Intelligent robot for cleaning inner wall of metal can and cleaning method

Abstract

The application discloses a kind of metal tank inner wall cleaning intelligent robot and cleaning method, belong to cleaning equipment technical field, including vehicle body, vehicle body is provided with the broken mechanism for cleaning metal tank inner wall.The both sides of vehicle body are respectively hingedly provided with magnetic wheel group, and magnetic wheel group can be adsorbed in metal tank inner wall and drive vehicle body to move, and can be deflected around the hinge point of vehicle body side wall, always keep the abutting state with metal tank inner wall.Vehicle body middle part is provided with fixed shaft support mechanism, and the magnetic block of fixed shaft support mechanism can be adsorbed and fixed in metal tank inner wall, to provide fixed rotating center for vehicle body.The application provides a kind of metal tank inner wall cleaning intelligent robot, and the adaptive capacity is strong, steering is stable and operation is safe.

Description

Technical Field

[0001] This invention relates to the field of cleaning equipment technology, specifically to an intelligent robot and cleaning method for cleaning the inner wall of a metal can. Background Technology

[0002] In the fields of petrochemicals, metallurgy, and energy storage, cylindrical metal storage tanks are widely used for storing various media. Over time, the inner walls of these tanks accumulate oil, scale, and other foreign matter. This not only reduces the effective volume of the tank but also corrodes the tank wall structure, threatening operational safety. Manual cleaning by climbing is inefficient and carries high safety risks. Therefore, wall-climbing cleaning robots are gradually becoming the preferred solution for cleaning the inner walls of storage tanks.

[0003] While existing wall-climbing cleaning robots can adhere to tank walls and perform mobile cleaning using magnetic attraction or negative pressure, they still have many shortcomings in practical applications. For example, existing wall-climbing mechanisms are mostly rigid connections, making it difficult to adapt to tanks of different diameters and prone to insufficient adsorption force. When the robot turns in place on the tank wall, it is prone to slippage due to gravity, affecting the accuracy and efficiency of the operation. When a robot equipped with a crushing device is in operation, the reverse impact force generated by crushing is transmitted to the main body, which not only reduces the stability of the crushing operation but may also cause the robot to fail to adhere, fall off, and fall into the tank. Therefore, there is a need for an intelligent robot for cleaning the inner walls of metal tanks that has strong adaptability, stable steering, and safe operation. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent robot and cleaning method for cleaning the inner wall of metal cans, so as to solve the problems of existing robots being unable to adapt to cans of different diameters and being prone to lateral slippage and displacement when moving or breaking.

[0005] To achieve the above objectives, embodiments of the present invention provide an intelligent robot for cleaning the inner wall of a metal can, comprising: The vehicle body is equipped with a crushing mechanism for cleaning the inner wall of the metal tank; The magnetic roller assembly has two sets, which are respectively hinged to both sides of the vehicle body. The magnetic roller assembly can be attracted to the inner wall of the metal can and roll in cooperation with the inner wall of the metal can to drive the vehicle body to move. The magnetic roller assembly can also deflect around the hinge point with the side wall of the vehicle body so that the magnetic roller assembly abuts against the inner wall of the metal can. A fixed-axis support mechanism is provided in the middle of the vehicle body. The fixed-axis support mechanism includes a lifting shaft and a magnetic block provided at the bottom end of the lifting shaft. The lifting shaft is provided to penetrate the vehicle body downward. The magnetic block can be attracted and fixed to the inner wall of the metal tank so that the vehicle body can turn in place with the lifting shaft as the center.

[0006] In one possible implementation, a fixed arm is provided on the side of the vehicle body, and the magnetic wheel assembly includes: The mounting frame is provided with a first hinge point and a second hinge point, and the mounting frame is hinged to the fixed arm through the first hinge point; The elastic element has one end hinged to the side wall of the vehicle body and the other end hinged to the second hinge point; A plurality of magnetic wheels are rotatably mounted on the mounting frame at intervals. The mounting bracket is able to swing around the first hinge point to drive the magnetic wheel to deflect, and under the elastic action of the elastic element, the magnetic wheel presses against the inner wall of the metal can.

[0007] In one possible implementation, the fixed-axis support mechanism further includes: A fixing plate is disposed on the vehicle body. The fixing plate is provided with a fixing block and a sliding block that can slide up and down. A lifting shaft is disposed through the fixing block and the sliding block. The lifting shaft can slide axially and rotate circumferentially with the fixing block. The lifting shaft can also rotate circumferentially with the sliding block. A tension spring is disposed between the fixing block and the sliding block. An electric cylinder is mounted on the fixed plate and has a downwardly extending movable end; The movable end of the electric cylinder can move downward to overcome the tension of the tension spring and press the magnetic block against the inner wall of the metal can. When the movable end of the electric cylinder moves upward and retracts, the tension spring can drive the sliding block and the lifting shaft to move upward synchronously.

