Magnetic adsorption moving carrier working device and canning method

Abstract

The invention discloses the technical field of radioactive storage tank cleaning, and particularly relates to a magnetic adsorption moving carrier working device and a tank entering method, the magnetic adsorption moving carrier working device comprises a first moving carrier and a second moving carrier, the first moving carrier and the second moving carrier are connected through a connecting mechanism, and a staged moving method is adopted. The side wall of the tank body is dragged to move through a first power trolley, and the joint of the side wall and the tank bottom is blocked by a tank bottom support, enters a second stage and is dragged to the bottom through a second power carrier. According to the method, aiming at a storage tank with a certain curved surface radian and a harsh external environment, two vehicles are adopted to pull the storage tank into the tank, so that the problem that a moving carrier falls off due to the fact that magnetic attraction force is weakened when the moving carrier walks on the curved surface is solved; at the moment, a second power carrier needs to be utilized at the manhole of the support to pull the two vehicles into the tank, the two vehicles are automatically separated after entering the tank, and the problem that the two vehicles are mutually restrained in the tank bottom operation in the follow-up process is solved.

Description

Technical Field

[0001] The invention relates to the technical field of cleaning of radioactive storage tanks, and in particular to a magnetic adsorption mobile carrier working device and a tank entry method. Background Art

[0002] After the liquid in the radioactive storage tank is emptied, there will be residues at the bottom. Since the residual materials will affect the subsequent process, the residual materials inside need to be cleaned. In order to reduce the harm caused by radioactivity to personnel, the use of mobile carriers to enter the tank for cleaning is currently the best and most efficient way. The tank body is made of stainless steel, which is a non-magnetic material. Double-sided magnetic adsorption is used to climb the wall of the mobile carrier in the tank. The tank body is cylindrical and the bottom is arc-shaped. There is a manhole in the wall of the tank. There is a certain curvature at the junction of the wall and the bottom. When the mobile carrier that cleans the bottom transitions from the wall to the bottom curve, the magnetic attraction will weaken, causing the mobile carrier to fall and unable to enter the bottom of the tank. It is impossible to use a mobile carrier to directly enter the tank. At the same time, the outside of the circular bottom is supported by countless brackets, and there is a manhole at the bracket. The space outside the large tank is small, and the mobile carrier can only be placed outside the circular bottom through the manhole of the bracket. The manhole of the tank body and the manhole of the bracket are in different directions, and it is impossible to enter the tank directly on the same plane. In this harsh environment, two vehicles are used to pull into the tank. In the first stage, the first power carrier is used to pull the device into the tank and reach the manhole of the bracket. Due to the obstruction of the bracket, the first power carrier cannot move. At this time, the second power carrier is placed in the manhole of the bracket to attract the second moving device, and the magnetic force of the two devices is used for power movement. At this time, the second power carrier moves outside the bottom of the tank, driving the second moving carrier to enter the bottom of the tank. At the same time, after the second power carrier takes effect, the two vehicles are separated, leaving only the main operating device (second moving device), and the first moving device is towed out of the tank without affecting the subsequent cleaning work. Summary of the invention

[0003] The purpose of this section is to summarize some aspects of embodiments of the present invention and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and the invention title of this application to avoid blurring the purpose of this section, the specification abstract and the invention title, and such simplifications or omissions cannot be used to limit the scope of the present invention.

[0004] In view of the above-mentioned problems that the existing radioactive storage tank has a small manhole, harsh environment, and cannot install an auxiliary lifting device to allow the mobile carrier to enter the tank, and there is a bracket at the bottom of the tank, and the external power of the double-sided magnetic adsorption trolley can only be replaced from the bracket manhole to drive the trolley into the tank bottom when it reaches the bottom of the tank, the present invention is proposed. Therefore, the purpose of the present invention is to provide a magnetic adsorption mobile carrier working device.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions: comprising a first mobile carrier and a second mobile carrier, the first mobile carrier and the second mobile carrier are connected by a connecting mechanism, a traction member is provided at one end of the second mobile carrier away from the first mobile carrier, a first power mobile carrier is provided at the bottom end of the first mobile carrier, and a second power mobile carrier is provided at the bottom end of the second mobile carrier; the second mobile carrier is used to assist the first mobile carrier to move along the transition curved surface to the flat surface; the first power mobile carrier is used to provide moving power to the first mobile carrier and at the same time to keep the first mobile carrier in contact with the contact surface; the second power mobile carrier is used to provide moving power to the second mobile carrier and at the same time to keep the second mobile carrier in contact with the contact surface.

[0006] As a preferred solution of the magnetic adsorption mobile carrier working device described in the present invention, the connecting mechanism includes a magnetic lock arranged at the end of the first mobile carrier close to the second mobile carrier and a metal spring arranged at the end of the second mobile carrier close to the first mobile carrier; the end of the metal spring away from the second mobile carrier is connected to the magnetic lock.

