Magnetic type wall-climbing decontamination robot and decontamination method thereof

Abstract

The invention belongs to the technical field of industrial equipment cleaning, and particularly relates to a magnetic type wall-climbing trash-cleaning robot and a trash-cleaning method thereof.The magnetic type wall-climbing trash-cleaning robot comprises a rear driving part and a front trash-cleaning part, the front trash-cleaning part is rotationally connected with the rear driving part through a first rotating shaft, and the front trash-cleaning part comprises a trash-cleaning body, a first power mechanism and a trash-cleaning mechanism; the trash cleaning mechanism is rotationally connected between the extending side walls of the two sides of the trash cleaning body, and the first power mechanism is arranged on the trash cleaning body and connected with the trash cleaning mechanism through a first belt. The device adopts a dual magnetic attraction structure, is stable in adsorption, has a composite decontamination function of cutting and prying, can realize automatic, safe and efficient cleaning of the groove wall scabs of the aluminum oxide decomposition groove, is adaptive to a complex wall surface environment, and is high in practicability. The problems that an existing aluminum oxide decomposing tank is low in tank wall scar cleaning efficiency, poor in safety, insufficient in environmental protection property and poor in adaptability are solved.

Description

Technical Field

[0001] This invention belongs to the field of industrial equipment cleaning technology, specifically relating to a magnetic wall-climbing cleaning robot and its cleaning method. Background Technology

[0002] In the alumina production process, the alumina decomposition tank is the core and key equipment for realizing the decomposition of sodium aluminate solution and generating alumina crystals. Its operational stability and cleanliness directly affect production efficiency, product quality and equipment lifespan.

[0003] During long-term continuous operation, alumina crystals and various impurities in the sodium aluminate solution tend to adhere and deposit on the surface of the decomposition tank wall, gradually forming hard, highly adhesive scales. As operating time increases, the scale thickness continues to rise, leading to a series of serious problems: First, it significantly reduces the effective volume of the decomposition tank, decreasing the space for solution storage and reaction, directly resulting in decreased production efficiency; second, it hinders heat transfer between the tank wall and the solution, reducing heat exchange efficiency and increasing energy consumption; third, it disrupts the uniformity of solution flow, affecting the stability and sufficiency of the decomposition reaction, leading to reduced alumina product purity and quality fluctuations; fourth, uneven adhesion of the scale can cause localized stress concentration on the tank wall, potentially causing structural damage to the tank and shortening equipment lifespan over time. Therefore, regularly cleaning the scales on the walls of the alumina decomposition tank is a necessary step to ensure the continuous and stable operation of alumina production.

[0004] Currently, the industry mainly uses three methods to clean scale buildup on the walls of alumina decomposition tanks, all of which have significant drawbacks. The first is manual scraping, requiring workers to enter the tank and manually scrape the scale using tools such as scrapers and chisels. This method is extremely labor-intensive, inefficient, and the confined space, dim lighting, and polluted air inside the decomposition tank pose serious safety hazards such as falls from heights and mechanical injuries, making it impossible to guarantee operational safety. The second is high-pressure water jet cleaning, which uses a high-pressure pump to generate high-speed water jets to impact and peel off the scale. This method is extremely energy-intensive, generates a large amount of wastewater containing impurities during the cleaning process, resulting in high subsequent water treatment costs. Furthermore, it has limited impact effectiveness on hard, strongly adhered scale, making thorough removal difficult. The third is chemical cleaning, which dissolves the scale by adding acidic or alkaline cleaning agents. However, these cleaning agents can easily corrode and damage the decomposition tank, shortening equipment lifespan. Additionally, the discharge of cleaning wastewater poses environmental risks and does not meet the current requirements for green industrial production.

[0005] With the development of intelligent manufacturing technology, wall-climbing robots are gradually being applied to the surface operations of industrial tanks in an attempt to solve the drawbacks of manual cleaning. However, existing wall-climbing robots have significant limitations in adaptability to the cleaning scenarios of alumina decomposition tanks: On the one hand, most existing wall-climbing robots use vacuum adsorption or traditional permanent magnet adsorption. Vacuum adsorption requires extremely high wall flatness, and on rough, scaled surfaces, sealing failure can easily occur, leading to adsorption detachment. The adsorption force of traditional permanent magnet adsorption is fixed and cannot be adjusted. When cleaning thick scales increases the robot's load, it is prone to falling accidents due to insufficient adsorption force. On the other hand, the cleaning mechanisms of existing wall-climbing robots are mostly simple brushing or scraping structures, which are difficult to efficiently break and peel off the hard and strongly adhered scales on the tank walls of alumina decomposition tanks, and the cleaning effect cannot meet production requirements.