[0008] In one possible implementation, the magnetic block includes: The connecting plate is detachably connected to the lifting shaft; An electromagnet is provided, comprising several electromagnets spaced apart at the bottom of the connecting plate for adsorption onto the inner wall of a metal can.

[0009] In one possible implementation, a spring is fixedly connected to the movable end of the electric cylinder, and the lower end of the spring abuts against the connecting plate.

[0010] In one possible implementation, the crushing mechanism includes: A rotary table, rotatably mounted on the vehicle body, A robotic arm is hinged to the rotary table; A crushing component is disposed at the outer end of the robotic arm, and a buffer and shock absorption assembly is provided between the crushing component and the robotic arm. The buffer and shock absorption assembly is used to absorb the vibration of the crushing component during operation.

[0011] In one possible implementation, the robotic arm has a mounting plane, and the shock-absorbing assembly includes: A bracket is disposed on the mounting plane, and two limiting blocks are disposed on the bracket, with a guide rod disposed between the two limiting blocks; A clamping block is slidably mounted on the guide rod. The clamping block is detachably connected to the crushed part. A compression spring is provided between the clamping block and the limiting block located away from the crushing end of the crushed part.

[0012] In one possible implementation, the vehicle body is equipped with a rotary motor, the output shaft of which is connected to a gear, and the outer periphery of the rotary disk is provided with an annular rack that meshes with the gear.

[0013] A method for cleaning the inner wall of a metal can includes the following steps: S1. Place the vehicle body into the metal can to be cleaned, and the magnetic rollers will adhere to the inner wall of the metal can. S2. The magnetic wheel assembly rolls and moves the vehicle body to the area to be cleaned; S3. Start the crushing mechanism to clean the area inside the metal tank that needs to be cleaned; S4. After the cleaning area is completed, control the vehicle to move to another cleaning area.

[0014] In one possible implementation, step S3 includes: Once the vehicle body moves to the area to be cleaned, the electric cylinder drives the magnetic block to move and adhere to the inner wall of the metal tank.

[0015] The significant technical advantage of this invention lies in the following: When the cleaning robot adheres to the tank wall, the magnetic wheels adhere to the tank wall surface, and the rotation of the wheel assembly drives the robot's movement. When encountering changes in the tank wall curvature, the mounting frame deflects around the hinge point connected to the fixed arm, simultaneously stretching or compressing the elastic element. The reverse elastic force generated by the elastic element pushes the mounting frame, ensuring that the magnetic wheels remain firmly pressed against the tank wall, maintaining reliable contact between the wheels and the tank wall regardless of changes in tank diameter. Furthermore, during crushing operations, the elastic element also provides shock absorption and cushioning for the magnetic wheel assembly, ensuring that the magnetic wheel assembly can firmly adhere to the inner wall of the metal tank. This device, through the cooperation of the elastic element and the double hinge points, enhances the self-adaptability of the magnetic wheel assembly. Compared to traditional rigid wheel assemblies, it can more flexibly adapt to tank walls with different curvatures. The elastic force continuously ensures the fit between the wheels and the tank wall, significantly improving adsorption stability and avoiding insufficient adsorption force due to changes in tank wall diameter, thus ensuring smooth movement of the device. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of an intelligent robot and cleaning method for cleaning the inner wall of a metal can according to one embodiment of the present invention; Figure 2 for Figure 1 A structural diagram showing the location of the central axis support mechanism; Figure 3 for Figure 1 Schematic diagram of the structure of the middle magnetic chuck assembly; Figure 4 for Figure 1 Schematic diagram of the central fixed axis support mechanism; Figure 5 for Figure 1 A schematic diagram of the structure at the bottom of the cleaning robot; Figure 6 This is a schematic diagram of another embodiment of the present invention; Figure 7 for Figure 6 A magnified view of a section at point A in the middle; Figure 8 for Figure 6 A schematic diagram of the middle limit bar.

[0018] In the diagram: 100. Cleaning robot; 1. Vehicle body; 2. Crushing mechanism; 20. Rotary disc; 201. Disc body; 202. Gear; 203. Rotary motor; 204. Ring rack; 205. Shock absorption and buffer assembly; 21. Robotic arm; 210. Mounting plane; 22. Crushed parts; 23. Support; 24. Limiting block; 25. Guide rod; 26. Clamping block; 27. Compression spring; 3. Magnetic wheel assembly; 31. Mounting bracket; 301. First hinge point, 302; Second hinge point, 32; Fixed arm, 33; Elastic element, 34; Magnetic wheel, 4; Fixed axis support mechanism, 40; Fixed plate, 41; Lifting shaft, 42; Magnetic block, 43; Fixed block, 44; Sliding block, 45; Tension spring, 46; Electric cylinder, 47; Connecting plate, 48; Spring, 5; Limiting strip, 501; Limiting groove, 6; Drive motor, 7; Second spring, 8; Protrusion, 9; Deflection control block. Detailed Implementation

[0019] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0021] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more, unless otherwise explicitly defined.