[0007] As a preferred solution of the magnetic adsorption mobile carrier working device described in the present invention, wherein: the connecting mechanism includes a first connecting block arranged at the end of the first mobile carrier close to the second mobile carrier and a second connecting block arranged at the end of the second mobile carrier close to the first mobile carrier; the first connecting block is plugged into the second connecting block.

[0008] As a preferred solution of the magnetic adsorption mobile carrier working device described in the present invention, wherein: the side wall of the first connecting block is provided with a side wall groove, a gravity block is arranged on one side of the side wall groove, the gravity block is connected to a resistance block through a connecting rod, and the resistance block is arranged on the side of the side wall groove away from the gravity block.

[0009] As a preferred solution of the magnetic adsorption mobile carrier working device described in the present invention, wherein: the second connecting block is composed of a first part and a second part, the first part is made of metal and can produce deformation, the second part is used to connect with the first connecting block, and the second part is provided with a plug interface; the plug interface is adapted to the second connecting block.

[0010] As a preferred solution of the magnetic adsorption mobile carrier working device described in the present invention, wherein: movable grooves are opened on both sides of the plug-in interface, and a first roller is arranged in the movable groove; the first roller is adapted to the side wall groove; a first inclined surface is arranged in the movable groove, and a movable track is arranged on the first inclined surface, and one end of the first roller is arranged in the movable track.

[0011] As a preferred solution of the magnetic adsorption mobile carrier working device described in the present invention, the connecting mechanism includes a first connecting block arranged at the end of the first mobile carrier close to the second mobile carrier and a second connecting block arranged at the end of the second mobile carrier close to the first mobile carrier.

[0012] As a preferred solution of the magnetic adsorption mobile carrier working device described in the present invention, wherein: the second connecting block is composed of a first connecting part and a second connecting part, the first connecting part is made of metal and can produce deformation, the second connecting part is used to connect with the first connecting block, and the second connecting part is provided with a connecting port; the connecting port is adapted to the second connecting block; a second roller is arranged in the connecting port, and the contact surface at the bottom end of the second roller is a second inclined surface when the second connecting block is in a horizontal state, and locking grooves are arranged on both sides of the end of the connecting port; an opening is arranged at the end of the first connecting block, and sliders are arranged on both sides of the opening, and the end of the slider close to the second connecting block is an arc surface, and the opening matches the second roller.

[0013] As a preferred solution of the magnetic adsorption mobile carrier working device described in the present invention, wherein: the first mobile carrier and the first power mobile carrier are adsorbed by permanent magnets, and the second mobile carrier and the second power mobile carrier are adsorbed by permanent magnets; and the first power mobile carrier and the second power mobile carrier are both provided with electric push rods.

[0014] In order to solve the above technical problems, the present invention also provides a tank entry method: comprising a magnetic adsorption mobile carrier working device, and also comprising: when entering the tank, firstly smoothly sticking the first mobile carrier into the tank at the manhole of the tank side wall, at this time, the second mobile carrier follows the first mobile carrier into the tank through the connecting mechanism, and the first mobile carrier is prevented from falling by tightening the traction rope of the second mobile carrier; when the second mobile carrier sticks to the tank wall, the second power mobile carrier is pressed against the outer wall below the manhole, so that it and the second mobile carrier generate magnetic attraction to fix the second mobile carrier in the tank; starting the driving mechanism of the second power mobile carrier, and using the second mobile carrier to drive the first mobile carrier to move together in the tank When the first mobile carrier moves to the manhole of the protective plate, the first powered mobile carrier is attached to the first mobile carrier through the manhole of the protective plate; the magnetic lock is opened to separate the first mobile carrier and the second mobile carrier. After separation, the second powered mobile carrier drives the second mobile carrier to move to the side manhole, at this time, the electric push rod on the second powered mobile carrier is started to increase the distance between the two vehicles to reduce the magnetic attraction, separate the second mobile carrier and the second powered mobile carrier, and remove the second powered mobile carrier; the second mobile carrier is towed out of the manhole by the traction rope at the tail of the second mobile carrier; after the first mobile carrier is separated from the second mobile carrier, the driving force of the first powered mobile carrier is used to perform operations in the tank.

