A multi-modal combined iron removal robot

Abstract

The present invention relates to the technical field of iron removal robots, and discloses a multimodal combined iron removal robot, comprising a vehicle frame, an iron-absorbing base, an iron-absorbing device, and a controller. The iron-absorbing base is mounted below the vehicle frame, and the iron-absorbing device is disposed in an inner cavity of the iron-absorbing base. The iron-absorbing device comprises an isolating horizontal plate and a first iron-absorbing member and a second iron-absorbing member disposed on both sides of the isolating horizontal plate. The output end of the first iron-absorbing member is provided with a first chip collection box, and the output end of the second iron-absorbing member is provided with a second chip collection box. The present invention arranges multiple groups of electromagnets on the first iron-absorbing member and the second iron-absorbing member. When the metal debris adsorbed on the electromagnet reaches a processing standard, the first drive motor or the second drive motor controls the target electromagnet to rotate into the chip collection box, and the control end disconnects the power supply to the target electromagnet. The metal debris on the target electromagnet then falls into the corresponding chip collection box, thereby improving the iron removal efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of iron removal robot design, and in particular to a multi-modal combined iron removal robot. Background Art

[0002] In metal parts and metal product processing workshops, magnetic impurities such as metal debris, metal powder, metal wire and metal blocks of different specifications often remain on the ground or on production equipment. In the existing technology, the removal of iron filings on the ground is done manually with a broom or other tools. The cleaning time of a large workshop is long, the workers are also tired, time-consuming and labor-intensive, and the work efficiency is low; the working logic of the iron removal robot in the existing technology is relatively simple, and it can only move back and forth to remove iron from the workshop floor. When the metal objects on the electromagnet reach a certain amount, the iron removal robot runs to the designated position, disconnects the power supply of the electromagnet, and drops the metal objects adsorbed on the electromagnet into the designated collection tank. This type of iron removal robot has limited ability to collect metal debris and needs to travel back and forth between the workshop and the collection tank many times. Its energy consumption is high, and the iron removal mode is rigid; for this reason, a multi-modal combined iron removal robot is proposed. Summary of the Invention

[0003] (1) Technical issues to be resolved

[0004] In order to solve at least one aspect of the above problems, the present invention first provides a multi-modal combined iron removal robot, which is different from the traditional permanent magnet and single electromagnet iron removal mode, adds iron removal devices and usage modes, and improves the iron removal efficiency and practicality of the iron removal robot.

[0005] (2) Technical solution

[0006] In order to solve the technical problem, the present invention provides a multi-modal combined iron removal robot, including a frame, an iron-absorbing base, an iron-absorbing device and a controller, the iron-absorbing base is installed under the frame, the iron-absorbing device is arranged in the inner cavity of the iron-absorbing base, the iron-absorbing device includes an isolating horizontal plate and a first iron-absorbing member and a second iron-absorbing member arranged on both sides of the isolating horizontal plate, the output end of the first iron-absorbing member is provided with a first chip collection box, the output end of the second iron-absorbing member is provided with a second chip collection box, the first iron-absorbing member includes a first drive motor and a first electromagnet for absorbing metal debris, the first drive motor is connected to the first electromagnet and can drive the first electromagnet to rotate, the second iron-absorbing member includes a second drive motor and a second electromagnet for absorbing metal debris, the second drive motor is connected to the second electromagnet and can drive the The second electromagnet rotates, and the first drive motor, the first electromagnet, the second drive motor and the second electromagnet are all electrically connected to the controller. When the iron removal robot starts to work, the first electromagnet and the second electromagnet are energized and exposed. When the first electromagnet and / or the second electromagnet adsorb metal debris, the controller controls the first drive motor and / or the second drive motor to work to drive the first electromagnet to rotate into the first chip collection box, and / or drive the second electromagnet to rotate into the second chip collection box. The controller controls the first electromagnet and the second electromagnet to cut off power so that the metal debris adsorbed on the first electromagnet and the second electromagnet detaches from the first electromagnet and the second electromagnet and falls into the first chip collection box and the second chip collection box respectively.

[0007] Furthermore, the first magnetic member is fixedly arranged on a first setting panel, the first setting panel is fixedly arranged on the bottom of the frame, and the first magnetic member includes a plurality of groups of electromagnetic magnetic frames.