[0022] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0023] In the description of the embodiments of this application, the term "and / or" is merely a description of the association relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship. In the description of the embodiments of this application, the term "multiple" refers to two or more (including two), similarly, "multiple groups" refers to two or more groups (including two groups), and "multiple pieces" refers to two or more pieces (including two pieces).

[0024] In the description of the embodiments of this application, the technical terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0025] In the description of the embodiments of this application, unless otherwise expressly specified and limited, technical terms such as "installation", "connection", "linking", and "fixing" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components.

[0026] Please see Figures 1-5 This illustration shows an intelligent robot for cleaning the inner wall of a metal can according to one embodiment of the present invention. The cleaning robot 100 includes a vehicle body 1, and a crushing mechanism 2 for cleaning the inner wall of the metal can is provided at the front end of the vehicle body 1. A set of magnetic rollers 3 are respectively hinged to the two side walls of the vehicle body 1. The magnetic rollers 3 can be attracted to the inner wall of the metal can and drive the vehicle body 1 to move. They can also deflect around the hinge point with the side wall of the vehicle body 1 to adapt to the curved inner wall of different metal cans. Through the adaptive deflection of the magnetic rollers 3, the magnetic rollers 3 can always be kept in contact with the inner wall of the metal can.

[0027] The middle part of the vehicle body 1 is hollow. A fixed axis support mechanism 4 is set in the middle part of the vehicle body 1. The fixed axis support mechanism 4 consists of a lifting shaft 41 and a magnetic block 42 installed at the bottom of the lifting shaft 41. The magnetic block 42 can be attracted and fixed to the inner wall of the metal tank. The magnetic block 42 can be attracted and fixed to the inner wall of the metal tank so that the vehicle body 1 can turn in place along the lifting shaft 41 as the rotation center, or when performing crushing work, it can provide stable support for the entire vehicle body 1 and prevent the cleaning robot 100 from sliding down.

[0028] Compared with existing technologies, this embodiment provides an intelligent robot 100 for cleaning the inner wall of a metal can. During operation, the device is first placed inside the metal can, and the magnetic wheel assembly 3 adheres to the can wall. The rotation of the wheel assembly drives the vehicle body 1 to move along the can wall to the area to be cleaned. During movement, the magnetic wheel assembly 3 adaptively deflects around the hinge point according to the curvature of the can wall, ensuring a tight fit with the can wall. When turning in place is required, the magnetic block 42 of the fixed-axis support mechanism 4 adheres and is fixed to the can wall. The vehicle body 1 smoothly turns around the lifting shaft 41 as the rotation center. After turning, the magnetic block 42 releases, and the vehicle body 1 can continue to move and operate. During crushing operations, the magnetic block 42 can also adhere to the metal can to support the entire cleaning robot 100, and then the crushing mechanism 2 is activated to clean foreign objects from the can wall.

[0029] Therefore, the articulated magnetic roller assembly 3 solves the problem that traditional rigid connections cannot adapt to tanks of different diameters. By deflecting and abutting, it ensures stable adsorption force and avoids insufficient adsorption. The fixed-axis support mechanism 4 provides a fixed steering center, effectively counteracting the influence of gravity on steering, preventing the vehicle body 1 from sliding or deviating, improving operational accuracy and efficiency, and adapting to the cleaning needs of the inner walls of metal tanks of different specifications.

[0030] Please see Figure 3 In some embodiments, the magnetic wheel assembly 3 further includes a mounting frame 31 with two hinge points. A fixing arm 32 is fixed to the side wall of the vehicle body 1, and the mounting frame 31 is hinged to the fixing arm 32 through one of the hinge points. One end of an elastic member 33 is hinged to the side wall of the vehicle body 1, and the other end is connected to the other hinge point of the mounting frame 31. A plurality of magnetic wheels 34 are rotatably mounted on the mounting frame 31 at intervals, and the elastic member 33 always applies an elastic force to the mounting frame 31.

