Magnetic adsorption wall-climbing robot

Abstract

A magnetic attraction wall-climbing robot comprises a main body structure and a magnetic attraction driving assembly, the magnetic attraction driving assembly comprises a magnetic attraction reinforcing array fixed to the bottom of the main body structure and a plurality of permanent magnet wheels installed on the peripheral side of the main body structure, the permanent magnet wheels are used for being attracted to the inner wall of an oil tank, and the magnetic attraction reinforcing array and the inner wall of the oil tank are arranged at intervals; the main body structure comprises an electric push rod and an adsorption cleaning head, the adsorption cleaning head is used for being attached to the inner wall of the oil tank and adsorbing grease, and the electric push rod is arranged between the adsorption cleaning head and the permanent magnet wheel and used for abutting against the inner wall of the oil tank to achieve overall overturning of the robot. Efficient oil stain removal work on the inner wall of the oil tank can be achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a magnetic adsorption wall-climbing robot. Background Art

[0002] Oil tanks, as important storage equipment, play a vital role in the petroleum, chemical, and energy industries. During the storage and transportation of oil products, large amounts of oil, impurities, and sediment gradually accumulate on the inner walls of oil tanks. These substances can seriously affect the tank's storage capacity. Furthermore, these oil and impurities can negatively impact oil quality. More importantly, long-term accumulation of oil can cause corrosion, reduce the tank's structural strength, and increase the risk of leaks.

[0003] Traditional oil tank cleaning methods primarily include manual cleaning and mechanical cleaning. Manual cleaning requires workers to work for long hours in a harsh environment. The tank interior is cramped, poorly ventilated, and potentially exposed to toxic and hazardous gases, posing a serious health threat to workers. Furthermore, manual cleaning is inefficient. Furthermore, workers are prone to accidents such as slips and falls while working against the tank walls.

[0004] Due to the unique structure and complex environmental constraints of oil tanks, many mechanical cleaning equipment struggles to access the interior of the tanks for comprehensive cleaning. For example, the large diameter and height of some large oil tanks prevent conventional mechanical cleaning equipment from reaching the top and bottom areas, resulting in incomplete cleaning. Furthermore, some existing mechanical cleaning equipment has limited adsorption capacity on the tank walls, making it difficult to operate stably on vertical or inclined surfaces. During the cleaning process, these devices may slip or fall, compromising cleaning effectiveness, potentially damaging the tank, and even endangering the safety of the operator. Utility Model Content

[0005] The utility model provides a magnetic adsorption wall-climbing robot to solve the problems of potential safety hazards and low efficiency in cleaning oil stains on the inner wall of an oil tank.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] A magnetic wall-climbing robot comprises a main structure and a magnetic drive assembly. The magnetic drive assembly comprises a magnetic reinforcement array fixed to the bottom of the main structure and a plurality of permanent magnetic wheels mounted on the circumference of the main structure. The permanent magnetic wheels are used to adhere to the inner wall of an oil tank. The magnetic reinforcement array is spaced apart from the inner wall of the oil tank.

[0008] The main structure includes an electric push rod and an adsorption cleaning head. The adsorption cleaning head is used to adhere to the inner wall of the oil tank and absorb grease. The electric push rod is arranged between the adsorption cleaning head and the permanent magnetic wheel to support the inner wall of the oil tank to realize the overall flipping of the robot.

[0009] Furthermore, anti-slip grooves are evenly arranged on the surface of the main permanent magnet wheel.

[0010] Furthermore, a circulating flushing device and a soft rubber brush are provided in the adsorption cleaning head. The circulating flushing device is provided on both sides of the adsorption cleaning head. The soft rubber brush includes a first brush portion and a second brush portion. The first brush portion and the second brush portion are provided at an obtuse angle.

[0011] Furthermore, the circulating flushing device includes a cleaning pipe and a negative pressure pumping device, and the cleaning pipe and the negative pressure pumping device are both arranged in the gap between the side of the soft rubber brush away from the moving direction and the inner wall of the adsorption cleaning head.

[0012] Furthermore, the main structure includes: a waterproof electrical box for accommodating the robot's main control board, power supply, switch and other structures;

[0013] The lens structure is used to capture images of the inner wall of the oil tank and transmit them to the operator's control terminal;

[0014] A fixing platform, the fixing platform being fixed above the lens structure;

[0015] A support arm, one end of which is fixed to the fixing platform, and the other end of which is used for mounting an adsorption cleaning head.

[0016] Furthermore, the lens structure includes a front-view lens structure and a rear-view lens structure, wherein the front-view lens structure faces the forward direction of the robot, and the rear-view lens structure faces the opposite side of the forward direction of the robot.

[0017] Furthermore, the front view lens structure is also provided with reserved holes for hoisting and fixing.

[0018] Furthermore, the adsorption cleaning head includes an anti-splash cover and a soft rubber adsorption shell fixed to the end of the anti-splash cover, and the soft rubber brush is partially located in the anti-splash cover and partially located in the soft rubber adsorption shell.

[0019] Furthermore, the waterproof electrical box is covered with an explosion-proof rubber layer on its circumference.

