Non-magnetic material surface magnetic attraction robot

Abstract

The invention relates to the technical field of wall-climbing robots, in particular to a non-magnetic material surface magnetic attraction robot which comprises a vehicle body. The magnetic attraction mechanism is arranged on the vehicle body and can generate a magnetic field; the driving mechanism is used for driving the vehicle body to move; the two non-magnetic material surface magnetic attraction robots are arranged on the two sides of the climbing body correspondingly, the two non-magnetic material surface magnetic attraction robots attract each other through a magnetic field generated by the magnetic attraction mechanism, one non-magnetic material surface magnetic attraction robot is arranged in the radioactive storage tank, and the other non-magnetic material surface magnetic attraction robot is arranged outside the radioactive storage tank; the magnetic attraction mechanisms on the two non-magnetic material surface magnetic attraction robots attract each other, so that the moving wheels of the vehicle body are tightly attached to the radioactive storage tank, and the vehicle body can be moved to different parts in the radioactive storage tank.

Description

Technical Field

[0001] The invention relates to the technical field of wall-climbing robots, in particular to a magnetic attraction robot on the surface of a non-magnetic material. Background Art

[0002] Existing magnetic adsorption wall-climbing robots (such as patents CN202211664180.4, CN202211307778.8, 202210519341.4, etc.) all use single-sided magnetic adsorption, and are adsorbed on the surface of magnetic materials to perform a series of robot actions. They are mostly used for inspection, rust removal and polishing of air ducts and ship surfaces. For non-magnetic materials such as stainless steel surfaces, the above magnetic adsorption cannot use magnetism to adsorb the robot to the surface for operation.

[0003] Existing robots working on non-magnetic materials are all negative pressure or vacuum adsorption wall-climbing robots (such as patents CN202111575430.2 and CN202322703925.X). Negative pressure adsorption has the disadvantages of loud noise, large size, and energy consumption during operation. Vacuum adsorption requires a flat wall surface and has poor steering performance. The above robots cannot perform efficient operations inside storage tanks that are inaccessible to humans, have limited space, and have uneven surfaces.

[0004] Most traditional robots use crawler walking (such as patents CN202323055636.X, CN202210693856.6). By installing magnets or other adsorption devices on the crawler, the robot can firmly attach to the wall and move through adsorption or friction. It is particularly suitable for robots that need to move on vertical walls. However, crawler robots are not easy to turn or change the direction of movement, so their maneuverability in narrow or complex environments is limited, turning is difficult, and the crawler has a large weight. Due to the large friction of the crawler, a large power is required to move, so a larger battery or energy supply may be required. Therefore, in a storage tank with a narrow environment, this large volume and large energy supply required walking method is no longer applicable.

[0005] Traditional double-sided adsorption robots (such as patents CN201710731672.3 and CN201910354413.2) use electromagnetic adsorption on the inside and outside of the glass to perform window cleaning and washing operations. The reported double-sided adsorption robots lack functions such as weight bearing and polishing, and cannot meet the functions of flushing, suction, and polishing on the surface of stainless steel tanks. There are no reports of robots that perform double-sided magnetic adsorption on stainless steel surfaces.

[0006] The radioactive materials remaining inside the radioactive tank will make the radioactivity level of the tank high and cannot meet the requirements of decommissioning and dismantling. Therefore, during the decommissioning stage of the radioactive tank, a series of operations such as cleaning and decontamination of the tank surface and interior and cleaning of residues are required. There is a high dose rate inside the tank, and the space is relatively small, making it difficult for personnel to approach and work directly. Therefore, a non-magnetic material surface magnetic suction robot is proposed to move on the surface of stainless steel tanks. Summary of the invention

[0007] In view of the above problems or problems existing in the prior art, the present invention is proposed.

[0008] Therefore, the object of the present invention is to provide a magnetic attraction robot on the surface of non-magnetic material.

[0009] In order to solve the above technical problems, the present invention provides the following technical solutions: a non-magnetic material surface magnetic suction robot, comprising:

[0010] Vehicle body;

[0011] A magnetic attraction mechanism, which is arranged on the vehicle body and can generate a magnetic field;

[0012] A driving mechanism, which is used to drive the vehicle body to move;

[0013] Two magnetic robots made of non-magnetic materials are respectively arranged on both sides of the climbing body, and are attracted to each other through the magnetic field generated by the magnetic attraction mechanism.