[0015] Beneficial effects of the present invention: The present invention adopts a phased moving method, using the first power trolley to pull and move on the side wall of the tank body, and at the junction of the side wall and the bottom of the tank, due to the obstruction of the bottom bracket of the tank, the second stage is entered, and the second power carrier is used to pull to the bottom. This method is aimed at storage tanks with a certain curved curvature and harsh external environment. The method of using two vehicles to pull into the tank overcomes the problem of a mobile carrier falling due to weakened magnetic attraction when walking on the curved surface. Since the outside of the bottom of the large tank is blocked by the bracket, the first power carrier cannot continue to drive the mobile carrier to enter the bottom of the tank. At this time, it is necessary to use the second power carrier at the manhole of the bracket to pull the two vehicles into the tank. After entering the tank, the two vehicles are automatically separated, solving the problem of the two vehicles restraining each other in the subsequent operation at the bottom of the tank.

[0016] The first mobile carrier and the second mobile carrier designed in the present invention are pulled together by a connecting mechanism, and the second mobile carrier assists the first mobile carrier to enter the bottom of the tank, thereby solving the problem that the robot cannot directly enter the bottom of the large tank to perform operations. The connecting mechanism enables the second mobile carrier to automatically detach after assisting the first mobile carrier to enter the bottom of the tank. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0018] Figure 1 It is a side view of the overall structure of the first embodiment of the magnetic adsorption mobile carrier working device of the present invention.

[0019] Figure 2 It is a schematic diagram of the overall structure of the first embodiment of the magnetic adsorption mobile carrier working device of the present invention.

[0020] Figure 3 The working state of the magnetic adsorption mobile carrier working device of the present invention is shown in FIG. Figure 1 .

[0021] Figure 4 The working state of the magnetic adsorption mobile carrier working device of the present invention is shown in FIG. Figure 2 .

[0022] Figure 5 This is a schematic diagram of the working principle of the connecting mechanism of Example 1 of the magnetic adsorption mobile carrier working device of the present invention.

[0023] Figure 6 It is a schematic diagram of the overall structure of the second embodiment of the magnetic adsorption mobile carrier working device of the present invention.

[0024] Figure 7 This is a schematic diagram of the connection mechanism of the second embodiment of the magnetic adsorption mobile carrier working device of the present invention.

[0025] Figure 8 It is a schematic diagram of the structure of the second connecting block of the magnetic adsorption mobile carrier working device of the present invention.

[0026] Fig. 9 It is a partial structural diagram of the second embodiment of the magnetic adsorption mobile carrier working device of the present invention.

[0027] Fig.10 It is a schematic structural diagram of the first connecting block portion of the magnetic adsorption mobile carrier working device of the present invention.

[0028] Fig.11 It is a schematic diagram of the overall structure of the third embodiment of the magnetic adsorption mobile carrier working device of the present invention.

[0029] Fig.12 It is a schematic diagram of the structure of the second connecting block of the magnetic adsorption mobile carrier working device of the present invention.

[0030] Fig.13 It is a schematic diagram of the structure of the first connecting block of the magnetic adsorption mobile carrier working device of the present invention.

[0031] Fig.14 It is a cross-sectional view of the second connecting block of the magnetic adsorption mobile carrier working device of the present invention.

[0032] Fig.15 This is a schematic diagram of a radioactive storage tank of the magnetic adsorption mobile carrier working device of the present invention.

[0033] Fig.16 This is a cross-sectional view of a radioactive storage tank of the magnetic adsorption mobile carrier working device of the present invention.

[0034] In the figure: 100, first mobile carrier; 101, first powered mobile carrier; 200, second mobile carrier; 201, second powered mobile carrier; 202, traction member; 300, connecting mechanism; 301, magnetic lock; 302, metal spring; 303, first connecting block; 303a, side wall groove; 303b, gravity block; 303c, abutment block; 304, second connecting block; 304a, first part; 304b, second part; 3 04c, plug interface; 304d, movable groove; 304e, first roller; 304f, first inclined surface; 304g, movable track; 305, first connecting block; 305a, opening; 305b, slider; 305c, arc surface; 306, second connecting block; 306a, first connecting part; 306b, second connecting part; 306c, connecting port; 306d, second roller; 306e, second inclined surface; 306f, locking groove. DETAILED DESCRIPTION

[0035] 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.

[0036] 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.

[0037] 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.

[0038] Secondly, the present invention is described in detail with reference to the schematic diagram. When describing the embodiments of the present invention in detail, for the sake of convenience, the cross-sectional diagrams showing the device structure will not be partially enlarged according to the general scale, and the schematic diagrams are only examples, which should not limit the scope of protection of the present invention. In addition, in actual production, the three-dimensional dimensions of length, width and depth should be included.