[0020] The utility model can achieve the following beneficial effects:

[0021] 1. The magnetic wall-climbing robot of the present application realizes adsorption and movement with the inner wall of the oil tank through a magnetic drive assembly, and realizes the removal of oil stains through an adsorption cleaning head; the magnetic drive assembly adds a magnetic reinforcement array on the basis of the permanent magnetic wheel to enhance the magnetic effect, making it difficult for the robot to fall from the inner wall of the oil tank, thereby enabling the robot of the present application to maintain a stable posture regardless of whether it is on a vertical wall or an inclined wall; by setting an electric push rod, the robot can be flipped at a corner position, thereby meeting the robot's movement between various walls.

[0022] 2. This application can scrape and gather oil stains by setting a soft rubber brush, so that the adsorption cleaning head can absorb oil stains more efficiently; at the same time, a circulating flushing device is set to flush the oil stain absorption area again to further achieve the cleaning effect.

[0023] 3. Setting up the front view lens structure and the rear view lens structure can realize all-round shooting around the robot, reduce the blind angle of shooting, and thus realize more comprehensive identification of oil stains and improve the cleanliness of the inner wall of the oil tank. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0025] Figure 1 This is a schematic diagram of the overall structure of a magnetic adsorption wall-climbing robot of the present invention;

[0026] Figure 2 This is a schematic diagram of the overall structure of a magnetic adsorption wall-climbing robot in the present invention when viewed from above;

[0027] Figure 3 This is a rear view structural diagram of a magnetic adsorption wall-climbing robot of the present invention;

[0028] Figure 4 This is a partial structural diagram of the utility model for showing the internal structure of the adsorption cleaning head.

[0029] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0030] 1. Main structure; 11. Electric push rod; 12. Adsorption cleaning head; 121. Anti-splash cover; 122. Soft rubber adsorption shell; 13. Waterproof electrical box; 14. Lens structure; 141. Front view lens structure; 142. Rear view lens structure; 143. Reserved holes for hoisting; 15. Fixed platform; 16. Support arm; 2. Magnetic drive assembly; 21. Permanent magnet wheel; 211. Anti-slip groove; 22. Magnetic reinforcement array; 3. Circulating flushing device; 31. Cleaning pipeline; 32. Negative pressure pumping device; 4. Soft rubber brush; 41. First brush part; 42. Second brush part; 5. Explosion-proof rubber coating; 6. Negative pressure adsorption device. DETAILED DESCRIPTION

[0031] To facilitate understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. The accompanying drawings provide embodiments of the present application. However, the present application may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to make the disclosure of the present application more thorough and comprehensive.

[0032] like Figures 1 to 4 As shown, a magnetic adsorption wall-climbing robot includes a main structure 1 and a magnetic drive assembly 2. The magnetic drive assembly 2 is used to enable the robot to be adsorbed to the inner wall of the oil tank, and the main structure 1 is used to collect and remove oil pollution information and drive the robot to move.

[0033] The magnetic drive assembly 2 includes a plurality of permanent magnetic wheels 21 fixed to the periphery of the main structure 1, and a magnetic reinforcement array 22 fixed to the bottom of the main structure 1. In the embodiment of the present application, four permanent magnetic wheels 21 are provided, which are respectively arranged near the four corners of the main structure 1; the robot is moved in the oil tank by the permanent magnetic wheels 21, and the robot can be adsorbed on the inner wall of the oil tank by the permanent magnetic wheels 21. The magnetic reinforcement array 22 includes a plurality of magnetic suction cups evenly arranged at the bottom of the main structure 1. The magnetic suction cups are spaced apart from the inner wall of the oil tank. The magnetic suction cups can further strengthen the magnetic adsorption force between the robot and the oil tank, thereby reducing the occurrence of the robot falling from the inner wall of the oil tank. In addition, the surface of the permanent magnetic wheel 21 is evenly provided with anti-skid grooves 211, which can reduce the occurrence of the permanent magnetic wheel 21 idling in place. The magnetic drive assembly 2 enables the robot of the present application to be stably adsorbed on the wall of the oil tank, and can maintain a stable posture regardless of whether the wall is vertical or inclined.

[0034] Furthermore, the robot's steering system utilizes a differential steering model, with the main controller precisely controlling the motor speed, enabling the robot to flexibly rotate to the target angle and achieve precise steering. The motor itself incorporates an encoder that accurately provides feedback on the motor's speed and position, providing precise control information for the main controller. This steering method allows the robot to easily handle various turning and directional adjustments within the complex environment of the oil tank, improving cleaning efficiency and operational convenience.

[0035] The main structure 1 includes a waterproof electrical box 13, a lens structure 14 and a fixed platform 15 arranged in sequence. A support arm 16 is fixed on the fixed platform 15, and an adsorption cleaning head 12 is provided at the end of the support arm 16 away from the fixed platform 15; in addition, an electric push rod 11 is provided between the adsorption cleaning head 12 and the permanent magnet wheel 21, and the electric push rod 11 is fixed on the outer wall of the waterproof electrical box 13.