[0008] Furthermore, the electromagnetic magnet frame includes an electric control terminal, an insulating fixing seat is provided at the bottom of the electric control terminal, and the first electromagnet is arranged at the bottom of the insulating fixing seat.

[0009] Furthermore, the first chip collecting box is provided with a first notch near the first magnetic member, a first photoelectric reflector is provided at the edge of the first notch, and an electric heating network is provided on the inner wall of the bottom of the first chip collecting box body.

[0010] Furthermore, the bottom plate of the first chip collecting box is tilted downward by 1-3 degrees from the notch.

[0011] Furthermore, a mounting panel is provided at the front end of the top of the frame, an iron picking device is provided on the mounting panel, and a clamping manipulator is provided on the iron picking device.

[0012] Furthermore, the iron picking device includes an anti-slip frame fixedly connected to the mounting panel, the anti-slip frame is provided with a transmission part, the transmission part is provided with a multi-axis robotic arm, the output end of the multi-axis robotic arm is provided with a mounting head, and the mounting head is detachably connected to the clamping robot.

[0013] Furthermore, the installation panel is provided with an air inlet filter next to the anti-drop frame, and a DC fan is provided below the installation panel.

[0014] Furthermore, a front panel is provided at the front end of the vehicle frame, and a plurality of groups of front obstacle avoidance radars are evenly arranged on the front panel.

[0015] (3) Beneficial effects

[0016] 1. The present invention provides a multi-modal combined iron removal robot, in which multiple groups of electromagnets are arranged on the first iron-absorbing member and the second iron-absorbing member. When the metal debris adsorbed on the electromagnet reaches the processing standard, the first drive motor or the second drive motor controls the target electromagnet to rotate into the chip collection box, and the control end disconnects the power supply to the target electromagnet. The metal debris on the target electromagnet falls into the corresponding chip collection box, and then the target electromagnet is rotated out and re-engaged in the iron removal operation. Multiple groups of electromagnets take over the metal adsorption and iron removal operations through the same control mode, thereby improving the iron removal efficiency.

[0017] 2. The solution of the present invention includes multiple sets of obstacle avoidance radars and cameras in various directions to detect obstacles in the workshop. The cameras cooperate with electromagnetic devices and clamping robots to detect and adsorb or clamp metal debris, increase the use mode of the iron removal robot, and use multiple sets of sensor components to integrate path, obstacle and metal debris information to complete multi-modal control of the iron removal robot.

[0018] 3. The scheme of the present invention includes multiple modes of iron removal components including electromagnet components and clamping robots, which can absorb metal debris on the path during the movement of the iron removal robot, and collect metal blocks and metal debris in the workshop other than the road surface, such as gaps, on workshop machines or other locations that the iron removal robot cannot reach. It can automatically remove metal debris dropped during the production process in the workshop to the greatest extent, and use the first chip collection box, the second chip collection box and the storage frame to temporarily store metal debris and metal blocks. There is no need to frequently travel back and forth between the workshop and the collection tank, which reduces the operating energy consumption of the iron removal robot, eliminates the need for manual operation to remove iron from the ground, improves iron removal efficiency, and reduces labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the installation structure of the bottom assembly of the iron removal robot according to an embodiment of the present invention;

[0020] Figure 2 This is a schematic structural diagram of an iron removal robot according to an embodiment of the present invention;

[0021] Figure 3 Schematic diagram of the structure of the iron picking device of the iron removal robot according to an embodiment of the present invention;

[0022] Figure 4 for Figure 1 Schematic diagram of the structure of area A;

[0023] Figure 5 Schematic diagram of the arrangement structure of the first chip box of the iron removal robot according to an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of the iron removal principle of the electromagnet of the iron removal robot according to an embodiment of the present invention;

[0025] Figure 7 This is a working state diagram of the electromagnet of the iron removal robot according to an embodiment of the present invention;

[0026] Figure 8 for Figure 1 Schematic diagram of the structure of area B in the middle.