[0039] Example 1, reference Figures 1 to 5 , which is the first embodiment of the present invention, provides a magnetic adsorption mobile carrier working device, including a first mobile carrier 100 and a second mobile carrier 200, the first mobile carrier 100 and the second mobile carrier 200 are connected by a connecting mechanism 300, a traction member is arranged at one end of the second mobile carrier 200 away from the first mobile carrier 100, a first power mobile carrier 101 is arranged at the bottom end of the first mobile carrier 100, and a second power mobile carrier 201 is arranged at the bottom end of the second mobile carrier 200; the second mobile carrier 200 is used to assist the first mobile carrier 100 to move along the transition curved surface to the plane; the first power mobile carrier 101 is used to provide the first mobile carrier 100 with moving power while keeping the first mobile carrier 100 in contact with the contact surface; the second power mobile carrier 201 is used to provide the second mobile carrier 200 with moving power while keeping the second mobile carrier 200 in contact with the contact surface.

[0040] It should be noted that, refer to Figures 1-2 , Figure 6 and Fig.11The first mobile carrier 100, the second mobile carrier 200, the first powered mobile carrier 101 and the second powered mobile carrier 201 in the present invention are presented in the form of small cars. For ease of understanding, the first mobile carrier 100 is the front car, the second mobile carrier 200 is the rear car, the first powered mobile carrier 101 is the front power car, and the second powered mobile carrier 201 is the rear power car; the front car enters the tank for cleaning, and a permanent magnet is arranged on the belly of the front car, and a permanent magnet is arranged on the belly of the front power car. The magnetic poles of the two are opposite, so that the front power car can move by adsorbing the front car on the inner wall of the tank on the outer wall of the tank, and ensure that the front car works closely against the inner wall of the tank; and the role of the rear car is to help the front car move smoothly from the transition curved surface to the plane, which solves the technical problem that the front car cannot directly enter the bottom of the tank through the manhole of the tank to perform operations, wherein the connection method between the rear car and the rear power car is the same as that between the front car and the front power car, and a traction rope is connected to the end of the rear car away from the front car, and the role of the traction rope is to facilitate pulling the rear car out of the manhole

[0041] Specifically, the connecting mechanism 300 includes a magnetic lock 301 arranged at the end of the first mobile carrier 100 close to the second mobile carrier 200 and a metal spring 302 arranged at the end of the second mobile carrier 200 close to the first mobile carrier 100; one end of the metal spring 302 away from the second mobile carrier 200 is connected to the magnetic lock 301.

[0042] Furthermore, the first mobile carrier 100 and the first powered mobile carrier 101 are attracted to each other via permanent magnets, and the second mobile carrier 200 and the second powered mobile carrier 201 are attracted to each other via permanent magnets; and both the first powered mobile carrier 101 and the second powered mobile carrier 201 are provided with electric push rods.

[0043] Operation process: Since the round bottom of the large tank is supported by multiple metal brackets, the front vehicle cannot directly avoid transitioning from the outer wall of the large tank to the bottom from the vertical surface, and can only be towed by two vehicles to help the front vehicle transition from the vertical surface to the bottom. When entering the tank, first place the front vehicle smoothly into the tank at the manhole on the side wall of the tank. At this time, the metal spring 302 is used to prevent the front vehicle from colliding with the pipe wall. The rear vehicle is connected to the front vehicle through the magnetic lock 301 and the metal spring 302. When the front vehicle enters the tank, the rear vehicle follows the front vehicle into the tank, and the front vehicle is prevented from falling by tightening the rear vehicle's traction rope.

[0044] When the rear vehicle is attached to the tank wall, the rear power vehicle is attached to the outer wall below the manhole of the large tank, so that it and the rear vehicle generate magnetic attraction to fix the front vehicle in the tank. When the rear vehicle completely enters the large tank, the rear power vehicle is attached to the outer wall. At this time, the front vehicle has not reached the bottom of the tank. Then the driving mechanism of the rear power vehicle is started, and the rear vehicle is used to drive the front vehicle to move together in the tank. When the front vehicle moves to the manhole of the protective plate, the front power vehicle is attached to the front vehicle through the manhole of the protective plate.

[0045] Open the magnetic lock 301 to separate the front car and the rear car. After separation, the rear power car drives the rear car to move to the manhole of the large tank. At this time, the push rod on the rear power car is started to increase the distance between the two cars to reduce the magnetic attraction, separate the rear car and the rear power car, and remove the rear power car.

[0046] The rear vehicle is towed out of the manhole of the large tank by the towing rope at the rear of the rear vehicle; after the front vehicle is separated from the rear vehicle, the driving force of the front power vehicle is used to carry out operations inside the tank.

[0047] After the operation of the front vehicle is completed, the front power vehicle is used to return to the manhole of the large tank, and then the front vehicle is separated from the front vehicle through the jacking device of the front power vehicle to remove the front vehicle.