[0006] In summary, existing methods for cleaning scale buildup on the walls of alumina decomposition tanks generally suffer from low efficiency, poor safety, insufficient environmental friendliness, or poor adaptability, failing to meet the demands of industrial production for high efficiency, safety, and environmentally friendly cleaning. Therefore, developing an automated cleaning device that can adapt to the complex wall environment of alumina decomposition tanks, provides stable and reliable adsorption, and achieves highly efficient and thorough cleaning has become a pressing technical challenge for the alumina production industry, possessing significant industrial application value.

[0007] The information disclosed in this background section is intended only to enhance the understanding of the overall background of the invention and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0008] This invention provides a magnetic wall-climbing cleaning robot and its cleaning method, aiming to solve the technical problems mentioned in the background art.

[0009] To achieve the above objectives, the technical solution of the present invention is as follows:

[0010] A magnetic wall-climbing cleaning robot includes a rear drive unit and a front cleaning unit, wherein the front cleaning unit is rotatably connected to the rear drive unit via a rotating shaft.

[0011] The front cleaning unit includes a cleaning body, a power mechanism, and a cleaning mechanism. The cleaning mechanism is rotatably connected between the two extended sidewalls of the cleaning body. The power mechanism is mounted on the cleaning body and connected to the cleaning mechanism via a belt.

[0012] Preferably, the cleaning mechanism includes a rotating shaft, a bearing housing, and multiple cutting blades.

[0013] The second rotating shaft is rotatably connected between the two extended side walls of the cleaning body through the bearing seat. The second rotating shaft is provided with a locking block, and the cutting blade is provided with a locking groove that cooperates with the locking block. Multiple cutting blades are spaced on the second rotating shaft and are limited and connected to the second rotating shaft through the locking block and the locking groove.

[0014] Preferably, the two extended sidewalls of the cleaning body are provided with relief grooves, the second rotating shaft is engaged in the relief grooves, and is rotatably connected between the two extended sidewalls of the cleaning body through the bearing seat.

[0015] Preferably, the power mechanism includes a motor, a driving wheel, and a driven wheel.

[0016] The motor is mounted on the cleaning body and its output end is connected to the drive wheel. The driven wheel is mounted on the rotating shaft. The belt connects the drive wheel and the driven wheel.

[0017] Preferably, the rear drive unit includes a drive body, a moving mechanism, a magnetic attraction mechanism, and a control system.

[0018] The control system is located within the drive unit, and the moving mechanism and the magnetic attraction mechanism are both electrically connected to the control system.

[0019] The moving mechanism includes four magnetic wheels, which are respectively located on both sides of the driving body. The magnetic attraction mechanism includes multiple electromagnets, which are located on the abdomen of the driving body.

[0020] Preferably, the rear drive unit further includes a second power mechanism, which includes a power component and a connecting component.

[0021] The power component is mounted on the drive body and connected to the connecting component via belt two. The rotating shaft one is provided with a gear one that meshes with the connecting component.

[0022] Preferably, the connecting assembly includes a third rotating shaft and a second gear. The third rotating shaft is rotatably connected inside the driving body, and the second gear is provided thereon. The second gear meshes with the first gear.

[0023] Preferably, the power assembly includes a second motor, a second driving wheel, and a second driven wheel.

[0024] The second motor is mounted on the drive body, and its output end is connected to the second drive wheel. The second driven wheel is mounted on the third rotating shaft. The second belt is connected between the second drive wheel and the second driven wheel. The drive body has a through hole for the second belt to pass through.

[0025] Preferably, the rear drive unit further includes a camera, which is mounted on the drive body.

[0026] A cleaning method includes the following steps:

[0027] S1, Equipment Deployment

[0028] Place the magnetic wall-climbing cleaning robot at the designated position on the wall of the alumina decomposition tank, check the connection status of each mechanism, and ensure that belt one and belt two are taut and the cutting blade is securely installed.

