controls, it is possible to make oil skimmer work under optimum efficiency all the time；Owing to using oil water separator,
Enable to reclaim the marine oil overflow covering major part range of viscosities.
3. the present invention greatly improves the concentration reclaiming oil spilling by oil-water separation, adds robot
Oil spilling collecting amount, improve organic efficiency, and economy be good, it is adaptable to oil products.
Accompanying drawing explanation
Fig. 1 is marine oil overflow recycling machine people's operation principle compositional block diagram of the present invention.
Fig. 2 is the structural upright schematic diagram of marine oil overflow recycling machine people of the present invention.
Fig. 3 be Fig. 2 oil spilling recycling machine people in automatic collecting oil system structure schematic diagram.
Fig. 4 is oil spilling recycling machine people's oil skimming separator and the structure assembling schematic diagram of diesel engine of Fig. 3.
Fig. 5 is the oil storage bag connection diagram of marine oil overflow recycling machine people of the present invention.
Fig. 6 is that marine oil overflow recycling machine people's metancenter of the present invention regulates system layout.
Fig. 7 is that marine oil overflow recycling machine people's metancenter of the present invention regulates system hydraulic schematic diagram.
Detailed description of the invention
With embodiment, the solution of the present invention is described in further detail below in conjunction with the accompanying drawings.
As it is shown in figure 1, be marine oil overflow recycling machine people's operation principle compositional block diagram of the present invention.It is one
Plant oil spilling recycling machine people, including robot body 1, it is characterised in that: it is additionally arranged automatic collecting oil system；
Robot body 1 uses big buoyancy pressure-resistant cabin formula structure, be provided with positive buoyancy be 100kg, metancenter a height of 50
Millimeter；Described automatic collecting oil system is fixed on robot body 1 framework, it is achieved overflow oil recovery.
Robot body 1 include carrier system, energy resource system, control and navigation system, propulsion system and
Two set metancenter regulation systems 21；Wherein, carrier system front end is respectively provided on two sides with oil fence formula and sweeps oil arm 2,
Oil fence formula sweeps oil arm for guiding oil-water mixture to flow into automatic collecting oil system.
Robot body described in the present embodiment by carrier system, energy resource system, control and navigation system,
Propulsion system and two set metancenters regulation systems 21 form, and wherein carrier system is by pressure-resistant cabin, framework, floating
Dead-wood material is epoxy resin and oil fence formula is swept oil arm 2 and formed.
As in figure 2 it is shown, be the perspective view of marine oil overflow recycling machine people of the present invention.Carrier system
The pressure-resistant cabin of system and framework are for disposing all building blocks in robot body 1 and equipment；Robot
In body, the buoyant material of carrier system uses epoxy resin to be used for providing positive buoyancy, oil fence formula to sweep oil arm
2 are arranged on robot body 1 front end, for guiding oil-water mixture to enter automatic collecting oil system when navigation
System;Upending frame 6 is arranged on robot body 1 upper frame, for laying of oil spilling recycling machine people
And recovery；It is peripheral that kuppe 8 is arranged on robot body 1 lower frame, is used for reducing oil spilling recycling machine
The resistance of device people.
Energy resource system is oil/power drive system, and wherein oil drive system is mainly by diesel engine 15 and 2 oil
Case 11 is constituted, and is arranged on carrier system framework, and two fuel tanks 11 are placed in the two of oil skimming separator 14
Side provides power for oil skimming separator 14；Power drive system is mainly made up of set of cells and management system,
It is arranged in carrier system pressure-resistant cabin, for controlling and navigation system, propeller 7, metancenter regulation system 21
And the segregation apparatus of automatically changing in automatic collecting oil system provides power.
Described control and navigation system include that wireless aerial 4 is arranged in robot upper part, are used for and enclose oil
Local area differential GPS's system communication on hurdle；Cursor 5 is made up of light emitting diode and control circuit, is used for
Display robot location；Automatic Pilot computer uses PC104 bus mode, by standard board and self-control
Functional cards forms, and is responsible for the management decision-making of whole robot.
