Nuclear industry cleaning robot with magnetic adsorption capacity and method

Abstract

The invention discloses a nuclear industry cleaning robot with magnetic adsorption capacity. The robot comprises a robot body, the two sides of the robot body are each provided with a magnet driving wheel, and the magnet driving wheels are connected with a driving mechanism; a laser radar is installed on the top of the robot body and connected to a computer through a laser radar junction box. A scraping strip is installed at the front end of the robot body, a water pumping pipe is installed at the root of the scraping strip and connected with a water pump, and the scraping strip ascends and descends through a scraping strip steering engine. Mop cloth and a mop cloth containing support are installed at the rear end of the robot body, the mop cloth rotates through a mop cloth motor, and the mop cloth ascends and descends through a mop cloth lifting steering engine. Full-automatic operation can be achieved, semi-automatic remote control operation can also be achieved, a remote image transmission view field is provided, robot driving wheels are magnetic wheels, the robot can be attracted to metal surfaces such as walls and pipelines for cleaning, and the application range is wide.

Description

Technical Field

[0001] The invention belongs to the technical field of cleaning robots, and in particular relates to a nuclear industry cleaning robot with magnetic adsorption capability and a method thereof. Background Art

[0002] In the nuclear industry, there is a need to treat liquid waste on the ground. In order to ensure personnel safety and improve efficiency, using robots for treatment is the best option. The robot needs to have devices to absorb and contain liquids and cannot cause secondary pollution.

[0003] At present, most nuclear industry cleaning robots adopt a structure of a wheel set or crawler chassis with a multi-axis robotic arm, with cleaning tools integrated at the end of the robotic arm or using a mechanical claw to clamp the cleaning tools. The control method is mostly remote control or semi-automatic. The huge chassis makes the robot large and inflexible. The multi-degree of freedom of the robotic arm has poor cleaning ability on the ground and is difficult to operate. The rest is a cabinet plus robot towing cable solution. The advantage is good cleaning effect, but the disadvantage is that cables, water pipes, etc. have certain requirements for the working distance. Secondly, the cabinet occupies too large an area and can only be operated in a fixed place. Summary of the invention

[0004] The object of the present invention is to provide a nuclear industry cleaning robot and method with magnetic adsorption capability, which has a high degree of intelligence and can quickly replace cleaning tools to avoid secondary contamination.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] A nuclear industry cleaning robot with magnetic adsorption capability comprises: a robot body, wherein each side of the robot body has a magnetic drive wheel, and the magnetic drive wheel is connected to a drive mechanism;

[0007] A laser radar is installed on the top of the robot body, and the laser radar is connected to a computer through a laser radar junction box;

[0008] A scraper is installed at the front end of the robot body, a water pump is installed at the root of the scraper, the water pump is connected to the water pump, and the scraper is raised and lowered by a scraper steering gear;

[0009] A mop and a mop receiving bracket are installed at the rear end of the robot body. The mop is rotated by a mop motor, and the mop is lifted and lowered by a mop lifting servo.

[0010] Furthermore, the scraper strip is equipped with a camera, which identifies the liquid and provides a field of view for image transmission.

[0011] Furthermore, the rear side of the robot body is provided with two auxiliary wheels to prevent the robot from tipping over.

[0012] Furthermore, the driving mechanism includes gear one, which is mounted on the steering wheel steering motor, and gear one is meshed with gear two, which is mounted on the magnet driving wheel.

[0013] Furthermore, the mop storage bracket wraps the mop with a garbage bag after the mopping operation is completed.

[0014] Furthermore, the robot body has a casing on its upper portion, and the casing contains a battery, a computer, and a control panel.

[0015] Furthermore, the scraper strip is a semicircular closed scraper strip, which is convenient for storing liquid.

[0016] The present invention may also include:

[0017] A cleaning method using the nuclear industry cleaning robot with magnetic adsorption capability, the method comprising:

[0018] During operation, the robot moves with autonomous navigation. It uses a camera to identify the contaminated area, and then uses a scraper servo to lower the scraper. After aiming at the contaminated area, the robot moves forward slowly and starts the water pump at the same time. The sewage is guided by the scraper and sucked into the waste liquid tank. After the suction is completed, the scraper is lifted, the water pump is turned off, and the robot continues to move forward. When the mop moves above the contaminated area, the mop lifting servo lowers the mop, and the mop motor drives the mop to rotate for cleaning. At the same time, the robot's steering wheel steering motor can rotate 90 degrees to make the two magnet drive wheels collinear for S-shaped cleaning.