[0029] S2, Adsorption Positioning

[0030] The control system is started by an external controller. Based on preset parameters and the real-time detection of the tank wall status, the control system calculates the minimum total magnetic adsorption force through a dynamic adjustment algorithm of magnetic adsorption force, inputs the corresponding excitation current to the electromagnet, and the magnetic wheel and the electromagnet work together to make the robot adsorb onto the tank wall. After confirming that the adsorption is stable, it enters the operation mode.

[0031] S3, Mobile Navigation

[0032] The operator manipulates the magnetic wheel to rotate, driving the robot to move along the tank wall. The distribution of the scale on the tank wall is observed in real time through the camera, and the robot is moved to the scale area.

[0033] S4. Cleaning and decontamination operations

[0034] If the scale on the tank wall is thin, start motor one to drive the cutting blade to rotate and cut the scale until it is completely broken and falls off; if the scale on the tank wall is thick and hard, start motor two simultaneously to drive the front cleaning section to rotate upward, and use the rotating cutting blade to pry the scale and peel it off; during the operation, the control system monitors parameters such as crawling acceleration and cutting resistance in real time, and dynamically adjusts the electromagnet adsorption force through algorithms to ensure stable adsorption;

[0035] S5, Work completed

[0036] After cleaning, the operator moves the robot to the outlet position on the tank wall, shuts off all power mechanisms, cuts off the electromagnet excitation current, removes the robot, and performs maintenance.

[0037] By adopting the above technical solution, the beneficial effects of the present invention are as follows:

[0038] 1. This invention provides a magnetic wall-climbing cleaning robot and its cleaning method, which adopts a combined cleaning mode of cutting and prying off scale on the tank wall to achieve precise cleaning of scale of different thicknesses: When dealing with thin scale, the first power mechanism drives multiple spaced cutting blades to rotate at high speed, which can continuously break and cut the scale, causing it to detach from the tank wall in pieces; for thick and hard scale, the second power mechanism drives the front cleaning part to rotate upward around the first rotating shaft through gear meshing transmission, and the cutting blades simultaneously pry upward on the scale while rotating, using mechanical force to lift and peel it off as a whole. Compared with traditional scraping, high-pressure water jet and other methods, this invention greatly improves the cleaning efficiency and thoroughness of strong adhesion scale, and is suitable for various scale conditions in alumina decomposition tanks.

[0039] 2. This invention employs a dual magnetic attraction structure combining a magnetic wheel and an electromagnet, overcoming the limitations of traditional adsorption methods. The magnetic wheel ensures basic adsorption force during movement, while the electromagnet is electrically connected to the control system, allowing for dynamic adjustment of the excitation current via an external controller, thereby altering the adsorption force. When the robot cuts thick scars under increased load or travels to rough scar surfaces, the adsorption force increases in real time, ensuring the robot firmly adheres to the tank wall and preventing detachment accidents. Compared to vacuum adsorption, it has lower requirements for wall flatness, adapting to the complex wall environment of the decomposition tank and significantly improving operational safety.

[0040] 3. The cutting disc of this invention is limited by a locking slot and a locking block of the rotating shaft II. Simultaneously, clearance grooves are provided on the extended side walls of both sides of the cleaning body, allowing the rotating shaft II to be directly inserted into or removed from these grooves, thus enabling quick assembly and disassembly of the cutting disc and the rotating shaft II. Operators can flexibly change cutting discs of different specifications according to the hardness of the scale, without the need for complex tools, significantly shortening maintenance time and reducing labor and spare parts costs.

[0041] 4. This invention enables automated cleaning of scale buildup on the tank walls, eliminating the need for workers to enter the polluted and high-risk environment of the decomposition tank, and completely avoiding safety hazards such as falls from heights and mechanical injuries during manual cleaning. Compared to high-pressure water jet cleaning, it does not consume large amounts of water resources and does not produce wastewater containing impurities, saving subsequent water treatment costs. Compared to chemical cleaning, it avoids the corrosive damage to the tank body caused by cleaning agents and the environmental risks of waste liquid discharge, which is in line with the concept of green production. Attached Figure Description

[0042] Figure 1 This is a top view of the present invention;

[0043] Figure 2 for Figure 1 Enlarged view of point A in the middle;

[0044] Figure 3 This is a schematic diagram showing the connection between the rotating shaft 2 and the cutting blade of the present invention;

[0045] Figure 4This is a schematic diagram showing the connection between the rotating shaft 2 and the cleaning body of the present invention.