[0027] Description of reference numerals:

[0028] 1 is a frame, 2 is an iron-absorbing base, 3 is an iron-absorbing device, 31 is an isolation horizontal plate, 32 is a first setting panel, 33 is a first iron-absorbing member, 331 is an electric control terminal, 332 is an insulating fixed seat, 333 is a first electromagnet, 334 is a photoelectric sensor, 34 is a first chip collecting box, 341 is a first photoelectric reflector, 35 is a second iron-absorbing member, 36 is a second chip collecting box, 37 is a second lifting baffle, 4 is a center frame, 5 is a moving component, 51 is a rotating motor, 52 is a mounting bracket, 53 54 is a universal wheel, 6 is a front panel, 7 is a front obstacle avoidance radar, 8 is a side obstacle avoidance radar, 9 is a rear frame, 10 is a storage box, 11 is a front frame, 12 is a camera, 13 is a speaker, 14 is a mounting panel, 15 is an iron picking device, 151 is an anti-slip frame, 152 is an auxiliary lock, 153 is a transmission part, 154 is a multi-axis robotic arm, 155 is a mounting head, 156 is a clamping robot, 16 is a laser radar, 17 is an air inlet filter, and 18 is an air outlet. DETAILED DESCRIPTION

[0029] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0030] A coordinate system XYZ is provided in the drawings of the embodiments of the present invention, wherein the positive direction of the X axis represents the left, the negative direction of the X axis represents the right, the positive direction of the Y axis represents the front, the negative direction of the Y axis represents the back, the positive direction of the Z axis represents the top, and the negative direction of the Z axis represents the bottom.

[0031] See Figures 1 to 8, an embodiment of the present invention provides a multi-modal combined iron removal robot, including a frame 1, an iron-absorbing base 2, an iron-absorbing device 3 and a controller, the iron-absorbing base 2 is installed under the frame 1, the iron-absorbing device 3 is arranged in the inner cavity of the iron-absorbing base 2, the iron-absorbing device 3 includes an isolating horizontal plate 31 and a first iron-absorbing member 33 and a second iron-absorbing member 35 arranged on both sides of the isolating horizontal plate 31, the output end of the first iron-absorbing member 33 is provided with a first chip collecting box 34, the output end of the second iron-absorbing member 35 is provided with a second chip collecting box 36, the first iron-absorbing member 33 includes a first driving motor and a first electromagnet 333 for absorbing metal debris, the first driving motor is connected to the first electromagnet 333 and can drive the first electromagnet 333 to rotate, the second iron-absorbing member 35 includes a second driving motor and a second electromagnet for absorbing metal debris, the second driving motor is connected to the first The two electromagnets are connected and can drive the second electromagnet to rotate. The first drive motor, the first electromagnet 333, the second drive motor and the second electromagnet are all electrically connected to the controller. When the iron removal robot starts working, the first electromagnet 333 and the second electromagnet are energized and exposed. After the first electromagnet 333 and / or the second electromagnet adsorb metal debris, the controller controls the first drive motor and / or the second drive motor to work to drive the first electromagnet 333 to rotate into the first chip collection box 34, and / or drive the second electromagnet to rotate into the second chip collection box 36. The controller controls the first electromagnet 333 and the second electromagnet to cut off the power so that the metal debris adsorbed on the first electromagnet 333 and the second electromagnet detaches from the first electromagnet 333 and the second electromagnet and falls into the first chip collection box 34 and the second chip collection box 36 respectively.

[0032] The first magnetic attraction 33 and the second magnetic attraction 35 are symmetrically arranged with respect to the isolation horizontal plate 31. The structure and working principle of the electromagnet components installed at the bottom of the first magnetic attraction 33 and the second magnetic attraction 35 are exactly the same, which is convenient for the control end to control and use. The isolation horizontal plate 31 can prevent the electromagnetic signals between the first magnetic attraction 33 and the second magnetic attraction 35 from interfering with each other, thereby ensuring the independence of the magnetic attraction operations of the two.

[0033] See Figure 1 、 Figure 4 and Figure 5 The first magnetic member 33 is fixedly set on the first setting panel 32, and the first setting panel 32 is fixedly set at the bottom of the frame 1. The first magnetic member 33 includes several groups of electromagnetic magnetic frames. The magnetic device 3 is limited to the inner cavity of the magnetic base 2 and is installed at the bottom of the frame 1, dividing the bottom space of the frame 1 into two independent iron removal spaces. The bottom panel of the frame 1 fixes the installation of the first setting panel 32. The first magnetic member 33 is installed at the bottom of the first setting panel 32. Multiple groups of electromagnetic magnetic frames are arranged on the first magnetic member 33 according to specific space and usage requirements to facilitate the metal debris on the first magnetic member 33 to fall into the first chip collection box 34.