In the present embodiment, described control and navigation system are by wireless aerial 4, cursor 5, attitude and survey
Speed sensor, automatic Pilot computer, other sensors and emergency system composition；Attitude and the sensing that tests the speed
Device is arranged on robot interior, for the course angle of real-time measuring robots, Angle of Trim, rock and roll angle, boat
The various parameter such as line speed, provides data support for robot autonomous navigation.Other sensors include the degree of depth
Meter, Forward-looking Sonar 3, enter water sensor, leakage sensor etc., for the assist control of robot.Should
Anxious system is mainly used in when the computer of automatic Pilot goes wrong, the boat of emergency system taken over machine people
Row controls.
Described propulsion system is arranged on robot stern, two screw propellers 7 and motor drive single
Unit's composition, is responsible for the navigation of robot and turns to
Described two set metancenter regulation systems 21, are separately mounted to both sides, robot bottom, the often regulation of set metancenter
System 21 all includes leather bag 16, hydraulic oil container, hydraulic pump 22 and reversal valve 23；Wherein, leather bag 16
Being placed in outside robot, remainder (hydraulic oil container, hydraulic pump 22 and reversal valve 23) is at machine
In people's pressure-resistant cabin.
As illustrated in 6,7, system layout is regulated for marine oil overflow recycling machine people's metancenter of the present invention
System hydraulic schematic diagram is regulated with marine oil overflow recycling machine people's metancenter.Robot body 1 arranges two sets
Metancenter regulation system 21, be arranged in both sides, robot bottom, it by leather bag 16, hydraulic oil container,
Hydraulic pump 22 and reversal valve 23 form.Wherein leather bag 16 is placed in outside robot body, its remaining part
Divide in robot pressure-resistant cabin.
In oil spilling removal process, due to wave or automatically change each oil storage bag 13 of segregation apparatus 12 with
Robot departs from, and makes robot body 1 metancenter change, at this moment metancenter regulation system starts:
By hydraulic pump by the oily suction leather bag 16 in hydraulic oil container, or by oil suction hydraulic oil from leather bag 16
Being automatically brought into operation of case, changes the displacement of volume of leather bag 16, and then regulation robot body 1 metancenter.
Automatic collecting oil system is by oil skimming separator 14, automatically replacing 12,3 oil storage bags 13 of segregation apparatus
Form with automatic collecting oil control system；Described oil skimming separator, automatically change segregation apparatus and oil storage bag it
Between connect and controlled by automatic collecting oil control system respectively by oil pipe 9.
In the present embodiment, oil skimming separator 14 is arranged on robot frame lower front end, oil skimming separator 14
Being made up of oil skimmer and oil water separator, oil skimming separator 14 rear and front end mouth is respectively with electrodynamic pump 10 even
Connect, be used for aspirating oil-water mixture.Wherein, oil skimming separator 14, automatically replacing segregation apparatus input
Connect automatic collecting oil control system respectively.
Described automatic replacing segregation apparatus 12 includes linear electric motors, blasting bolt 18 and connects linear electric motors
Flange 19, this changes segregation apparatus by linear electric motors automatically for the automatic replacing of oil storage bag 13,
Blasting bolt 18 is for the separation of oil storage bag 13.Above-mentioned 3 oil storage bags 13 pass through blasting bolt respectively
18, the flange 17 connecting oil storage bag and the flange 19 connecting linear electric motors are connected with linear electric motors.
Being provided with check valve 20 in described oil storage bag 13, this check valve 20 is arranged on oil storage bag 13 porch,
After oil storage bag 13 departs from, internal fluid will not overflow.
As shown in Figure 3,4, for automatic collecting oil system structure schematic diagram and oil spilling in oil spilling recycling machine people
The oil skimming separator of recycling machine people and the structure of diesel engine assemble schematic diagram.
The oil spilling of robot reclaims principle: oil-water mixture is swept oil arm 2 by oil fence formula and led into electronic
After pump 10, flowing into oil skimming separator 14, carry out oil-water separation, the water after separation is through oil skimming separator 14
Drain pipe discharge, isolated oil is by automatically changing and segregation apparatus 12 enters oil storage bag 13.?