[0014] As a preferred solution of the non-magnetic material surface magnetic attraction robot of the present invention, wherein: the magnetic attraction mechanism is a permanent magnet or an electromagnet.

[0015] As a preferred solution of the non-magnetic material surface magnetic attraction robot of the present invention, wherein: a laser radar is provided on the vehicle body.

[0016] As a preferred solution of the non-magnetic material surface magnetic attraction robot of the present invention, wherein: a binocular vision system is provided on the vehicle body.

[0017] As a preferred solution of the non-magnetic material surface magnetic attraction robot of the present invention, wherein: the vehicle body adopts a wheeled walking structure.

[0018] As a preferred solution of the non-magnetic material surface magnetic attraction robot of the present invention, wherein: two magnetic attraction mechanisms are provided, symmetrically arranged on the vehicle body, and the polarities of the opposite ends of the magnetic attraction mechanisms are the same.

[0019] As a preferred solution of the non-magnetic material surface magnetic attraction robot of the present invention, wherein: a cleaning device is provided on the vehicle body.

[0020] As a preferred solution of the non-magnetic material surface magnetic attraction robot of the present invention, wherein: a suction device is provided on the vehicle body.

[0021] As a preferred solution of the non-magnetic material surface magnetic attraction robot of the present invention, wherein: a grinding device is provided on the vehicle body.

[0022] As a preferred solution of the non-magnetic material surface magnetic attraction robot of the present invention, it further comprises an adjustment mechanism arranged on the vehicle body;

[0023] The adjustment mechanism includes a fixing ear arranged on the vehicle body, and a screw rod penetrating the fixing ear, the outer wall of the screw rod is threadedly connected with a first nut and a second nut, and one end of the screw rod is provided with a mounting plate, and the mounting plate is used to install the magnetic attraction mechanism.

[0024] The beneficial effects of the non-magnetic material surface magnetic attraction robot of the present invention: the present invention places one of the non-magnetic material surface magnetic attraction robots in a radioactive storage tank and the other non-magnetic material surface magnetic attraction robot outside the radioactive storage tank. The magnetic attraction mechanisms on the two non-magnetic material surface magnetic attraction robots are attracted to each other, so that the moving wheels of the vehicle body are in close contact with the radioactive storage tank, thereby realizing the movement of the vehicle body to different parts of the radioactive storage tank. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative work.

[0026] Figure 1 This is the overall schematic diagram of the magnetic suction robot on the surface of non-magnetic materials.

[0027] Figure 2 This is a schematic diagram of the front structure of the magnetic suction robot on the surface of non-magnetic materials.

[0028] Figure 3 This is a top view of the magnetic robot on the surface of non-magnetic material.

[0029] Figure 4 Schematic diagram of the adjustment mechanism structure of the magnetic suction robot on the surface of non-magnetic materials.

[0030] In the figure: 100, vehicle body; 200, magnetic attraction mechanism; 300, driving mechanism; 400, laser radar; 500, binocular vision system; 600, adjustment mechanism; 601, fixing ear; 602, screw; 603, first nut; 604, second nut; 605, mounting plate. DETAILED DESCRIPTION

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0032] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0033] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0034] Example 1, reference Figures 1 to 3 , which is the first embodiment of the present invention, and provides a non-magnetic material surface magnetic suction robot, comprising:

[0035] Preferably, the vehicle body 100 adopts a wheeled walking structure, and movable wheels are provided at the four corners of the lower end of the vehicle body 100, and the movable wheels can allow the vehicle body 100 to move.

[0036] The magnetic attraction mechanism 200 is disposed on the vehicle body 100 and can generate a magnetic field. It should be noted that two magnetic attraction mechanisms 200 are provided and are symmetrically disposed on the vehicle body 100 , and the polarities of the opposite ends of the magnetic attraction mechanisms 200 are the same.

[0037] The driving mechanism 300 is used to drive the vehicle body 100 to move. In this embodiment, the driving mechanism 300 is a servo motor, the output end of the servo motor is connected to the moving wheel, and the movement of the vehicle body 100 is controlled by the servo motor.