[0034] See Figures 4 to 7The electromagnetic magnet frame includes an electric control terminal 331, an insulating fixing seat 332 is provided at the bottom of the electric control terminal 331, a first electromagnet 333 is provided at the bottom of the insulating fixing seat 332, and a plurality of first electromagnets 333 are provided in an annular manner at the bottom of the insulating fixing seat 332. Each group of first electromagnets 333 is provided with a group of photoelectric sensors 334 at the bottom. Figure 7 When one group of first electromagnets 333 enters the first chip collecting box 34, the other groups of first electromagnets 333 exposed at the outer end of the first chip collecting box 34 are still in a working state and can continuously absorb metal debris;

[0035] The inner cavity of the electric control terminal 331 limits the installation of all the first electromagnets 333, and limits the setting of each group of first electromagnets 333 through the insulating fixing seat 332, so as to prevent the first electromagnets 333 from being affected by the gravity of metal debris adsorbed and affecting the installation firmness. The bottom of the first electromagnet 333 is provided with an independent protective shell, a light-emitting tube and a reflective receiving element at the photoelectric sensor 334. The protective shell is provided to prevent the negative impact of metal debris adsorbed on the first electromagnet 333 on the photoelectric sensor 334. The protective shell is made of transparent insulating material and does not generate magnetic and electric induction with the first electromagnet 333, and will not adsorb metal debris. The light-emitting tube emits light, and the light passes through the protective shell and illuminates the first photoelectric reflector 341. The first photoelectric reflector 341 receives the light and reflects it back to the reflective receiving element. The receiving part, that is, the control end receives that the corresponding first electromagnet 333 is in position above the first photoelectric reflector 341, and disconnects the supply current to this group of first electromagnets 333. At this time, this group of first electromagnets 333 loses its magnetic force and cannot absorb metal debris. The metal debris falls into the first chip collecting box 34. When the gravity on the first electromagnet 333 disappears, after the weight of the next group of first electromagnets 333 reaches the standard and enters the first chip collecting box 34, the first electromagnet 333 is rotated out from above the first photoelectric reflector 341. At this time, when the reflection receiving part cannot receive the reflected light from the first photoelectric reflector 341, the first electromagnet 333 has been moved out of the first chip collecting box 34, and then the power supply to the first electromagnet 333 is restored, so that the first electromagnet 333 has normal adsorption capacity.

[0036] Each group of insulating fixed seats 332 is equipped with a group of distributed gravity sensors, which can detect the gravity of each group of first electromagnets 333 in the insulating fixed seats 332. An independent first drive motor is set at each group of electric control terminals 331 corresponding to the insulating horizontal plate 31. When the distributed sensor detects that the weight of one group of first electromagnets 333 on the electric control terminal 331 reaches a preset value, the first drive motor controls the insulating fixed seat 332 to rotate the required angle, and transfers the target first electromagnet 333 into the first chip collection box 34, cuts off the power to remove the metal debris adsorbed by it, and then puts it back into the iron removal operation.

[0037] The first chip box 34 is provided with a first notch near the first magnetic element 33, and a first photoelectric reflector 341 is provided at the edge of the first notch. The bottom inner wall of the first chip box 34 is provided with an electric heating network. The first notch is provided to facilitate each group of first drive motors to screw the first electromagnet 333 into the first chip box 34. When the first electromagnet 333 is in place, the photoelectric sensor 334 at its bottom cooperates with the first photoelectric reflector 341 to transmit the positioning information to the control end, so that the control end can disconnect the power supply of the group of first electromagnets 333. The electric heating network can perform electric heating treatment on the first chip box 34, remove water stains and moisture carried by metal debris, and prevent components and metal debris from being corroded by moisture.

[0038] The bottom plate of the first chip box 34 is tilted downward by 1-3 degrees from the notch, so that after metal debris falls into the first chip box 34, it flows backward toward the bottom wall of the first chip box 34 and accumulates at the rear end of the first chip box 34, making it easier for subsequent debris to be discharged.