Automatically change and the oil circuit of segregation apparatus 12 is provided with effusion meter, for detecting the oil entering oil storage bag 13
Amount, when oil storage bag 13 punching is full, blasting bolt 18 action makes oil storage bag 13 and robot body 1 point
From.
Automatically change and segregation apparatus 12 is provided with linear electric motors and 3 oil storage bags 13, each oil storage bag 13
The flange 17 by blasting bolt 18, connecting oil storage bag respectively and the flange 19 connecting linear electric motors are with straight
Line motor connects.Linear electric motors are for the automatic replacing of oil storage bag 13, and blasting bolt 18 is for oil storage bag
The separation of 13.It is provided with check valve, in after oil storage bag 13 with robot body 1 disengaging in oil storage bag 13
Portion's fluid will not overflow, as shown in Figure 5.
The heretofore described case that is embodied as is only the preferable case study on implementation of the present invention, rather than is used for limiting
The practical range of the present invention.The most all equivalences made according to the content of scope of the present invention patent change and repair
Decorations, all should be used as the technology category of the present invention.
Claims (9)
1. an oil spilling recycling machine people, including robot body (1), it is characterised in that: have additional automatic collecting oil system on its basis；Wherein robot body (1) uses big buoyancy pressure-resistant cabin formula structure, and the positive buoyancy of this pressure-resistant cabin formula structure is 100kg, a height of 50 millimeters of metancenter, is responsible for providing reliable and stable mobile platform；Automatic collecting oil system is fixed on robot body (1) framework, it is achieved overflow oil recovery；
Automatic collecting oil system by oil skimming separator (14), automatically change segregation apparatus (12), oil storage bag (13) and automatic collecting oil control system and form, described oil skimming separator (14), automatically change between segregation apparatus (12) and oil storage bag (13) by oil pipe (9) connect and controlled by automatic collecting oil control system respectively, its oil storage bag (13) can arrange 3.
2. a kind of oil spilling recycling machine people as described in claim 1, it is characterized in that: described oil skimming separator (14) is made up of oil skimmer and oil water separator, oil skimming separator (14) rear and front end mouth is connected with electrodynamic pump (10) respectively.
3. a kind of oil spilling recycling machine people as described in claim 1, it is characterized in that: described automatic replacing segregation apparatus (12) includes linear electric motors, blasting bolt (18) and connects the flange (19) of linear electric motors, this is automatically changed segregation apparatus and is used for the automatic replacing of oil storage bag (13) by linear electric motors, and blasting bolt (18) is for the separation of oil storage bag (13).
4. a kind of oil spilling recycling machine people as described in claim 1, it is characterized in that: in described oil storage bag (13), be provided with check valve (20), this check valve (20) is arranged on oil storage bag (13) porch, after oil storage bag (13) departs from, it is ensured that internal fluid will not overflow.
5. a kind of oil spilling recycling machine people as described in claim 1, it is characterised in that: robot body (1) mainly includes carrier system, energy resource system, control and navigation system, propulsion system and two sets metancenter regulation system (21)；Wherein, carrier system front end is respectively provided on two sides with oil fence formula and sweeps oil arm (2), and oil fence formula sweeps oil arm for guiding oil-water mixture to enter automatic collecting oil system.
6. a kind of oil spilling recycling machine people as described in claim 5, it is characterized in that: energy resource system is oil/power drive system, wherein oil drive system is mainly made up of diesel engine (15) and 2 fuel tanks (11), being arranged on carrier system framework, it is that oil skimming separator (14) provides power that two fuel tanks (11) are placed in the both sides of oil skimming separator (14)；Power drive system is mainly made up of set of cells and management system, it is arranged in carrier system pressure-resistant cabin, for controlling to provide power with the segregation apparatus of automatically changing in navigation system, propeller (7), metancenter regulation system (21) and automatic collecting oil system.