[0046] The symbols of the main components in the diagram are explained below:

[0047] 1. Cleaning main body; 11. Extended side wall; 111. Clearance groove; 2. Power mechanism one; 21. Motor one; 22. Drive wheel one; 23. Driven wheel one; 3. Cleaning mechanism; 31. Rotating shaft two; 311. Locking block; 32. Bearing seat; 33. Cutting blade; 331. Slot; 4. Drive main body; 5. Moving mechanism; 51. Magnetic wheel; 6. Magnetic attraction mechanism; 61. Electromagnet; 7. Power mechanism two; 71. Power assembly; 711. Motor two; 712. Drive wheel two; 713. Driven wheel two; 72. Connecting assembly; 721. Rotating shaft three; 722. Gear two; 8. Camera; 100. Rear drive unit; 200. Front cleaning unit; 300. Belt one; 400. Rotating shaft one; 410. Gear one; 500. Belt two; 600. Through hole. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] Example

[0050] like Figures 1 to 4 As shown, a magnetic wall-climbing cleaning robot includes a rear drive unit 100 and a front cleaning unit 200. The front cleaning unit 200 is rotatably connected to the rear drive unit 100 via a pivot 400. The front cleaning unit 200 includes a cleaning body 1, a power mechanism 2, and a cleaning mechanism 3. The cleaning mechanism 3 is rotatably connected between the two side walls 11 extending from both sides of the cleaning body 1. The power mechanism 2 is mounted on the cleaning body 1 and is connected to the cleaning mechanism 3 via a belt 300.

[0051] Conventional methods for cleaning scale buildup on the walls of alumina decomposition tanks involve manual scraping, high-pressure water jetting, or chemical cleaning. Manual methods are labor-intensive and inefficient, often operating in harsh environments. High-pressure water jetting is energy-intensive, may generate large amounts of wastewater, and has limited effectiveness against strongly adhering deposits. Chemical cleaning may involve corrosion and environmental issues. In contrast, the magnetic wall-climbing cleaning robot of this application utilizes a cleaning mechanism 3 to automatically clean scale buildup on the tank walls, ensuring safety and high efficiency.

[0052] In this embodiment, please refer to Figure 1 , Figure 3 and Figure 4The cleaning mechanism 3 includes a second rotating shaft 31, a bearing seat 32, and multiple cutting blades 33 made of hard alloy. The second rotating shaft 31 is rotatably connected between the two extended side walls 11 of the cleaning body 1 via the bearing seat 32. The second rotating shaft 31 is provided with a locking block 311, and the cutting blades 33 are provided with locking grooves 331 that cooperate with the locking block 311. The multiple cutting blades 33 are spaced out on the second rotating shaft 31 and are limited and connected to the second rotating shaft 31 via the locking block 311 and the locking grooves 331. Specifically, the two extended side walls 11 of the cleaning body 1 are provided with relief grooves 111, and the second rotating shaft 31 is locked in the relief grooves 111 and rotatably connected between the two extended side walls 11 of the cleaning body 1 via the bearing seat 32.

[0053] The cutting disc 33 is positioned and engaged with the locking block 311 of the rotating shaft 31 via the locking groove 33. Simultaneously, clearance grooves 111 are provided on the side walls 11 of both sides of the cleaning body 1, allowing the rotating shaft 31 to be directly inserted into or removed from the clearance grooves 111, thus enabling quick assembly and disassembly of the cutting disc 33 and the rotating shaft 31. Operators can flexibly change cutting discs of different specifications according to the hardness of the scale, without the need for complex tools, significantly shortening maintenance time and reducing labor and spare parts costs.

[0054] In this embodiment, the power mechanism 2 includes a motor 21, a drive wheel 22, and a driven wheel 23. The motor 21 is mounted on the cleaning body 1, and its output end is connected to the drive wheel 22. The driven wheel 23 is mounted on the rotating shaft 31. A belt 300 connects the drive wheel 22 and the driven wheel 23. During operation, the motor 21 rotates, which drives the rotating shaft 31 to rotate via the belt 300, thereby driving the cutting blade 33 to rotate and cut and clean the scale on the groove wall.