[0019] After cleaning is completed, the robot lifts the mop, and the cleaning bag on the mop receiving bracket will cover the used mop, and the robot completes cleaning and returns to the starting point.

[0020] The beneficial effects of the present invention are:

[0021] The present invention has low manufacturing cost, small size, high intelligence, good cleaning effect, and cleaning tools can be quickly replaced to avoid secondary pollution. The robot chassis adopts a multi-wheel configuration, which is more flexible in movement and can reciprocate to clean the working area. No supporting equipment such as base stations is required, and the degree of integration is high. It can operate fully automatically or semi-automatically by remote control, providing a remote image transmission field of view. The robot's driving wheel is a magnetic wheel, which can be adsorbed on metal surfaces such as walls, pipes and other places for cleaning, and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Attached Figure 1 It is a structural schematic diagram of the present invention.

[0023] Attached Figure 2 It is a schematic diagram of the structure from a first viewing angle when the shell of the present invention is hidden.

[0024] Attached Figure 3 It is a schematic diagram of the second viewing angle structure of the present invention when the shell is hidden.

[0025] Attached Figure 4 It is the front view of the present invention.

[0026] Attached Figure 5 It is a top view of the present invention.

[0027] Attached Figure 6 It is a left side view of the present invention.

[0028] Attached Figure 7 It is a bottom view of the present invention.

[0029] In the attached figure: 11, steering wheel steering motor; 12, drive motor; 13, magnet drive wheel; 21, casing; 22, battery; 23, computer; 24, control panel; 25, water pump; 26, camera; 27, scraper servo; 28, scraper; 29, mop motor; 210, auxiliary wheel; 211, mop; 212, mop storage bracket; 213, laser radar junction box; 214, mop lifting servo; 31, laser radar. DETAILED DESCRIPTION

[0030] The present invention is further described below in conjunction with the accompanying drawings.

[0031] The present invention provides a nuclear industry cleaning robot with magnetic adsorption capability, as shown in the attached Figure 1-7 As shown, the robot includes: a steering wheel steering motor 11, a drive motor 12, a magnet drive wheel 13, a housing 21, a camera 26, an auxiliary wheel 210, and a laser radar 31.

[0032] The robot is internally provided with a battery 22 , a computer 23 , a control panel 24 , and a water pump 25 .

[0033] The cleaning tool includes a scraper servo 27, a scraper 28, a mop motor 29, a mop 211, a mop storage bracket 212, a laser radar junction box 213, and a mop lifting servo 214. The robot has a magnetic drive wheel 13 on each side, which is driven by a motor and a gear. There are two auxiliary wheels 210 on the back to prevent tipping. There is a laser radar 31 on the top to map the working environment and track autonomously. The laser radar 31 is connected to the computer 23 through the laser radar junction box 213.

[0034] The robot housing 21 is mainly equipped with electrical components. The front end of the robot has a scraper 28. The root of the scraper 28 has a water pipe connected to the water pump 25. The scraper is raised and lowered by the scraper servo 27. The camera 26 can identify liquids and provide image transmission vision. The rear end is a mop 211, which is rotated by the mop motor 29. The mop 211 is raised and lowered by the mop lifting servo 214.

[0035] The mop storage bracket 212 can be used to wrap the mop with a garbage bag after the work is completed to avoid secondary contamination.

[0036] Preferably, the scraper bar 28 in this embodiment is a semicircular closed scraper bar to facilitate storing liquid.

[0037] The adsorption method adopted by the robot in this embodiment is that the robot is equipped with a permanent magnetic adsorption module, which provides the robot with a stable and continuous adsorption force in the plane or vertical working space of the inner and outer walls of metal parts such as pressure vessels, industrial pipelines, and fan pipe piles. The adsorption force must have a relevant margin and allowance above the total weight of the machine and the maximum amount of the load it carries to ensure that the robot will not fall or other dangerous situations.

[0038] The robot in this embodiment can achieve omnidirectional movement. The robot adopts a steering wheel drive mode to achieve omnidirectional rapid movement and precise positioning on the working surface, reducing or completely eliminating the problems of inner and outer wheel difference and large turning radius caused by the differential steering mode often used in crawler or ordinary wheeled robots.

[0039] The robot motion mode in this embodiment is that the robot can realize multiple motion modes including inching mode, absolute motion, relative motion and trajectory planning, wherein trajectory planning includes common methods such as grid scanning, and trajectory design and entry and storage can be performed as needed to realize the motion route of a specific trajectory;

[0040] The robot in this embodiment is able to cross obstacles. There are partial obstacles or other situations that affect the normal movement of the robot or operation along the prescribed path in certain work scenes or workpieces. The robot has the ability to cross and overcome obstacles within a certain range in terms of suspension design and other aspects.

