RU2307022C1 - Petroleum-collecting robot - Google Patents

Abstract

FIELD: manufacture of mobile robots, namely apparatuses for collecting petroleum.

SUBSTANCE: petroleum-collecting robot includes two independently controlled wheels, supporting self-orienting wheels and wheels with paddles and petroleum collecting apparatus. Self-orienting wheels, wheels with paddles and petroleum collecting apparatus are telescopic ones by means of lengthwise levers. Said levers of self-orienting wheels and of petroleum collecting apparatus are mutually coupled through kinematics links; wheels with paddles are connected with drive when they are protruded.

EFFECT: enlarged functional possibilities of robot.

15 dwg

Description

The invention relates to mobile robotics designed to combat environmental pollution, in particular to technical means of collecting oil during accidental spills.

Known drum type oil collector (Pat. RU 44691), made in the form of rotating brushes.

A disadvantage of the known device is the impossibility of independent movement of the oil collector, in particular over rough terrain.

A well-known robot (Pat. RU 37637), containing a platform with two drive and two self-orientating wheels.

A disadvantage of the known design of the robot is the lack of an oil collection device and limited capabilities when moving in an environment with obstacles.

The purpose of the invention is the expansion of the functionality of the robot.

The goal is achieved in that the oil skimmer contains two independently steered wheels, self-aligning support wheels, additional wheels with plates and an oil collecting device, the self-orientating wheels, the wheels with plates and the oil collecting device are retractable on the trailing arms, while the retractable trailing arms of the self-orientating wheels and oil gathering devices are kinematically connected to each other.

Distinctive features of the claimed invention in comparison with the prototype is that the oil skimmer contains additional wheels with plates and an oil collecting device, the self-orientating wheels, the wheels with plates and the oil collecting device are retractable on the longitudinal arms, while the sliding longitudinal arms of the self-orientating wheels and the oil collecting device made kinematically connected.

The invention is illustrated by drawings, where:

figure 1 shows the kinematic diagram of the oil recovery robot;

figure 2, 3, 4 - a robot oil collector with retracted plate wheels, an oil collecting device and extended self-orientating wheels (axonometry, side view, top view);

5, 6, 7 - a robot oil collector with retracted slab wheels, self-orientating wheels and an extended oil collector (axonometry, side view, top view);

Figs. 8, 9, 10 - a skimmer robot with extended plate wheels, a skimmer and retracted self-orienting wheels (axonometry, side view, top view);

Figure 11, 12, 13, 14, 15 is a diagram of the movement of the oil-collecting robot through an obstacle.

The oil recovery robot comprises a housing 1, two independently steered wheels 2 from the actuators 3, self-orientating wheels 5 mounted on the longitudinal arms 4 and an oil collecting device in the form of a brush 6 rotating from the actuator 7 with an oil receiver 8, and also the plate wheels located on the rotary longitudinal arms 9 10. The longitudinal rotary levers 9 are connected with the drive 11. The plate wheels 10 are kinematically connected with the drive 3 by means of belt gears 12 and 13. The longitudinal levers 4 are connected with the drive 14 by means of a belt gear cottages 15. Drives 3 contain controlled clutch 16.

The oil recovery robot operates as follows. When moving on smooth horizontal surfaces, the plate wheels 10 are retracted into the housing 1, while the self-orientating wheels 5 are extended. The rotation or rotation of the robot is provided by the independent control of the drives 3. If necessary, overcoming obstacles, the plate wheels 10 are pulled out of the housing 1, the controlled clutches 16 are switched and the rotation from the drives 3 is transmitted to the plate wheels 10. An oil collecting device 6 is pulled out to collect oil, while the self-orienting wheels 5 slide into the robot body.

The oil skimmer constructed according to this scheme has wide functionality. This remote-controlled oil skimmer that can operate in an automated mode increases the efficiency and safety of oil spill response.

Claims (1)

The oil pick-up robot, which includes two independently controlled wheels, self-aligning support wheels, and also wheels with plates and an oil collecting device, while the self-orienting wheels, plates with wheels and an oil collecting device are made sliding on the longitudinal arms, the longitudinal arms of the self-orientating wheels and the oil collecting device are kinematically connected between themselves, and wheels with plates connected to the drive in their extended position.

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