[0055] In this embodiment, the rear drive unit 100 includes a drive body 4, a moving mechanism 5, a magnetic attraction mechanism 6, and a control system (not shown in the figure). The control system is located inside the drive body 4. The moving mechanism 5 and the magnetic attraction mechanism 6 are both electrically connected to the control system. The moving mechanism 5 includes four magnetic wheels 51, which are respectively located on both sides of the drive body 4. The magnetic attraction mechanism 6 includes multiple electromagnets 61, which are located on the underside of the drive body 4.

[0056] The magnetic wheel 51 is made of permanent magnet material and is covered with a rubber anti-slip layer. The four magnetic wheels 51 are connected to both sides of the drive body 4 through wheel axles. Each wheel axle is connected to a drive motor. The drive motor is a stepper motor and is electrically connected to the control system to realize independent speed and direction control of the magnetic wheels.

[0057] This invention employs a dual magnetic attraction structure combining a magnetic wheel 51 and an electromagnet 61, overcoming the limitations of traditional adsorption methods. The magnetic wheel 51 ensures a basic adsorption force during movement, while the electromagnet 61 is electrically connected to the control system, allowing for dynamic adjustment of the excitation current via an external controller, thereby altering the adsorption force. When the robot cuts thick scars under increased load or travels to rough scar surfaces, the adsorption force increases in real time, ensuring the robot firmly adheres to the tank wall and preventing detachment accidents. Compared to vacuum adsorption, it has lower requirements for wall flatness, adapting to the complex wall environment of the decomposition tank and significantly improving operational safety.

[0058] For details, please refer to Figure 1 and Figure 2 The rear drive unit 100 also includes a second power mechanism 7, which includes a power component 71 and a connecting component 72. The power component 71 is mounted on the drive body 4 and is connected to the connecting component 72 via a second belt 500. A gear 410 is provided on a first rotating shaft 400 that meshes with the connecting component 72.

[0059] The connecting component 72 includes a rotating shaft 721 and a gear 722. The rotating shaft 721 is rotatably connected inside the drive body 4, and the gear 722 is mounted on it. The gear 722 meshes with the gear 410. The power component 71 includes a motor 711, a drive wheel 712, and a driven wheel 713. The motor 711 is mounted on the drive body 4, and its output end is connected to the drive wheel 712. The driven wheel 713 is mounted on the rotating shaft 721. A belt 500 is connected between the drive wheel 712 and the driven wheel 713. A through hole 600 is provided on the drive body for the belt 500 to pass through. A rubber protective ring can be provided around the through hole 600 to protect the belt 500 from damage.

[0060] This invention employs a combined cleaning mode of cutting and prying off scale on the tank wall, achieving precise cleaning for scales of varying thicknesses: For thin scales, the power mechanism 2 drives multiple spaced cutting blades 33 to rotate at high speed, continuously breaking and cutting the scales into fragments that detach from the tank wall; for thick, hard scales, the power mechanism 7 drives the front cleaning unit 200 to rotate upwards around the rotating shaft 400 via gear meshing, while the cutting blades 33 simultaneously pry upwards the scales, using mechanical force to lift and peel them off as a whole. Compared to traditional scraping and high-pressure water jet methods, this significantly improves the cleaning efficiency and thoroughness of strong-adhesion scales, making it suitable for various scale conditions in alumina decomposition tanks.

[0061] The motor 21 and motor 711 mentioned above, along with the magnetic wheel 51 and electromagnet 61, are all electrically connected to the control system. The control system uses a PLC controller, and its structure and connection with each component are conventional technical settings, which will not be elaborated on here.

[0062] In this embodiment, the rear drive unit 100 also includes a camera 8, which is mounted on the drive body 4. The camera 8 is a waterproof industrial camera, model DS-2CD3T46WD-I3, which is fixed to the drive body 4 by a stainless steel bracket. The camera 8 has an IP68 protection rating, making it suitable for the humid environment inside the decomposition tank. The camera 8 is connected to the control system via a data cable to achieve real-time transmission of the work image. The camera 8 facilitates the operator's monitoring and observation of the real-time cleaning of scale, collects the work image and feeds it back to the external controller. The operator can control the robot's movement, suction force adjustment and cleaning mode switching through remote visual monitoring, without the need for close-range on-site operation, further improving the convenience and safety of operation, and adapting to the long-distance operation requirements of large alumina decomposition tanks.