[0031] In the above scheme, when the device is in contact with the tank wall, the magnetic wheel 34 is attracted to the surface of the tank wall, and the rotation of the wheel set drives the vehicle body 1 to move. When encountering a change in the curvature of the tank wall, the mounting frame 31 deflects around the hinge point connected to the fixed arm 32 as the center, while stretching or compressing the elastic element 33. The reverse elastic force generated by the elastic element 33 pushes the mounting frame 31, so that the magnetic wheel 34 is always tightly pressed against the tank wall, and reliable contact between the wheel and the tank wall can be maintained regardless of the change in the tank diameter. Furthermore, during crushing operations, the elastic element 33 can also provide shock absorption and buffering for the magnetic wheel set, so as to ensure that the magnetic wheel set 3 can be firmly attracted to the inner wall of the metal tank. This device enhances the self-adaptability of the magnetic wheel set 3 through the cooperation of the elastic element 33 and the double hinge point. Compared with the traditional rigid wheel set, it can more flexibly adapt to tank walls with different curvatures. The elastic force continuously ensures the fit between the wheel and the tank wall, significantly improves the adsorption stability, avoids the problem of insufficient adsorption force due to changes in the tank wall diameter, and ensures smooth movement of the device.

[0032] Additionally, it should be noted that a chain drive mechanism is also provided between the side wall of the vehicle body 1 and the mounting frame 31. The chain drive mechanism is mounted on the mounting frame 31, and a reduction motor for driving the magnetic wheel assembly 3 to rotate is also provided on the mounting frame 31. The reduction motor drives the chain drive mechanism, thereby driving multiple magnetic wheels 34 on the same mounting frame 31 to rotate synchronously, so as to achieve stable forward movement of the vehicle body 1.

[0033] Furthermore, the fixed plate 40 of the fixed-axis support mechanism 4 is mounted on the vehicle body 1. From top to bottom, the fixed plate 40 is provided with a fixed block 43 and a sliding block 44 that can slide along the fixed plate 40. The lifting shaft 41 is slidably mounted through the fixed block 43 and is horizontally rotatably connected to the sliding block 44. A tension spring 45 connects the fixed block 43 and the sliding block 44. Under normal conditions, the tension spring 45 pulls the sliding block 44 away from the metal tank. An electric cylinder 46 is mounted on the fixed plate 40. The movable end of the electric cylinder 46 can abut against the magnetic block 42, overcoming the tension of the tension spring 45 to push the magnetic block 42 towards the tank wall.

[0034] In the above scheme, when no steering is required, the tension spring 45 pulls the sliding block 44, causing the lifting shaft 41 and the magnetic block 42 to move away from the tank wall. The magnetic block 42 does not participate in the operation, and the device moves by relying on the magnetic wheel set 3. When a turn is required, the electric cylinder 46 is activated. The movable end of the electric cylinder 46 extends and pushes against the magnetic block 42, overcoming the tension of the tension spring 45 and pushing the sliding block 44 along the fixed plate 40 towards the tank wall until the magnetic block 42 is attracted and fixed to the tank wall. The vehicle body 1 completes the turn with the lifting shaft 41 as the center. After the turn is completed, the electric cylinder 46 retracts, the tension spring 45 pulls the sliding block 44 to reset, and the magnetic block 42 disengages from the tank wall. The cooperation of the tension spring 45 and the electric cylinder 46 realizes the automatic extension and retraction of the magnetic block 42. In the non-steering state, the magnetic block 42 moving away from the tank wall does not affect the movement of the device. When turning, it quickly adheres to the tank wall to provide fixed support. The horizontal rotating connection ensures that the lifting shaft 41 does not obstruct the steering of the vehicle body 1. The overall structure solves the problem of slippage and offset during traditional steering, while simplifying the operation process and improving steering stability and work efficiency.

[0035] Furthermore, the magnetic block 42 includes a connecting plate 47 and several electromagnets. The connecting plate 47 is detachably connected to the lifting shaft 41. Several electromagnets are spaced apart on the side of the connecting plate 47 facing the tank wall. The electromagnets can generate magnetic force when energized, and the magnetic force disappears when the power is turned off.

[0036] In the above scheme, when the electric cylinder 46 pushes the magnetic block 42 towards the tank wall, the connecting plate 47 causes the electromagnet to approach the tank wall. Electrification of the electromagnet generates magnetic force, attracting and fixing it to the inner wall of the metal tank, providing stable support for the steering of the vehicle body 1. When steering is complete or no fixation is needed, the power supply to the electromagnet is cut off, the magnetic force disappears, and under the action of the tension spring 45, the connecting plate 47 drives the electromagnet to reset with the sliding block 44, detaching it from the tank wall. If the electromagnet malfunctions, the connecting plate 47 can be disassembled to replace or repair the electromagnet.