[0039] See Figure 1 and Figure 7 The second magnetic element 35 and the first magnetic element 33 are symmetrically arranged with respect to the isolation horizontal plate 31, and the second chip collecting box 36 and the first chip collecting box 34 are symmetrically arranged and have the same structure. A first lifting baffle is provided at the bottom of the rear end of the first chip collecting box 34, and a first lifting assembly is provided on the first lifting baffle. A second lifting baffle 37 is provided at the bottom of the front end of the second chip collecting box 36, and a second lifting assembly is provided on the second lifting baffle 37, that is, the second magnetic element 35 and the first magnetic element 33 have the same component structure, working mode and control principle. During the movement of the iron removal robot, the power supply current of the electromagnets on the first magnetic element 33 and the second magnetic element 35 is adjusted, that is, the magnetic force of each group of electromagnets is adjusted to control the metal fragments of the two groups of magnetic elements. In order to improve the adsorption capacity of metal chips, in an embodiment of the present invention, the current input to the first magnetic element 33 can be set to be twice that of the second magnetic element 35. The second magnetic element 35 is in front, and adsorbs relatively fine metal debris into the second chip collecting box 36, and the first magnetic element 33 is in the back, and adsorbs metal debris with larger particle size into the first chip collecting box 34; when the metal debris in the first chip collecting box 34 or the second chip collecting box 36 reaches a certain amount, the iron removal robot runs to the collection slot at the designated position, opens the first lifting baffle or the second lifting baffle 37 to release the metal debris, thereby realizing efficient collection and processing of the debris; the working state of the iron removal robot can also be intelligently adjusted by regularly adjusting the discharge frequency of the two sets of chip collecting boxes.

[0040] An installation panel 14 is provided at the front end of the top of the frame 1, and an iron picking device 15 is provided on the installation panel 14. A clamping manipulator 156 is provided on the iron picking device 15. A storage frame 10 is provided at the rear end of the top of the frame 1. The installation panel 14 is provided to fix the installation of the iron picking device 15. During the movement of the iron removal robot, the clamping manipulator 156 clamps some larger metal blocks detected during the movement, or extends into positions such as gaps, workshop machines and other positions that the iron removal robot cannot reach, clamps the metal blocks at the corresponding positions, and places them in the storage frame 10. The robot designed in this scheme has high working flexibility and can complete carpet-style iron removal operations in the production workshop space according to the preset travel route. Its working objects include but are not limited to metal debris, small-sized metal blocks and large-sized metal blocks to a certain extent. It has high adaptability, good control effect and good user experience.

[0041] See Figure 2 and Figure 3 The iron picking device 15 includes an anti-slip frame 151 fixedly connected to the mounting panel 14, a transmission part 153 is provided on the anti-slip frame 151, a multi-axis robotic arm 154 is provided on the transmission part 153, and a mounting head 155 is provided at the output end of the multi-axis robotic arm 154. The mounting head 155 is detachably connected to the clamping robot 156, and the iron picking device 15 is fixedly mounted on the mounting panel 14 through the anti-slip frame 151. A plurality of auxiliary locks 152 are provided at the connection between the anti-slip frame 151 and the mounting panel 14 to enhance the firmness of the connection between the two. A transmission part 153 is provided to control the multi-axis robotic arm 154 to realize movement in various directions and within a set range, which can drive the clamping robot 156 to the target position to clamp the target metal block.

[0042] The multi-axis robot arm 154 establishes a connection with the clamping robot 156 through the installation head 155. The clamping robot 156 can clamp the target metal block in accordance with the control instructions. In another embodiment, an electromagnetic clamping robot 156 can be set on the installation head 155. When a smaller metal block needs to be taken out, electromagnetic adsorption or clamping robot 156 is used to clamp it. If a larger metal block needs to be taken out, electromagnetic adsorption is used in conjunction with the clamping of the clamping robot 156 to remove the target metal block, thereby ensuring the stability of the clamping operation.

[0043] See Figure 2 The installation panel 14 is provided with an air inlet filter 17 next to the anti-slip frame 151, and a DC fan is provided below the installation panel 14. The output end of the DC fan is provided with an air outlet 18 at the front end of the frame 1. The DC fan draws in air through the air inlet filter 17 and then blows the air out from the air outlet 18, which can remove the floating dust on the path of the iron removal robot and expose the metal debris at the position where the iron removal robot passes, so as to facilitate the adsorption or clamping of each group of iron removal parts.

[0044] A front frame 11 is provided at the top of the air outlet 18, a camera 12 is provided at the front end of the front frame 11, and a speaker 13 is provided next to the camera 12. The installation of the camera 12 and the speaker 13 is fixed by the front frame 11. The camera 12 can be used to detect whether there are obstacles on the preset travel path, large metal blocks and workshop staff. The speaker 13 can be set to serve as a reminder or adjust the atmosphere.