[0063] In this example, to precisely control the magnetic adsorption force and ensure crawling stability, the control system incorporates a dynamic adjustment algorithm for the magnetic adsorption force. The core logic is to provide sufficient maximum static friction through magnetic adsorption to balance the total resistance (including gravitational components and inertial forces) that the robot needs to overcome during crawling. The specific algorithm is as follows:

[0064] 1. Calculation of maximum static friction force

[0065] F friction,max =μ·F mag

[0066] In the formula, F mag Total magnetic attraction force (F) mag =F wheel +F elec ); F wheel It is the magnetic attraction force of the wheel, F elec It is the electromagnet's attraction force; μ is the coefficient of friction between the robot and the tank wall (the value is determined based on the tank wall material and the roughness of the scale, with a typical range of 0.3-0.6).

[0067] 2. Calculation of total crawling resistance

[0068] Static adsorption / uniform crawling (a=0) requires overcoming the component of gravity F along the wall. resist =G·sinΦ

[0069] (sin90 when perpendicular to the tank wall) 0 =1, that is, F resist =G)

[0070] When accelerating the crawl (a≠0), an additional inertial force F needs to be overcome. resis =G·sinΦ+m·∣a∣

[0071] (The direction of inertial force is opposite to the direction of crawling, which increases drag during acceleration.)

[0072] In the formula, G is the total weight of the robot;

[0073] 'a' represents the robot's crawling acceleration (positive when crawling is accelerating, negative when crawling is decelerating);

[0074] Φ is the inclination angle of the tank wall (decomposition tanks are mostly vertical cylindrical structures; when the tank wall is vertical, Φ=90°). 0 At this point, the component of gravity along the wall is at its maximum.

[0075] F resist This represents the total crawling resistance.

[0076] m is the total weight of the robot;

[0077] 3. Adhesion threshold conditions for stable crawling

[0078] F friction,max≧ F resist

[0079] Substituting into the formula in step 1, we can obtain the following derivation.

[0080] F mag≧ F resist / μ

[0081] In the formula, F friction,max This is the maximum static friction force;

[0082] The control system can dynamically adjust the electromagnet excitation current using this algorithm: real-time acquisition of the robot's weight G and crawling acceleration a (detected by sensors), combined with preset μ and Φ, to calculate the required minimum magnetic attraction force F. mag,min This adjusts the output F of the electromagnet. elec (F) wheel To fix the basic adsorption force), ensure F mag≧ F mag,min This ensures that the total magnetic attraction force meets the requirements for stable crawling.

[0083] A cleaning method includes the following steps:

[0084] S1, Equipment Deployment

[0085] Place the magnetic wall-climbing cleaning robot at the designated position on the wall of the alumina decomposition tank, check the connection status of each mechanism, and ensure that belt 1 300 and belt 2 500 are tensioned and the cutting plate 33 is firmly installed.

[0086] S2, Adsorption Positioning

[0087] The control system is started by an external controller. The control system calculates the minimum total magnetic adsorption force according to the preset parameters and the real-time detected tank wall status. It then inputs the corresponding excitation current to the electromagnet 61. The magnetic wheel 51 and the electromagnet 61 work together to make the robot adsorb onto the tank wall. After confirming that the adsorption is stable, the robot enters the operation mode.

[0088] S3, Mobile Navigation

[0089] The operator manipulates the magnetic wheel 51 to rotate, driving the robot to move along the tank wall. The camera 8 observes the distribution of the scabs on the tank wall in real time, and moves the robot to the scab area.

[0090] S4. Cleaning and decontamination operations

[0091] If the scale on the tank wall is thin, start motor 21 to drive the cutting blade 33 to rotate and cut the scale until it is completely broken and falls off; if the scale on the tank wall is thick and hard, start motor 711 simultaneously to drive the front cleaning section 200 to rotate upward, and use the rotating cutting blade 33 to pry the scale and peel it off; during the operation, the control system monitors parameters such as crawling acceleration and cutting resistance in real time, and dynamically adjusts the electromagnet adsorption force through algorithms to ensure stable adsorption;

[0092] S5, Work completed

[0093] After cleaning, the operator moves the robot to the outlet position on the tank wall, shuts off all power mechanisms, cuts off the excitation current of electromagnet 61, removes the robot, and performs maintenance.