[0037] Electromagnets offer strong controllability of magnetic force, enabling rapid attraction and detachment with fast response, thus improving operational continuity. The detachable connecting plate 47 facilitates maintenance and replacement of the electromagnets, reducing equipment repair costs. The spaced arrangement of several electromagnets enhances the uniformity of the attraction force, avoiding instability caused by single-point attraction, further ensuring a stable hold during steering and preventing vehicle body 1 from deviating.

[0038] Furthermore, a spring 48 is fixedly connected to the end of the piston rod of the electric cylinder 46. The end of the spring 48 away from the electric cylinder 46 abuts against the connecting plate 47 of the magnetic block 42. When the spring 48 is in its natural state, it does not apply force. When it is subjected to force, it can generate elastic deformation to absorb impact force.

[0039] In the above scheme, when the electric cylinder 46 is activated and pushes the magnetic block 42 towards the tank wall, the piston rod pushes against the connecting plate 47 via the spring 48. The spring 48 is gradually compressed as the piston rod extends, buffering the thrust of the electric cylinder 46 through elastic deformation, preventing the electric cylinder 46 from making hard contact and impacting the connecting plate 47 and the electromagnet. After the magnetic block 42 adheres to the tank wall, the spring 48 remains slightly compressed, compensating for minor protrusions or depressions on the tank wall surface, ensuring the electromagnet adheres evenly to the tank wall. When power is cut off and the magnetic block 42 is disengaged, the spring 48 retracts with the piston rod to return to its natural state, assisting the connecting plate 47 in smoothly resetting. The spring 48 acts as a buffer and shock absorber, effectively preventing excessive thrust from the electric cylinder 46 from damaging the magnetic block 42 components and extending the equipment's service life. It can also adapt to minor irregularities on the tank wall surface, ensuring a tight fit between the electromagnet and the tank wall, improving adsorption reliability. The elastic compensation function also reduces wear on the tank wall surface, balancing equipment protection and tank wall protection.

[0040] Please see Figure 1 In some embodiments, the crushing mechanism 2 consists of a rotary table 20, a robotic arm 21, and a crushing component 22. The rotary table 20 is mounted on the vehicle body 1, the robotic arm 21 is mounted on the rotary table 20, and the crushing component 22 is located at the end of the robotic arm 21 away from the rotary table 20. A buffer and shock absorption assembly is installed between the crushing component 22 and the robotic arm 21, which can absorb the vibration and impact force generated when the crushing component 22 is working.

[0041] In the above scheme, during the cleaning operation, the rotary table 20 drives the robotic arm 21 to rotate, adjusting the working angle and position of the crusher 22. The robotic arm 21 extends and retracts, bringing the crusher 22 close to the foreign objects on the tank wall. The crusher 22 starts to crush and clean the oil, scale, and other foreign objects. The reverse impact force generated during the operation is transmitted to the buffer and shock absorption components. The components absorb the impact force through their own structural deformation, reducing the transmission of the impact force to the robotic arm 21 and the vehicle body 1. During the operation, the position of the crusher 22 can be flexibly adjusted by the rotary table 20 and the robotic arm 21 to achieve cleaning of different areas of the tank wall.

[0042] The buffer and shock absorption components effectively block the reverse impact force of the crushing operation, avoiding the risk of the vehicle body 1 failing to adhere and falling into the tank due to the impact force, thus improving operational safety. At the same time, it reduces the damage of the impact force to the vehicle body 1 and the robotic arm 21, ensuring the stability of the crushing operation and improving the crushing accuracy. The cooperation between the rotary table 20 and the robotic arm 21 allows the crushed part 22 to have a wider working range, adapting to the complex cleaning needs of the tank wall.

[0043] Furthermore, the robotic arm 21 is provided with a mounting surface 210, on which a buffer and shock absorption assembly is mounted. The assembly includes a bracket 23, limiting blocks 24, a guide rod 25, a clamping block 26, and a compression spring 27. Two limiting blocks 24 are fixed on the bracket 23, the guide rod 25 is installed between the two limiting blocks 24, the clamping block 26 is slidably sleeved on the guide rod 25 and detachably connected to the crushing component 22, and the compression spring 27 is sleeved on the guide rod 25 and located between the clamping block 26 and the limiting block 24 near the top of the robotic arm 21.

[0044] In the above scheme, when the crusher 22 generates a reverse impact force during operation, it drives the clamping block 26 to slide along the guide rod 25 towards the limiting block 24 near the top of the robotic arm 21, compressing the compression spring 27. The compression spring 27 undergoes elastic deformation, generating a reverse elastic force to offset part of the impact force. When the impact force disappears, the compression spring 27 returns to its original position, pushing the clamping block 26 to slide in the opposite direction along the guide rod 25, causing the crusher 22 to return to its initial working position. The guide rod 25 restricts the sliding direction of the clamping block 26 to prevent the crusher 22 from deviating, and the two limiting blocks 24 prevent the clamping block 26 from sliding excessively and disengaging from the guide rod 25.