[0048] It should be noted that the present invention simultaneously adopts a phased movement method, using the first power trolley to pull and move the side wall of the tank body, and at the junction of the side wall and the bottom of the tank, due to the obstruction of the tank bottom bracket, it enters the second stage and uses the second power carrier to pull to the bottom. This method is aimed at storage tanks with a certain curved curvature and harsh external environment. It adopts a method of pulling into the tank with two vehicles, which overcomes the problem of a mobile carrier falling due to weakened magnetic attraction when walking on the curved surface. Since the outside of the bottom of the large tank is blocked by the bracket, the first power carrier cannot continue to drive the mobile carrier to enter the bottom of the tank. At this time, it is necessary to use the second power carrier at the bracket manhole to pull the two vehicles into the tank. After entering the tank, the two vehicles are automatically separated, solving the problem of the two vehicles restraining each other in the subsequent operation at the bottom of the tank.

[0049] Example 2, reference Figures 6 to 10 This embodiment is different from the first embodiment in that: the connecting mechanism 300 includes a first connecting block 303 arranged at the end of the first mobile carrier 100 close to the second mobile carrier 200 and a second connecting block 304 arranged at the end of the second mobile carrier 200 close to the first mobile carrier 100; the first connecting block 303 is plugged into the second connecting block 304. It is worth noting that the first connecting block 303 is rotatably connected to the end of the front vehicle, and the second connecting block 304 is also rotatably connected to the end of the rear vehicle.

[0050] Specifically, a sidewall groove 303a is opened on the sidewall of the first connecting block 303, a gravity block 303b is arranged on one side of the sidewall groove 303a, and the gravity block 303b is connected to a resistance block 303c through a connecting rod. The resistance block 303c is arranged on the side of the sidewall groove 303a away from the gravity block 303b.

[0051] The second connection block 304 is composed of a first part 304a and a second part 304b. The first part 304a is made of metal and can be deformed. The second part 304b is used to connect with the first connection block 303. The second part 304b is provided with a plug interface 304c; the plug interface 304c is adapted to the second connection block 304.

[0052] Furthermore, movable grooves 304d are opened on both sides of the plug-in port 304c, and a first roller 304e is arranged in the movable groove 304d; the first roller 304e is adapted to the side wall groove 303a; a first inclined surface 304f is arranged in the movable groove 304d, and a movable track 304g is arranged on the first inclined surface 304f, and one end of the first roller 304e is arranged in the movable track 304g.

[0053] It should be noted that a side wall groove 303a is provided on the side wall of the first connection block 303, a gravity block 303b is provided on one side of the side wall groove 303a, and the gravity block 303b is connected to a resistance block 303c via a connecting rod, and the resistance block 303c is provided on the side of the side wall groove 303a away from the gravity block 303b. When the first connection block 303 is inserted into the plug-in port 304c of the second connection block 304, the first roller 304e rolls from the first inclined surface 304f of the moving groove 304d to the side wall groove 303a of the first connection block 303 and squeezes the gravity block 303b in the side wall groove 303a. After the gravity block 303b is subjected to the squeezing force, it drives the resistance block 303c to resist the first roller 304e via the connecting rod, so that the first roller 304e is located in the side wall groove 303a, thereby completing the connection between the two vehicles;

[0054] The second connection block 304 is composed of a first portion 306a and a second portion 306b. The first portion 306a is made of metal and can be deformed. The second portion 306b is used to connect with the first connection block 303. The second portion 306b is provided with an insertion port 304c, which is adapted to the second connection block 304. Both sides of the insertion port 304c are provided with moving grooves 304d, and the moving grooves 304d are provided with first rollers 304e, which are adapted to the side wall grooves 303a. A first inclined surface 304f is provided in the moving groove 304d, and a moving track 304g is provided on the first inclined surface 304f. One end of the first roller 304e is provided in the moving track 304g, so that when connecting, the first roller 304e can roll along the moving track 304g, thereby smoothly entering the side wall groove 303a, ensuring the reliability of the connection; and when separating, as the angle changes, the first roller 304e rolls along the first inclined surface 304f in the moving groove 304d to the moving groove 304d, and is no longer in the side wall groove 303a of the first connecting block 303 and the moving groove 304d of the second connecting block 304 at the same time, so that when the front car moves, the rear car no longer moves at the same time, that is, the automatic separation of the two cars is achieved.

[0055] Operation process: when connecting the front car and the rear car, first insert the first connecting block 303 into the plug interface 304c of the second connecting block 304, then lift the rear car and rotate it 90° counterclockwise, then the second connecting block 304 changes from a state parallel to the ground to a state perpendicular to the ground, when the second connecting block 304 is perpendicular to the ground, the first roller 304e rolls from the first inclined surface 304f of the moving groove 304d to the side wall groove 303a of the first connecting block 303 and squeezes the gravity block 303b in the side wall groove 303a, after the gravity block 303b is squeezed, it drives the abutment block 303c to abut the first roller 304e through the connecting rod, so that the first roller 304e is located in the side wall groove 303a, then the connection between the front car and the rear car is completed;

[0056] Then put the front vehicle smoothly into the tank. When the front vehicle enters the tank, the rear vehicle follows the front vehicle and enters the tank together, and the front vehicle is prevented from falling by tightening the traction rope of the rear vehicle.