[0094] Working principle of the invention:

[0095] This invention provides a magnetically attached wall-climbing cleaning robot and its cleaning method. In specific use, the robot is placed on the wall of the decomposition tank. An external controller inputs an excitation current to the electromagnet 61, causing it to generate a magnetic attraction force. Combined with the permanent magnet attraction force of the magnetic wheel 51, the robot is firmly attached to the tank wall. During operation, the control system responds in real time to load changes (such as resistance feedback when cutting thick scabs) and dynamically adjusts the excitation current of the electromagnet 61, thereby changing the magnitude of the attraction force. This ensures that the robot remains stably attached even under load fluctuations or rough wall conditions, preventing it from falling off.

[0096] The control system sends instructions to the drive motor of the magnetic wheel 51 of the moving mechanism 5 to control the speed and direction of the four magnetic wheels 51, so as to realize the robot's forward and backward movement and turning along the tank wall; at the same time, the camera 8 on the drive body 4 collects the distribution of the tank wall in real time and transmits the image information to the external controller. The operator controls the robot to move precisely to the area of ​​the scale based on the image feedback to complete the positioning and navigation of the cleaning operation.

[0097] Then, the corresponding cleaning mode is selected according to the thickness of the scale on the tank wall. For example, for thin scale, the control system starts the power mechanism 2, the motor 21 drives the drive wheel 22 to rotate, and drives the driven wheel 23 and the rotating shaft 31 to rotate through the belt 300, which in turn drives multiple cutting blades 33 to rotate at high speed. The rotating cutting blades 33 continuously cut and break the scale, and the fragments fall off under the action of gravity.

[0098] For thick, hardened scale, the second power mechanism 7 is activated. The second motor 711 drives the second drive wheel 712 to rotate, which in turn drives the second driven wheel 713 and the third shaft 721 to rotate via the second belt 500. The second gear 722 on the third shaft 721 meshes with the first gear 410 on the first shaft 400, driving the front cleaning part 200 to rotate around the first shaft 400 from bottom to top. The cutting blade 33 pryes the scale upward while rotating, using mechanical force to peel it off from the tank wall, thus completing the cleaning of thick scale.

[0099] This invention enables automated cleaning of scale buildup on tank walls, eliminating the need for workers to enter the polluted and high-risk environment of the decomposition tank, and completely avoiding safety hazards such as falls from heights and mechanical injuries during manual cleaning. Compared to high-pressure water jet cleaning, it does not consume large amounts of water resources, does not produce wastewater containing impurities, and saves on subsequent water treatment costs. Compared to chemical cleaning, it avoids the corrosive damage to the tank body caused by cleaning agents and the environmental risks of wastewater discharge, which is in line with the concept of green production.

[0100] The above description is a detailed description of the preferred embodiments of the present invention. However, the embodiments are not intended to limit the scope of the patent application of the present invention. All equivalent changes or modifications made under the technical spirit of the present invention should fall within the patent scope covered by the present invention.

Claims

1. A magnetic wall-climbing cleaning robot, characterized in that, The utility model relates to a front and rear drive type river trash cleaning device, including rear drive part (100) and front trash cleaning part (200), front trash cleaning part (200) is rotatory connection with rear drive part (100) through pivot one (400), The front trash cleaning part (200) includes a trash cleaning main body (1), a power mechanism one (2), and a trash cleaning mechanism (3), the trash cleaning mechanism (3) is rotatory connected between the two side walls (11) of the trash cleaning main body (1), and the power mechanism one (2) is arranged on the trash cleaning main body (1) and connected with the trash cleaning mechanism (3) through a belt one (300).

2. The magnetic wall cleaning robot of claim 1, wherein, The trash cleaning mechanism (3) includes a pivot two (31), a bearing seat (32), and a plurality of cutting pieces (33), The pivot two (31) is rotatory connected between the two side walls (11) of the trash cleaning main body (1) through the bearing seat (32), the pivot two (31) is provided with a clamping block (311), the cutting piece (33) is provided with a clamping groove (331) matched with the clamping block (311), and a plurality of cutting pieces (33) are sleeved on the pivot two (31) and are limitedly connected with the pivot two (31) through the clamping block (311) and the clamping groove (331).

3. The magnetic wall cleaning robot of claim 2, wherein the magnetic wall cleaning robot further comprises a plurality of wheels disposed on the bottom surface of the base, the plurality of wheels configured to rotate and move the base along the wall surface. The two side walls (11) of the trash cleaning main body (1) are provided with a let slot (111), the pivot two (31) is clamped in the let slot (111) and rotatory connected between the two side walls (11) of the trash cleaning main body (1) through the bearing seat (32).