[0038] Two magnetic robots made of non-magnetic material surfaces are respectively arranged on both sides of the climbing body, and are attracted to each other through the magnetic field generated by the magnetic attraction mechanism 200.

[0039] Specifically, the magnetic attraction mechanism 200 is a permanent magnet or an electromagnet.

[0040] Furthermore, a laser radar 400 is provided on the vehicle body 100. In the present embodiment, the laser radar 400 is provided to facilitate obstacle avoidance for the vehicle during operation.

[0041] The vehicle body 100 is provided with a binocular vision system 500. In this embodiment, the binocular vision system 500 can facilitate the operator to observe and analyze the environment around the vehicle, and can provide an intelligent navigation system for the robot, and can autonomously plan the path through the image processing algorithm. When there is no light or the light is relatively weak, the laser radar 400 carried by the robot can form a 3D simulated scene during processing, and can also realize the robot's autonomous path planning.

[0042] Through the robot's continuous algorithm and visual learning, the robot can realize the intelligent cleaning of the attachments in the tank. Make the robot's cleaning and suction automatic and intelligent. Before the operation, you can import the artificial model in advance or build a 3D model autonomously after the robot patrols, judge the waste deposited and attached in the tank, and scan the places that have not been cleaned until they are completely cleaned.

[0043] When in use, one of the non-magnetic material surface magnetic attraction robots is placed in the radioactive storage tank, and the other non-magnetic material surface magnetic attraction robot is placed outside the radioactive storage tank. The magnetic attraction mechanisms 200 on the two non-magnetic material surface magnetic attraction robots are attracted to each other, so that the moving wheels of the vehicle body 100 are closely attached to the radioactive storage tank. Due to the use of a wheeled walking structure, the moving wheels and the surface of the radioactive storage tank can still be kept in contact with each other on a radioactive storage tank with a curvature on the surface. The greater the adsorption force of the magnetic attraction mechanism 200, the greater the friction force of the moving wheels. Therefore, slipping can be avoided. By controlling the corresponding moving wheels of the vehicle body 100 to rotate through the driving mechanism 300, the vehicle body 100 can be moved, and then displaced to different parts of the radioactive storage tank.

[0044] Since the force of the magnetic suction mechanism 200 when adsorbing each other is relatively large, when the two non-magnetic material surface magnetic suction robots need to be separated after use, the two non-magnetic material surface magnetic suction robots can be directly controlled to be removed from the radioactive storage tank. At this time, due to the loss of the barrier of the radioactive storage tank, the moving wheels of the two non-magnetic material surface magnetic suction robots will be attached to each other. At this time, the two non-magnetic material surface magnetic suction robots are pushed to be dislocated, so that the vehicle body 100 is dislocated. When dislocated, the alignment area of ​​the magnetic suction mechanism 200 is reduced, and the magnetic flux is reduced. Therefore, the separation can achieve a labor-saving effect. In addition, since the moving wheels are in contact with each other, when the two non-magnetic material surface magnetic suction robots are pushed to move and dislocated, the moving wheel rolling method can further achieve a labor-saving effect, thereby facilitating the separation of the two non-magnetic material surface magnetic suction robots. Alternatively, when the two non-magnetic material surface magnetic suction robots are located at the edge of the radioactive storage tank, one of them is directly pushed to move, and the other non-magnetic material surface magnetic suction robot is fixed. The magnetic suction mechanism 200 is gradually dislocated by rolling the moving wheel, which can achieve a labor-saving disassembly effect.

[0045] If the two magnetic suction mechanisms 200 are in the adsorption state before the non-magnetic material surface magnetic suction robots are placed on both sides of the radioactive storage tank, the moving wheels of the two non-magnetic material surface magnetic suction robots can be aligned with the edge of the radioactive storage tank, and the two non-magnetic material surface magnetic suction robots can be pushed into the radioactive storage tank at the same time. The moving wheels of the non-magnetic material surface magnetic suction robots will roll on the edge of the radioactive storage tank and move away from each other until the radioactive storage tank separates the two non-magnetic material surface magnetic suction robots, thereby achieving labor-saving placement.

[0046] Example 2, reference Figure 1 to Figure 3 , which is the second embodiment of the present invention. Different from the previous embodiment, a cleaning device is provided on the vehicle body 100. In this embodiment, when the cleaning device is installed on the vehicle body 100, the vehicle can have a cleaning capability.