[0045] A rear frame 9 is provided at the rear end of the frame 1 corresponding to the front frame 11. The rear frame 9 enhances the installation limiting function of the storage frame 10 to prevent the storage frame 10 from falling off the frame 1. A magnetic panel is provided at the bottom of the storage frame 10 to enhance the stacking stability of the temporarily stored metal blocks.

[0046] A front panel 6 is provided in front of the air outlet 18, and several groups of front obstacle avoidance radars 7 are evenly provided on the front panel 6. The front obstacle avoidance radars 7 can detect obstacles in front of the iron removal robot to prevent the iron removal robot from colliding with obstacles in the direction of travel. The front panel 6 is provided to fix the installation of the front obstacle avoidance radars 7 to ensure the setting stability of the front obstacle avoidance radars 7.

[0047] The frame 1 is provided with multiple sets of side obstacle avoidance radars 8 on the edge to ensure that the iron removal robot can detect side obstacles when turning or moving, thereby improving the operation safety of the iron removal robot; a set of laser radars 16 is also provided on the installation panel 14 to receive messages from the main control end, so that the main control end can monitor its position and monitor the operation status of the iron removal robot.

[0048] See Figure 1 and Figure 8 The bottom edge of the frame 1 is provided with a moving assembly 5, which includes four sets of universal wheels 54. Each set of universal wheels 54 is provided with a set of mounting brackets 52 on the inside. Each set of mounting brackets 52 is connected to the base panel of the frame 1 with a shock absorber frame 53. Each set of universal wheels 54 is connected to a set of rotating motors 51 through the mounting brackets 52. A middle frame 4 is provided between the two front sets of rotating motors 51 and the two rear sets of rotating motors. A set of positioning devices is provided on the front and rear sides of the middle frame 4 to limit the universal wheel assemblies located on both sides of the middle frame 4. Installation ensures the stability of the installation of the mobile component 5. During the operation of the iron removal robot, the four sets of rotating motors 51 respectively control the moving speed of the corresponding universal wheels 54, so that the iron removal robot can achieve various working operation states such as straight line, turning, stagnation and retreat, and is suitable for iron removal on different paths in the workshop; during the movement of the iron removal robot, the bumps it suffers and the gravity effects caused by the deposition of metal debris are reduced and absorbed by the shock absorber frame 53, reducing the negative impact of the gravity factor of the iron removal robot itself on the mobile component 5.

[0049] A control terminal and a battery are set in the inner cavity of the frame 1 behind the DC fan, and a charging port is set at the rear end of the frame 1 to facilitate charging the battery. The control terminal is set to receive operating instructions from the main control terminal, adjust the specific operating route of the iron removal robot, and adjust the power supply current to each group of first electromagnets 333 and each group of second electromagnets, so that the first magnetic attraction 33 and the second magnetic attraction 35 can have different strengths of magnetic attraction respectively to absorb metal debris of different weights or regularities.

[0050] A permanent magnet can be designed at the rear end of the frame 1 according to usage requirements, which can adsorb the electromagnet assembly and the metal debris not processed by the clamping robot 156 during travel. The residual amount of such metal debris is small and the probability of existence is low, and its adsorption on the permanent magnet will not affect the use effect of the iron removal robot.

[0051] The multi-modal combined iron removal robot provided in the embodiment of the present invention can be set with a pre-processing program, and the electromagnet is energized to absorb iron or other magnetic metal debris. When the weight of the relevant electromagnet reaches a certain amount, the first drive motor or the second drive motor in the electric control terminal where the electromagnet is located drives the electromagnet to rotate to the first chip collection box 34 or the second chip collection box 36 at the location. After the photoelectric sensor senses that the electromagnet is in place, the power supply of the electromagnet is disconnected, the electromagnet loses its magnetism, and the metal debris can fall into the first chip collection box 34 or the second chip collection box 36. When the amount of metal debris in the first chip box 34 or the second chip box 36 reaches a certain amount, the iron removal robot runs to the collection trough at the designated position, opens the first lifting baffle or the second lifting baffle 37 to release the metal debris, thereby realizing efficient collection and processing of the debris; the metal blocks at the position or specification that cannot be processed by the electromagnet at the bottom of the iron removal robot are processed by the clamping manipulator 156, thereby improving the working efficiency of the iron removal robot; this solution can recycle the iron removal robot and perform iron removal processing within the workshop, thereby improving the efficiency of waste sorting and processing in the workshop and reducing manual cleaning costs.