[0057] When the rear vehicle is attached to the tank wall, the rear power vehicle is attached to the outer wall below the manhole, so that the rear vehicle and the rear vehicle generate magnetic attraction to fix the robot in the tank.

[0058] Start the driving mechanism of the rear power car, use the rear car to drive the front car to move together in the tank, and when the front car moves to the manhole of the protective plate, the front power car is fitted with the front car through the manhole of the protective plate. When the front car moves from the transition curved surface in the tank to the flat surface, the second connecting block 304 is in a horizontal state with the ground. At this time, the first roller 304e no longer squeezes the gravity block 303b, and the gravity block 303b recovers its original position under the elastic force of the spring. At this time, the resistance block 303c no longer resists the first roller 304e. At this time, the first roller 304e rolls along the first inclined surface 304f in the moving groove 304d to the moving groove 304d. At this time, the front car continues to move. Since the rollers are no longer in the side wall groove 303a of the first connecting block 303 and the moving groove 304d of the second connecting block 304 at the same time, the rear car no longer moves at the same time when the front car moves, that is, the front car and the rear car are separated at this time;

[0059] Next, the rear power car drives the rear car to move to the side manhole. At this time, the push rod on the rear power car is started to increase the distance between the two cars to reduce the magnetic attraction, separate the rear car and the rear power car, and remove the rear power car.

[0060] The rear vehicle is towed out of the manhole by the towing rope at the rear of the rear vehicle; after the front vehicle is separated from the rear vehicle, the driving force of the front power vehicle is used to carry out operations inside the tank.

[0061] After the operation of the front vehicle is completed, the front power vehicle is used to return to the manhole, and then the front vehicle is separated from the front vehicle through the jacking device of the front power vehicle, so as to take out the front vehicle.

[0062] It should be noted that, in this embodiment, the automatic separation of the current vehicle and the following vehicle is achieved by the change in the angle of the front vehicle and the following vehicle moving from the transition curved surface to the flat surface.

[0063] The rest of the structure is the same as that of Example 1.

[0064] Example 3, reference Figures 11 to 14 This embodiment is different from the above embodiments in that the connecting mechanism 300 includes a first connecting block 305 arranged at the end of the first mobile carrier 100 close to the second mobile carrier 200 and a second connecting block 306 arranged at the end of the second mobile carrier 200 close to the first mobile carrier 100.

[0065] Specifically, the second connecting block 306 is composed of a first part 306a304a and a second part 306b304b. The first part 306a304a is made of metal and can be deformed. The second part 306b304b is used to connect with the first connecting block 305. The second part 306b304b is provided with a connecting port 306c. The connecting port 306c is adapted to the second connecting block 306. A second roller 306d is provided in the connecting port 306c. The second connecting block 306 is horizontally shaped. In the engaged state, the contact surface at the bottom end of the second roller 306d is a second inclined surface 306e, and locking grooves 306f are provided on both sides of the end of the connecting opening 306c; an opening 305a is provided at the end of the first connecting block 305, and sliders 305b are provided on both sides of the opening 305a. The end of the slider 305b close to the second connecting block 306 is an arc surface 305c, and the opening 305a cooperates with the second roller 306d. It should be noted that the slider 305b is connected to the first connecting block 305 through a spring.

[0066] The rest of the structure is the same as that of Example 2.

[0067] Operation process: When connecting the front vehicle and the rear vehicle, first insert the first connecting block 305 into the connecting opening 306c of the second connecting block 306. At this time, lift the rear vehicle and rotate it 90° counterclockwise. At this time, the second connecting block 306 changes from a state parallel to the ground to a state perpendicular to the ground. When the second connecting block 306 is perpendicular to the ground, the second roller rolls from the second inclined surface 306e of the connecting opening 306c to the opening 305a of the first connecting block 305 and squeezes the slider 305b in the opening 305a. After being squeezed, the slider 305b extends out of the opening 305a and snaps into the snap-fitting groove 306f on the side wall of the connecting opening 306c of the second connecting block 306. At this time, the connection between the front vehicle and the rear vehicle is completed.

[0068] Then put the front vehicle smoothly into the tank. When the front vehicle enters the tank, the rear vehicle follows the front vehicle and enters the tank together, and the front vehicle is prevented from falling by tightening the traction rope of the rear vehicle.

[0069] When the rear vehicle is attached to the tank wall, the rear power vehicle is attached to the outer wall below the manhole, so that the rear vehicle and the rear vehicle generate magnetic attraction to fix the robot in the tank.