[0047] Specifically, a suction device is provided on the vehicle body 100. In the present embodiment, when the suction device is installed on the vehicle body 100, the vehicle can have a suction capability.

[0048] Furthermore, the vehicle body 100 is provided with a grinding device. In the present embodiment, when the grinding device is installed on the vehicle body 100, the vehicle can have a grinding capability.

[0049] The rest of the structure is the same as that of Example 1.

[0050] Example 3, reference Figure 1 to Figure 4 , which is the third embodiment of the present invention. Different from the previous embodiment, it also includes an adjusting mechanism 600 arranged on the vehicle body 100; the adjusting mechanism 600 includes a fixing ear 601 arranged on the vehicle body 100, and a screw 602 penetrating the fixing ear 601, the outer wall of the screw 602 is threadedly connected with a first nut 603 and a second nut 604, and one end of the screw 602 is provided with a mounting plate 605, and the mounting plate 605 is used to install the magnetic attraction mechanism 200. In this embodiment, at least four fixing ears 601 are provided on each vehicle body 100, and the fixing ears 601 are all provided with screws 602. Two fixing ears 601 form a group and are used to connect a mounting plate 605. Two mounting plates 605 are provided, corresponding to the magnetic attraction mechanisms 200 of the front wheels and the rear wheels respectively.

[0051] When in use, the distance between the magnetic suction mechanisms 200 on the two non-magnetic material surface magnetic suction robots can be adjusted by rotating the first nut 603 and the second nut 604, so as to adjust the size of the adsorption force. In addition, the distance between the magnetic suction mechanisms 200 on the front wheels or rear wheels can be adjusted according to the installation position of the equipment on the vehicle body 100. The size of the adsorption force can be adaptively adjusted, and good adsorption capacity can be achieved without affecting the movement, thereby ensuring normal operation.

[0052] The rest of the structure is the same as that of Example 2.

[0053] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A magnetic suction robot for non-magnetic material surface, characterized in that: include, Car body (100); A magnetic attraction mechanism (200), which is arranged on the vehicle body (100) and is capable of generating a magnetic field; A driving mechanism (300) for driving the vehicle body (100) to move; Two magnetic attraction robots made of non-magnetic materials are respectively arranged on both sides of the climbing body, and are attracted to each other through the magnetic field generated by the magnetic attraction mechanism (200).

2. The non-magnetic material surface magnetic suction robot according to claim 1, characterized in that: The magnetic attraction mechanism (200) is a permanent magnet or an electromagnet.

3. The non-magnetic material surface magnetic suction robot according to claim 2, characterized in that: The vehicle body (100) is provided with a laser radar (400).

4. The non-magnetic material surface magnetic suction robot according to claim 3, characterized in that: The vehicle body (100) is provided with a binocular vision system (500).

5. The non-magnetic material surface magnetic suction robot according to claim 4, characterized in that: The vehicle body (100) adopts a wheeled walking structure.

6. The non-magnetic material surface magnetic suction robot according to claim 5, characterized in that: Two magnetic attraction mechanisms (200) are provided and are symmetrically arranged on the vehicle body (100), and the polarity of the opposite ends of the magnetic attraction mechanisms (200) is the same.

7. The non-magnetic material surface magnetic suction robot according to claim 6, characterized in that: The vehicle body (100) is provided with a cleaning device.

8. The non-magnetic material surface magnetic suction robot according to claim 7, characterized in that: The vehicle body (100) is provided with a suction device.

9. The non-magnetic material surface magnetic suction robot according to claim 8, characterized in that: The vehicle body (100) is provided with a grinding device.

10. The non-magnetic material surface magnetic suction robot according to any one of claims 1 to 9, characterized in that: It also includes an adjustment mechanism (600) disposed on the vehicle body (100); The adjustment mechanism (600) comprises a fixing ear (601) arranged on the vehicle body (100), and a screw rod (602) penetrating the fixing ear (601); the outer wall of the screw rod (602) is threadedly connected with a first nut (603) and a second nut (604); one end of the screw rod (602) is provided with a mounting plate (605); the mounting plate (605) is used to mount the magnetic attraction mechanism (200).

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