[0052] Although the present disclosure is disclosed as above, the protection scope of the present disclosure is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A multi-modal combined iron removal robot, characterized in that: The invention comprises a vehicle frame (1), an iron-absorbing base (2), an iron-absorbing device (3) and a controller, wherein the iron-absorbing base (2) is installed below the vehicle frame (1), the iron-absorbing device (3) is arranged in the inner cavity of the iron-absorbing base (2), the iron-absorbing device (3) comprises an isolating transverse plate (31) and a first iron-absorbing member (33) and a second iron-absorbing member (35) arranged on both sides of the isolating transverse plate (31), the output end of the first iron-absorbing member (33) is provided with a first chip collecting box (34), the output end of the second iron-absorbing member (35) is provided with a second chip collecting box (36), the first iron-absorbing member (33) comprises a first driving motor and a first electromagnet (333) for absorbing metal debris, the first driving motor is connected to the first electromagnet (333) and can drive the first electromagnet (333) to rotate, the second iron-absorbing member (35) comprises a second driving motor and a second electromagnet for absorbing metal debris, the second driving motor is connected to the second electromagnet and can drive the The second electromagnet rotates, and the first drive motor, the first electromagnet (333), the second drive motor and the second electromagnet are all electrically connected to the controller. When the iron removal robot starts working, the first electromagnet (333) and the second electromagnet are energized and exposed. After the first electromagnet (333) and / or the second electromagnet adsorb metal debris, the controller controls the first drive motor and / or the second drive motor to work, so as to drive the first electromagnet (333) to rotate into the first chip collection box (34) and / or drive the second electromagnet to rotate into the second chip collection box (36). The controller controls the first electromagnet (333) and the second electromagnet to be de-energized, so that the metal debris adsorbed on the first electromagnet (333) and the second electromagnet are separated from the first electromagnet (333) and the second electromagnet and fall into the first chip collection box (34) and the second chip collection box (36) respectively.

2. A multi-modal combined iron removal robot according to claim 1, characterized in that: The first magnetic member (33) is fixedly arranged on a first setting panel (32), the first setting panel (32) is fixedly arranged at the bottom of the vehicle frame (1), and the first magnetic member (33) includes a plurality of groups of electromagnetic magnetic frames.

3. A multi-modal combined iron removal robot according to claim 2, characterized in that: The electromagnetic magnet frame comprises an electric control terminal (331), an insulating fixing seat (332) is provided at the bottom of the electric control terminal (331), and the first electromagnet (333) is arranged at the bottom of the insulating fixing seat (332).

4. A multi-modal combined iron removal robot according to claim 1, characterized in that: The first chip collecting box (34) is provided with a first notch near the first magnetic element (33), a first photoelectric reflector (341) is provided at the edge of the first notch, and an electric heating network is provided on the inner wall of the bottom of the first chip collecting box (34).

5. A multi-modal combined iron removal robot according to claim 4, characterized in that: The bottom plate of the first chip collecting box (34) is tilted downward from the notch by 1-3 degrees.

6. The multi-modal combined iron removal robot according to claim 1, characterized in that: A mounting panel (14) is provided at the front end of the top of the vehicle frame (1), an iron picking device (15) is provided on the mounting panel (14), and a clamping manipulator (156) is provided on the iron picking device (15).

7. A multi-modal combined iron removal robot according to claim 6, characterized in that: The iron picking device (15) comprises an anti-slip frame (151) fixedly connected to the mounting panel (14), a transmission member (153) being provided on the anti-slip frame (151), a multi-axis robotic arm (154) being provided on the transmission member (153), a mounting head (155) being provided at the output end of the multi-axis robotic arm (154), and the mounting head (155) being detachably connected to the gripping robotic arm (156).

8. The multi-modal combined iron removal robot according to claim 7, characterized in that: The installation panel (14) is provided with an air inlet filter (17) beside the anti-drop frame (151), and a DC fan is provided below the installation panel (14).

9. The multi-modal combined iron removal robot according to claim 1, characterized in that: A front panel (6) is provided at the front end of the vehicle frame (1), and a plurality of groups of front obstacle avoidance radars (7) are evenly provided on the front panel (6).

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