[0070] Start the driving mechanism of the rear power car, use the rear car to drive the front car to move together in the tank, and when the front car moves to the manhole of the protective plate, the front power car is attached to the front car through the manhole of the protective plate. When the front car moves from the transition curved surface in the tank to the flat surface, the second connecting block 304 is in a horizontal state with the ground. At this time, the second roller 306d returns to its original position along the second inclined surface 306e of the connecting port 306c. When the second roller 306d returns to the inside of the connecting port, the second roller 306d no longer contacts the slider 305b in the opening 305a, and the slider 305b returns to the initial position under the action of the spring force. At this time, the slider 305b is no longer engaged with the engaging groove 306f on the side wall of the connecting port 306c, so that the rear car no longer moves at the same time when the front car moves, that is, the front car and the rear car are separated at this time;

[0071] Next, the rear power car drives the rear car to move to the side manhole. At this time, the push rod on the rear power car is started to increase the distance between the two cars to reduce the magnetic attraction, separate the rear car and the rear power car, and remove the rear power car.

[0072] The rear vehicle is towed out of the manhole by the towing rope at the rear of the rear vehicle; after the front vehicle is separated from the rear vehicle, the driving force of the front power vehicle is used to carry out operations inside the tank.

[0073] After the operation of the front vehicle is completed, the front power vehicle is used to return to the manhole, and then the front vehicle is separated from the front vehicle through the jacking device of the front power vehicle, so as to take out the front vehicle.

[0074] It should be noted that, in this embodiment, the automatic separation of the current vehicle and the following vehicle is achieved by the change in the angle of the front vehicle and the following vehicle moving from the transition curved surface to the flat surface.

[0075] Importantly, it should be noted that the construction and arrangement of the present application shown in a plurality of different exemplary embodiments are only exemplary. Although only a few embodiments are described in detail in this disclosure, it should be readily understood by those who refer to this disclosure that many modifications are possible (e.g., the size, scale, structure, shape and proportion of various elements, and parameter values ​​(e.g., temperature, pressure, etc.), installation arrangement, use of materials, color, directional changes, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in the application. For example, the element shown as integrally formed can be composed of multiple parts or elements, the position of the element can be inverted or otherwise changed, and the nature or number or position of the discrete element can be changed or changed. Therefore, all such modifications are intended to be included in the scope of the present invention. The order or sequence of any process or method steps can be changed or reordered according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure of performing the function described herein, and is not only structurally equivalent but also equivalent structure. Without departing from the scope of the present invention, other replacements, modifications, changes and omissions can be made in the design, operating conditions and arrangement of the exemplary embodiments. Therefore, the invention is not limited to a specific embodiment, but extends to numerous modifications still falling within the scope of the appended claims.

[0076] Additionally, in order to provide a concise description of exemplary embodiments, all features of an actual embodiment (ie, those features that are not relevant to the best mode presently contemplated for carrying out the invention or those that are not relevant to implementing the invention) may not be described.

[0077] It will be appreciated that in the development of any actual implementation, as in any engineering or design project, numerous implementation-specific decisions may be made. Such a development effort may be complex and time-consuming, but will be a routine task of design, fabrication, and production for those of ordinary skill having the benefit of this disclosure without undue experimentation.

[0078] 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 adsorption mobile carrier working device, characterized in that: include, A first mobile carrier (100) and a second mobile carrier (200), wherein the first mobile carrier (100) and the second mobile carrier (200) are connected via a connecting mechanism (300), a traction member is provided at one end of the second mobile carrier (200) away from the first mobile carrier (100), a first powered mobile carrier (101) is provided at the bottom end of the first mobile carrier (100), and a second powered mobile carrier (201) is provided at the bottom end of the second mobile carrier (200); The second movable carrier (200) is used to assist the first movable carrier (100) to move along the transition curved surface to a flat surface; The first powered mobile carrier (101) is used to provide mobile power for the first mobile carrier (100) and to keep the first mobile carrier (100) in contact with the contact surface; The second power moving carrier (201) is used to provide moving power for the second moving carrier (200) and simultaneously to keep the second moving carrier (200) in contact with the contact surface.

2. The magnetic adsorption mobile carrier working device according to claim 1, characterized in that: The connection mechanism (300) comprises a magnetic lock (301) arranged at an end of the first mobile carrier (100) close to the second mobile carrier (200) and a metal spring (302) arranged at an end of the second mobile carrier (200) close to the first mobile carrier (100); One end of the metal spring (302) away from the second mobile carrier (200) is connected to the magnetic lock (301).

3. The magnetic adsorption mobile carrier working device according to claim 1, characterized in that: The connection mechanism (300) comprises a first connection block (303) arranged at an end of the first mobile carrier (100) close to the second mobile carrier (200) and a second connection block (304) arranged at an end of the second mobile carrier (200) close to the first mobile carrier (100); The first connection block (303) is plugged into the second connection block (304).