[0045] The cooperation between the guide rod 25 and the clamping block 26 ensures the stability of the buffered movement, and the compression spring 27 can quickly absorb and buffer the impact force, resulting in a significant shock absorption effect and further reducing the impact force on the adsorption performance of the vehicle body 1. The detachable connection facilitates the replacement and maintenance of the crushing component 22, and the setting of the limit block 24 improves the reliability of the component structure, avoids component detachment failure, and ensures continuous and stable crushing operation.

[0046] Furthermore, the rotary table 20 includes a rotary motor 203 and a table body 201. The rotary motor 203 is mounted on the vehicle body 1, and a gear 202 is fixed on the motor output shaft. The table body 201 is rotatably mounted on the vehicle body 1, and the robotic arm 21 is hinged to the table body 201. An annular rack 204 is provided on the outer periphery of the table body 201. The annular rack 204 meshes with the gear 202 on the motor output shaft to form a transmission structure.

[0047] In the above scheme, when adjusting the working angle of the crushed part 22, the rotary motor 203 is started. The motor output shaft drives the gear 202 to rotate. The gear 202 meshes with the ring rack 204 of the disc 201, driving the disc 201 to rotate around its own central axis. The rotation of the disc 201 drives the robotic arm 21, which is hinged to it, to rotate synchronously, thereby adjusting the position of the crushed part 22 at the end of the robotic arm 21 to achieve coverage of different areas around the tank wall. According to the cleaning requirements, the rotation angle and speed of the disc 201 are precisely adjusted by controlling the forward and reverse rotation and speed of the rotary motor 203, and the extension and retraction of the robotic arm 21 are coordinated to complete complex cleaning operations.

[0048] The meshing transmission structure of gear 202 and ring rack 204 offers high transmission precision, enabling accurate control of the working angle of the crushed parts 22 and improving the cleaning accuracy. The transmission structure is stable and reliable, with strong load-bearing capacity, adaptable to the stress requirements of crushing operations, and avoids transmission failure. The rotary motor 203 provides rapid response, facilitating real-time adjustment of the working position, and, in conjunction with the robotic arm 21, further expands the working range and improves cleaning efficiency.

[0049] A method for cleaning the inner wall of a metal can includes the following steps: S1. Place the cleaning robot 100 into the metal can to be cleaned, and the cleaning robot 100 is attached to the inner wall of the metal can by the magnetic suction wheel group 3. S2. Control the cleaning robot 100 to move to the area to be cleaned; S3. Start the crushing mechanism 2 to clean the area to be cleaned inside the metal tank; S4. After the cleaning area is completed, control the cleaning robot 100 to move to another cleaning area.

[0050] In the above scheme, the cleaning method uses the metal can inner wall cleaning robot. The overall process includes four steps: device placement and adsorption, movement and positioning, start cleaning, and area switching. The device's magnetic suction wheel group 3, fixed axis support mechanism 4, and crushing mechanism 2 are used to achieve comprehensive cleaning of the can wall. The steps are connected and smooth, and the device's adaptive and stable operation performance is well adapted.

[0051] During operation, the cleaning robot 100 is first placed inside the metal can to be cleaned. The magnetic roller assembly 3 is then energized to generate magnetism, adhering to the inner wall of the can and ensuring stable contact. The magnetic roller assembly 3 is then rotated, moving the device to the designated cleaning area. During movement, the magnetic roller assembly 3 adapts to the curvature of the can wall to maintain contact. Upon reaching the designated area, the crushing mechanism 2 is activated. The rotary table 20 and robotic arm 21 adjust the position of the crushing components 22 to crush and clean the foreign objects. During the cleaning process, the buffer and shock absorption components absorb the impact, and the fixed-axis support mechanism 4 provides additional stability as needed. Once the area is cleaned, the magnetic roller assembly 3 moves the device to the next area to be cleaned, repeating the cleaning steps until the entire can wall is cleaned.

[0052] The method is simple and easy to operate, fully leveraging the advantages of the equipment's strong self-adaptability, stable steering, and safe operation, avoiding the inefficiency and high risk of manual climbing for cleaning. The steps are seamlessly connected, enabling comprehensive cleaning of the tank walls without blind spots, improving cleaning efficiency and quality. Relying on the stable performance of the equipment, downtime during operation is reduced, safety risks are minimized, and it is suitable for the metal tank cleaning needs of petrochemical, energy storage, and other fields.