7. a kind of oil spilling recycling machine people as described in claim 6, it is characterised in that: described control and navigation system include that wireless aerial (4) is arranged in robot upper part, for communicating with the local area differential GPS's system on the oil fence；Cursor (5) is made up of light emitting diode and control circuit, is used for showing robot location；Automatic Pilot computer uses PC104 bus mode, is made up of standard board and self-control functional cards, is responsible for the management decision-making of whole robot.
8. a kind of oil spilling recycling machine people as described in claim 5, it is characterised in that: described propulsion system is arranged on robot stern, is made up of two screw propellers (7) and electric-motor drive unit, is responsible for the navigation of robot and turns to.
9. a kind of oil spilling recycling machine people as described in claim 5, it is characterized in that: two sets metancenter regulation system (21), being separately mounted to both sides, robot bottom, often set metancenter regulation system (21) all includes leather bag (16), hydraulic oil container, hydraulic pump (22) and reversal valve (23)；Wherein, leather bag (16) is placed in outside robot, and remainder is in robot pressure-resistant cabin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210466385.1A CN103818522B (en) | 2012-11-16 | 2012-11-16 | A kind of oil spilling recycling machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210466385.1A CN103818522B (en) | 2012-11-16 | 2012-11-16 | A kind of oil spilling recycling machine people |
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| CN103818522A CN103818522A (en) | 2014-05-28 |
| CN103818522B true CN103818522B (en) | 2016-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210466385.1A Expired - Fee Related CN103818522B (en) | 2012-11-16 | 2012-11-16 | A kind of oil spilling recycling machine people |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104908897B (en) * | 2015-06-16 | 2018-01-16 | 安徽中科华澄智能科技有限公司 | A kind of autonomous cruise spilled oil on water surface recycling machine people |
| CN105775054B (en) * | 2016-03-03 | 2017-12-26 | 武汉理工大学 | Ant colony formula dynamic oil spilling recovery method |
| CN106542056B (en) * | 2016-12-10 | 2018-07-17 | 国家海洋局第二海洋研究所 | A kind of ocean rubbish localization process ship and ocean rubbish location processing method |
| CN106926984B (en) * | 2017-02-24 | 2019-01-11 | 杭州电子科技大学 | Oil pollution at sea handling machine people |
| CN110205997B (en) * | 2019-06-18 | 2024-04-05 | 河海大学 | Emergency treatment device for oil spill accident |
| CN113699953B (en) * | 2021-08-31 | 2022-08-26 | 生态环境部华南环境科学研究所 | Automatic oil collecting system and method on water surface |
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| CN101746489A (en) * | 2010-02-02 | 2010-06-23 | 天津汉海环保设备有限公司 | Floating oil receiving equipment |
| CN102007251A (en) * | 2008-02-16 | 2011-04-06 | 米龙二世·沙利文 | Oil recovery system and apparatus |
| CN102127906A (en) * | 2011-01-18 | 2011-07-20 | 南京清波蓝藻环保科技有限公司 | System for recovering water body floating oil |
| CN102644262A (en) * | 2011-02-17 | 2012-08-22 | 青岛光明环保技术有限公司 | Buoy-type weir oil recovery device |
| CN202936769U (en) * | 2012-11-16 | 2013-05-15 | 中国科学院沈阳自动化研究所 | Spilled oil recycling robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP4263032B2 (en) * | 2003-06-26 | 2009-05-13 | 国土交通省四国地方整備局長 | Vacuum suction oil recovery system |
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|---|---|---|---|---|
| CN102007251A (en) * | 2008-02-16 | 2011-04-06 | 米龙二世·沙利文 | Oil recovery system and apparatus |
| CN101746489A (en) * | 2010-02-02 | 2010-06-23 | 天津汉海环保设备有限公司 | Floating oil receiving equipment |
| CN102127906A (en) * | 2011-01-18 | 2011-07-20 | 南京清波蓝藻环保科技有限公司 | System for recovering water body floating oil |
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| CN202936769U (en) * | 2012-11-16 | 2013-05-15 | 中国科学院沈阳自动化研究所 | Spilled oil recycling robot |
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| CN103818522A (en) | 2014-05-28 |
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