4. The magnetic adsorption mobile carrier working device according to claim 3, characterized in that: The side wall of the first connecting block (303) is provided with a side wall groove (303a), a gravity block (303b) is arranged on one side of the side wall groove (303a), the gravity block (303b) is connected to a resistance block (303c) via a connecting rod, and the resistance block (303c) is arranged on a side of the side wall groove (303a) away from the gravity block (303b).

5. The magnetic adsorption mobile carrier working device according to claim 4, characterized in that: The second connection block (304) is composed of a first part (304a) and a second part (304b), the first part (304a) is made of metal and can be deformed, the second part (304b) is used to connect with the first connection block (303), and the second part (304b) is provided with a plug interface (304c); The plug interface (304c) is adapted to the second connection block (304).

6. The magnetic adsorption mobile carrier working device according to claim 5, characterized in that: The insertion port (304c) is provided with movable grooves (304d) on both sides, and a first roller (304e) is arranged in the movable groove (304d); The first roller (304e) is adapted to the side wall groove (303a); A first inclined surface (304f) is arranged in the movable groove (304d), a movable track (304g) is arranged on the first inclined surface (304f), and one end of the first roller (304e) is arranged in the movable track (304g).

7. The magnetic adsorption mobile carrier working device according to claim 1, characterized in that: The connecting mechanism (300) comprises a first connecting block (305) arranged at an end of the first mobile carrier (100) close to the second mobile carrier (200) and a second connecting block (306) arranged at an end of the second mobile carrier (200) close to the first mobile carrier (100).

8. The magnetic adsorption mobile carrier working device according to claim 7, characterized in that: The second connecting block (306) is composed of a first connecting portion (306a) and a second connecting portion (306b), the first connecting portion (306a) is made of metal and can be deformed, the second connecting portion (306b) is used to connect with the first connecting block (305), and the second connecting portion (306b) is provided with a connecting opening (306c); The connecting port (306c) is adapted to the second connecting block (306); A second roller (306d) is arranged in the connection port (306c); when the second connection block (306) is in a horizontal state, the contact surface at the bottom end of the second roller (306d) is a second inclined surface (306e); and engaging grooves (306f) are provided on both sides of the end of the connection port (306c); An opening (305a) is provided at the end of the first connecting block (305), sliders (305b) are provided on both sides of the opening (305a), one end of the slider (305b) close to the second connecting block (306) is a curved surface (305c), and the opening (305a) cooperates with the second roller (306d).

9. The magnetic adsorption mobile carrier working device according to claim 8, characterized in that: The first mobile carrier (100) and the first power mobile carrier (101) are attracted to each other via a permanent magnet, and the second mobile carrier (200) and the second power mobile carrier (201) are attracted to each other via a permanent magnet; Both the first power movable carrier (101) and the second power movable carrier (201) are provided with electric push rods.

10. A canning method, characterized in that: The magnetic adsorption mobile carrier working device according to any one of claims 1 to 9 further comprises: When entering the tank, the first mobile carrier (100) is first smoothly inserted into the tank at the manhole on the side wall of the tank, and then the second mobile carrier (200) follows the first mobile carrier (100) into the tank through the connecting mechanism (300), and the first mobile carrier (100) is prevented from falling by tightening the traction rope of the second mobile carrier (200); After the second mobile carrier (200) is attached to the tank wall, the second power mobile carrier (201) is closely attached to the outer wall below the manhole, so that the second mobile carrier (201) and the second mobile carrier (200) generate a magnetic attraction force to fix the second mobile carrier (200) in the tank; The driving mechanism of the second powered mobile carrier (201) is started, and the first mobile carrier (100) is driven to move together with the second mobile carrier (200) in the tank; when the first mobile carrier (100) moves to the manhole of the protective plate, the first powered mobile carrier (101) is attached to the first mobile carrier (100) through the manhole of the protective plate; The magnetic lock (301) is opened to separate the first mobile carrier (100) and the second mobile carrier (200). After separation, the second powered mobile carrier (201) drives the second mobile carrier (200) to move to the side manhole. At this time, the electric push rod on the second powered mobile carrier (201) is activated to increase the distance between the two vehicles to reduce the magnetic attraction, separate the second mobile carrier (200) and the second powered mobile carrier (201), and remove the second powered mobile carrier (201); The second mobile carrier (200) is towed out of the manhole by using a towing rope at the tail of the second mobile carrier (200); After the first mobile carrier (100) is separated from the second mobile carrier (200), the first mobile carrier (100) uses the driving force of the first power mobile carrier (101) to perform operations inside the tank.

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