[0053] Furthermore, after the cleaning robot 100 moves to the area to be cleaned and positions itself via the magnetic roller assembly 3, the crushing mechanism 2 is not activated immediately. Instead, the electric cylinder 46 of the fixed-axis support mechanism 4 is activated, and the piston rod of the electric cylinder 46 extends, overcoming the tension of the tension spring 45 to push the magnetic block 42 towards the inner wall of the metal tank until the magnetic block 42 is attracted and fixed to the tank wall. After confirming that the magnetic block 42 is firmly attracted, the crushing mechanism 2 is activated to perform the foreign object cleaning operation. During the crushing process, the device is kept stable by the double fixation of the magnetic roller assembly 3 and the magnetic block 42. After the area is cleaned, the power supply to the magnetic block 42 is cut off, the electric cylinder 46 retracts, the magnetic block 42 resets and detaches from the tank wall, and then the device is controlled to move to the next area.

[0054] The electric cylinder 46 of the fixed-axis support mechanism 4 cooperates with the magnetic block 42 to provide additional fixed support for the device before the cleaning operation, thereby enhancing the stability of the device during the crushing operation and adapting to the working force requirements of the crushing mechanism 2.

[0055] Before crushing, the magnetic block 42 is fixed by the electric cylinder 46, providing double adsorption fixation for the device. This significantly improves the stability during crushing, effectively counteracts the impact of crushing force on the device, and prevents the device from sliding or deviating or the adsorption from failing. The double fixing structure further reduces the risk of falling off the device and ensures operational safety. At the same time, it improves the working accuracy of the crushed parts 22 and ensures the cleaning quality, especially suitable for crushing and cleaning needs with hard scale.

[0056] Please see Figure 5 and Figure 6 As a parallel embodiment, this embodiment differs from Embodiment 1 in that, in this embodiment, a sliding plate is provided on the frame and located on the vehicle body 1. The disc 201, gear 202, and rotary motor 203 are all mounted on the sliding plate. The robotic arm 21 and crushing mechanism 2, mounted on the disc 201, are also located on the sliding plate. Protrusions 8 are provided on both side walls of the sliding plate, with two protrusions 8 on each side wall.

[0057] Furthermore, limit strips 5 are provided on both sides of the top surface of the vehicle body 1, and limit grooves 501 are provided on the limit strips 5. The protrusions 8 are slidably disposed in the limit grooves 501, and a second spring 7 is provided between one of the protrusions 8 and one end of the limit groove 501. When the crushing operation is carried out, the vehicle body 1 is subjected to vibrations not only along the vertical direction of the vehicle body 1, but also along the horizontal direction of the vehicle body 1. Therefore, by providing the limit strips 5 with limit grooves 501 and the second spring 7, the horizontal vibration can be absorbed during crushing, reducing the impact of vibration on the positioning of the vehicle body 1.

[0058] Furthermore, to prevent the entire crushing mechanism 2 from shaking randomly when the vehicle body 1 moves, a deflection control block 9 is also provided in the limiting slide groove 501. The swing direction of the deflection control block 9 is horizontal, and a drive motor 6 for driving the deflection control block 9 to swing is also provided on the limiting strip 5. Specifically, when shock absorption is not required, the deflection control block 9 rotates into the lower limiting slide groove 501. At this time, the end of the deflection control block 9 can abut against another protrusion 8. Under the limiting action of the limiting slide strip, protrusion 8 and deflection control block 9, the entire sliding plate is restricted and locked, achieving stability.

[0059] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of protection of the claims of the present invention.

Claims

1. An intelligent robot for cleaning the inner wall of a metal can, characterized in that, include: Vehicle body (1), the vehicle body (1) is provided with a crushing mechanism (2) for cleaning the inner wall of the metal tank; The magnetic wheel assembly (3) has two sets. The two sets of magnetic wheel assemblies (3) are respectively hinged on both sides of the vehicle body (1). The magnetic wheel assembly (3) can be attracted to the inner wall of the metal can and roll in cooperation with the inner wall of the metal can to drive the vehicle body (1) to move. The magnetic wheel assembly (3) can deflect around the hinge point with the side wall of the vehicle body (1) so that the magnetic wheel assembly (3) abuts against the inner wall of the metal can. A fixed-axis support mechanism (4) is provided in the middle of the vehicle body (1). The fixed-axis support mechanism (4) includes a lifting shaft (41) and a magnetic block (42) provided at the bottom of the lifting shaft (41). The lifting shaft (41) is provided to penetrate the vehicle body (1) downwards. The magnetic block (42) can be attracted and fixed to the inner wall of the metal tank so that the vehicle body (1) can turn in place with the lifting shaft (41) as the center.