[0041] This embodiment also provides a cleaning method using the above-mentioned nuclear industry cleaning robot with magnetic adsorption capability, the method comprising:

[0042] During operation, the robot moves in autonomous navigation. The robot uses the camera 26 to identify the contaminated area, and then uses the scraper servo 27 to lower the scraper 28. After aiming at the contaminated area, the robot moves forward slowly and starts the water pump 25 at the same time. The sewage is guided by the scraper 28 and sucked into the waste liquid tank. After the suction is completed, the scraper 28 is lifted, the water pump 25 is turned off, and the robot continues to move forward. When the mop 211 moves above the contaminated area, the mop lifting servo 214 lowers the mop 211, and the mop motor 29 drives the mop 211 to rotate for cleaning. At the same time, the robot's steering wheel steering motor 11 can rotate 90 degrees to make the two magnet driving wheels 13 collinear for S-shaped cleaning.

[0043] After cleaning is completed, the robot lifts up the mop 211, and the cleaning bag on the mop storage bracket 212 will cover the used mop 211, and the robot returns to the starting point after completing cleaning.

[0044] In this embodiment, before performing the cleaning operation, the robot can complete the mapping of the operation scene in advance.

[0045] The robot of the present invention can realize fully automatic autonomous operation, and can also be operated remotely by manual remote control. The previous state of the robot will be transmitted back to the computer, which is convenient for personnel operation.

[0046] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A nuclear industry cleaning robot with magnetic adsorption capability, characterized in that: include: A robot body, wherein each side of the robot body has a magnet driving wheel (13), and the magnet driving wheel (13) is connected to a driving mechanism; A laser radar (31) is installed on the top of the robot body, and the laser radar (31) is connected to a computer (23) via a laser radar junction box (213); A scraper bar (28) is installed at the front end of the robot body, a water pumping pipe is installed at the root of the scraper bar (28), the water pumping pipe is connected to a water pump (25), and the scraper bar (28) is raised and lowered by a scraper bar steering gear (27); A mop (211) and a mop receiving bracket (212) are installed at the rear end of the robot body; the mop (211) is rotated by a mop motor (29), and the mop (211) is lifted and lowered by a mop lifting servo (214).

2. The nuclear industry cleaning robot with magnetic adsorption capability according to claim 1, characterized in that: The scraper strip (28) is equipped with a camera (26) for identifying liquid and providing a visual field.

3. The nuclear industry cleaning robot with magnetic adsorption capability according to claim 1, characterized in that: The rear side of the robot body is provided with two auxiliary wheels (210) to prevent the robot from tipping over.

4. The nuclear industry cleaning robot with magnetic adsorption capability according to claim 1, characterized in that: The driving mechanism comprises a gear 1, which is mounted on a steering wheel steering motor (11); the gear 1 is meshed with a gear 2, which is mounted on the magnet driving wheel (13).

5. The nuclear industry cleaning robot with magnetic adsorption capability according to claim 1, characterized in that: The mop receiving bracket (212) is used to wrap the mop with a garbage bag after the mop (211) has completed its operation.

6. The nuclear industry cleaning robot with magnetic adsorption capability according to claim 1, characterized in that: The upper part of the robot body is provided with a casing (21), and the casing (21) contains a battery (22), a computer (23), and a control panel (24).

7. The nuclear industry cleaning robot with magnetic adsorption capability according to claim 1, characterized in that: The scraper strip (28) is a semicircular closed scraper strip, which is convenient for storing liquid.

8. A cleaning method using the nuclear industry cleaning robot with magnetic adsorption capability as claimed in any one of claims 1 to 7, characterized in that: The method includes: During operation, the robot moves in autonomous navigation. The robot uses a camera (26) to identify the contaminated area, and then uses a scraper servo (27) to lower a scraper (28). After aiming at the contaminated area, the robot moves forward slowly and starts a water pump (25). The sewage is guided by the scraper (28) and then sucked into the waste liquid tank. After the suction is completed, the scraper (28) is lifted, the water pump (25) is turned off, and the robot continues to move forward. When the mop (211) moves above the contaminated area, the mop lifting servo (214) lowers the mop (211), and the mop motor (29) drives the mop (211) to rotate for cleaning. At the same time, the robot's steering wheel steering motor (11) can rotate 90 degrees to make the two magnet driving wheels (13) collinear, so as to perform S-shaped cleaning. After cleaning is completed, the robot lifts the mop (211), and the cleaning bag on the mop receiving bracket (212) covers the used mop (211), and the robot returns to the starting point after completing cleaning.

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