4. The magnetic wall cleaning robot of claim 2, wherein, The power mechanism one (2) includes a motor one (21), a driving wheel one (22), and a driven wheel one (23), The motor one (21) is arranged on the trash cleaning main body (1), and the output end thereof is connected with the driving wheel one (22), the driven wheel one (23) is arranged on the pivot two (31), and the driving wheel one (22) and the driven wheel one (23) are connected with the belt one (300).

5. The magnetic wall cleaning robot of claim 2, wherein, The rear drive part (100) includes a driving main body (4), a moving mechanism (5), a magnetic attraction mechanism (6), and a control system, The control system is arranged in the driving main body (4), and the moving mechanism (5) and the magnetic attraction mechanism (6) are electrically connected with the control system, The moving mechanism (5) includes four magnetic force wheels (51), and the four magnetic force wheels (51) are arranged on the two sides of the driving main body (4), the magnetic attraction mechanism (6) includes a plurality of electromagnets (61), and the plurality of electromagnets (61) are arranged on the abdomen of the driving main body (4).

6. The magnetic wall cleaning robot of claim 5, wherein, The rear drive part (100) further includes a power mechanism two (7), and the power mechanism two (7) includes a power assembly (71) and a connecting assembly (72), The power assembly (71) is arranged on the driving main body (4) and connected with the connecting assembly (72) through a belt two (500), and the pivot one (400) is provided with a gear one (410) meshed with the connecting assembly (72).

7. The magnetic wall cleaning robot of claim 6, wherein, The connecting assembly (72) comprises a rotating shaft three (721) and a gear two (722), the rotating shaft three (721) is rotatably connected in the driving body (4), and the gear two (722) is arranged on the rotating shaft three (721); the gear two (722) is in meshing connection with the gear one (410).

8. The magnetic wall cleaning robot of claim 7, wherein, The power assembly (71) comprises a motor two (711), a driving wheel two (712) and a driven wheel two (713), The motor two (711) is arranged on the driving body (4), and an output end of the motor two (711) is connected with the driving wheel two (712); the driven wheel two (713) is arranged on the rotating shaft three (721); the driving wheel two (712) and the driven wheel two (713) are connected with the belt two (500); and a through hole (600) is formed in the driving body (4) for the belt two (500) to pass through.

9. The magnetic wall cleaning robot of claim 5, wherein, The rear driving part (100) further comprises a camera (8), and the camera (8) is arranged on the driving body (4).

10. A method for cleaning pollution, using the magnetic wall-climbing pollution cleaning robot according to any one of claims 1-9. The method comprises the following steps: S1, device deployment The magnetic wall cleaning robot is placed on the designated position of the wall of the bauxite decomposition tank, the connection state of each mechanism is checked, and it is ensured that the belt one (300) and the belt two (500) are tensioned, and the cutting piece (33) is firmly installed; S2, adsorption positioning The control system is started by an external controller, the control system calculates the minimum total magnetic adsorption force through a magnetic adsorption force dynamic adjustment algorithm according to preset parameters and a real-time detected tank wall state, inputs a corresponding excitation current to the electromagnet (61), and the magnetic wheel (51) and the electromagnet (61) jointly act to enable the robot to be adsorbed on the tank wall; after it is confirmed that the adsorption is stable, the operation mode is entered; S3, movement navigation The operator controls the magnetic wheel (51) to rotate, drives the robot to move along the tank wall, and moves the robot to a scab area by observing the scab distribution on the tank wall in real time through the camera (8); S4, cleaning operation If the tank wall scab is a thin scab, the motor one (21) is started to drive the cutting piece (33) to rotate and cut the scab until the scab is completely broken and falls off; if the tank wall scab is a thick and hard scab, the motor two (711) is started synchronously to drive the front cleaning part (200) to rotate upward, the cutting piece (33) is used to pry the scab to realize scab peeling; in the operation process, the control system detects parameters such as crawling acceleration and cutting resistance in real time, dynamically adjusts the electromagnet adsorption force through an algorithm, and guarantees stable adsorption; S5, operation end After cleaning is completed, the operator controls the robot to move to the tank wall outlet position, closes each power mechanism, cuts off the excitation current of the electromagnet (61), removes the robot, and performs maintenance.

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