2. The intelligent robot for cleaning the inner wall of a metal can according to claim 1, characterized in that, A fixed arm (32) is provided on the side of the vehicle body (1), and the magnetic wheel assembly (3) includes: Mounting bracket (31), which is provided with a first hinge point (301) and a second hinge point (302), and the mounting bracket (31) is hinged to the fixed arm (32) through the first hinge point (301); The elastic element (33) is hinged at one end to the side wall of the vehicle body (1) and at the other end to the second hinge point (302); A plurality of magnetic wheels (34) are provided, and the plurality of magnetic wheels (34) are rotatably disposed on the mounting frame (31) at intervals; The mounting bracket (31) can swing around the first hinge point (301) to drive the magnetic wheel (34) to deflect, and under the elastic action of the elastic member (33), the magnetic wheel (34) presses against the inner wall of the metal can.

3. The intelligent robot for cleaning the inner wall of a metal can according to claim 1, characterized in that, The fixed-axis support mechanism (4) further includes: A fixing plate (40) is provided on the vehicle body (1). The fixing plate (40) is provided with a fixing block (43) and a sliding block (44) that can slide up and down. The lifting shaft (41) is provided through the fixing block (43) and the sliding block (44). The lifting shaft (41) can slide axially and rotate circumferentially with the fixing block (43). The lifting shaft (41) can also rotate circumferentially with the sliding block (44). A tension spring (45) is provided between the fixing block (43) and the sliding block (44). An electric cylinder (46) is mounted on the fixed plate (40) and has a downwardly extending movable end; The movable end of the electric cylinder (46) can move down to overcome the tension of the tension spring (45) and press the magnetic block (42) against the inner wall of the metal can. When the movable end of the electric cylinder (46) moves up and retracts, the tension spring (45) can drive the sliding block (44) and the lifting shaft (41) to move up synchronously.

4. The intelligent robot for cleaning the inner wall of a metal can according to claim 3, characterized in that, The magnetic block (42) includes: The connecting plate (47) is detachably connected to the lifting shaft (41); The electromagnet has several pieces, which are spaced apart at the bottom of the connecting plate (47) for adsorbing onto the inner wall of the metal can.

5. The intelligent robot for cleaning the inner wall of a metal can according to claim 4, characterized in that, A spring (48) is fixedly connected to the movable end of the electric cylinder (46), and the lower end of the spring (48) abuts against the connecting plate (47).

6. The intelligent robot for cleaning the inner wall of a metal can according to claim 1, characterized in that, The crushing mechanism (2) includes: A rotary table (20) is rotatably mounted on the vehicle body (1). The robotic arm (21) is hinged to the rotary table (20); A crushing component (22) is disposed at the outer end of the robotic arm (21). A buffer and shock absorption assembly (205) is provided between the crushing component (22) and the robotic arm (21). The buffer and shock absorption assembly (205) is used to absorb the vibration of the crushing component (22) during operation.

7. The intelligent robot for cleaning the inner wall of a metal can according to claim 6, characterized in that, The robotic arm (21) has a mounting surface (210), and the shock absorption assembly (205) includes: The bracket (23) is disposed on the mounting plane (210), and two limiting blocks (24) are disposed on the bracket (23), and a guide rod (25) is disposed between the two limiting blocks (24). The clamping block (26) is slidably disposed on the guide rod (25). The clamping block (26) is detachably connected to the crushing part (22). A compression spring (27) is provided between the clamping block (26) and the limiting block (24) away from the crushing end of the crushing part (22).

8. The intelligent robot for cleaning the inner wall of a metal can according to claim 6, characterized in that, The vehicle body (1) is equipped with a rotary motor (203), and a gear (202) is connected to the output shaft of the rotary motor (203). An annular rack (204) is provided on the outer periphery of the disc body (201) of the rotary disk (20), and the annular rack (204) meshes with the gear (202).

9. A method for cleaning the inner wall of a metal can, using an intelligent robot for cleaning the inner wall of a metal can as described in any one of claims 1-8, characterized in that, Includes the following steps: S1. Place the vehicle body (1) into the metal can to be cleaned, and the magnetic roller assembly (3) is attached to the inner wall of the metal can. S2, the magnetic wheel assembly (3) rolls and drives the vehicle body (1) to move to the area to be cleaned; S3. Start the crushing mechanism (2) to clean the area to be cleaned inside the metal tank; S4. After the cleaning area is completed, control the vehicle (1) to move to another cleaning area.

10. A method for cleaning the inner wall of a metal can according to claim 9, characterized in that, Step S3 includes: When the vehicle body (1) moves to the area to be cleaned, the control cylinder (46) drives the magnetic block (42) to move and adhere to the inner wall of the metal tank.

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