[0036] The electric push rod 11 is used to realize the flipping of the robot at the vertical corner. By extending the electric push rod 11, the free end of the electric push rod 11 is abutted against the inner wall of the oil tank, and then the permanent magnetic wheel 21 on the side of the robot close to the adsorption cleaning head is separated from the inner wall of the oil tank, realizing the flipping of the robot and the conversion of the adsorption wall.

[0037] The waterproof electrical box 13 houses the robot's main control board, barometric pressure sensor, IMU gyroscope sensor, switch, power supply, and other sensors. The robot is driven by a DC motor, which is also housed within the box. Because the box plays a crucial role in controlling the robot's proper operation, it is surrounded by an explosion-proof rubberized layer 5. This waterproof and explosion-proof treatment protects the robot from unexpected damage during operation, ensuring smooth cleaning.

[0038] The air pressure sensor is used to detect the air pressure inside the oil tank, which is located within the adsorption cleaning head. By monitoring air pressure changes in real time, the robot can operate within a safe tank pressure range, preventing damage to the robot due to excessive or insufficient pressure. The gas sensor monitors the gas content inside the oil tank, including parameters such as temperature and humidity. This ensures that the tank's dryness meets requirements, preventing damage to the robot's electronic components or ineffective cleaning due to excessive humidity. The sensors and other components connect to the main controller via quick-connect connectors, facilitating installation and replacement, and improving the robot's reliability and ease of maintenance.

[0039] The lens structure 14 includes a front-view lens structure 141 and a rear-view lens structure 142. The front-view lens structure 141 is arranged in the direction of the robot's forward movement, and the rear-view lens structure 142 is arranged in the opposite direction of the robot's forward movement. By setting up the lens structure 14 to achieve auxiliary identification of oil stains, the image of the inner wall of the oil tank is captured by a high-definition camera and transmitted to the operator's control terminal, so that the operator can clearly see the location and extent of the oil stains, thereby more accurately controlling the robot to clean. The rear-view lens structure is arranged at the same time as the front-view lens structure 141. On the one hand, it can reduce blind spots in shooting, and on the other hand, the rear-view lens structure can also check the cleaning effect of the oil stains.

[0040] In addition, the front-view lens structure 141 is also provided with a reserved hoisting hole 143 for hoisting and fixing. During the operation of the robot, the robot is tied with a safety rope through the reserved hoisting hole 143 to reduce the possibility of the robot falling due to robot failure or special circumstances and damaging the oil tank.

[0041] The adsorption cleaning head 12 includes a splash-proof cover 121 and a soft-gel adsorption shell 122. The oil storage tank is arranged in the splash-proof cover 121, and a negative pressure adsorption device 6 for sucking oil is provided in the splash-proof cover 121, and the negative pressure adsorption device 6 is connected to the oil storage tank; the soft-gel adsorption shell 122 is fixed to the end face of the splash-proof cover 121. The soft-gel adsorption shell 122 is provided so that the adsorption cleaning head 12 can be attached to and adsorbed on the surface of the oil tank to ensure the suction force for removing the oil; at the same time, a circulating flushing device 3 is provided in the adsorption cleaning head 12, and the soft-gel adsorption shell 122 is attached to the surface of the oil tank to reduce the occurrence of the flushing liquid flowing out of the adsorption cleaning head 12 when the circulating flushing device 3 is running.

[0042] The suction cleaning head 12 also houses a soft rubber brush 4, comprising a first brush portion 41 and a second brush portion 42, each of which is arranged at an obtuse angle. Furthermore, the soft rubber brush 4 is partially located within the anti-splash shield 121 and partially within the soft rubber suction shell 122. When the suction cleaning head 12 is attached to the inner wall of the oil tank, the soft rubber suction shell 122 folds and contracts, allowing the soft rubber brush 4 to contact the inner wall and scrape away the oil. Because the first brush portion 41 and the second brush portion 42 are arranged at an obtuse angle, the soft rubber brush 4 can gather the oil, improving its suction efficiency.

[0043] The circulating flushing device 3 is located in the gap between the side of the soft rubber brush 4 facing away from the direction of movement and the inner wall of the suction cleaning head 12. It includes a cleaning pipe 31 and a negative pressure pumping device 32, which are respectively located on either side of the suction cleaning head 12. After the soft rubber brush 4 scrapes and gathers the oil stains and uses the negative pressure suction device 6 to absorb them, the cleaning pipe 31 can be used to provide clean water to further clean the oil tank. The negative pressure pumping device 32 on the other side operates simultaneously with the clean water cleaning, using the negative pressure pumping device 32 to quickly extract the waste liquid generated during the cleaning process. The design of the circulating flushing device 3 not only ensures the smooth progress of the cleaning process, but also ensures the timely removal of waste liquid, avoiding secondary contamination of the internal environment of the oil tank.

[0044] It's important to note that the outer frame of the main structure 1 is made of CNC-machined aluminum alloy. This ensures structural strength while achieving lightweight construction, reducing the robot's overall weight and making it easier for the robot to navigate the tank walls. Furthermore, aluminum alloy offers excellent corrosion resistance and processability, reducing manufacturing costs and improving the robot's cost-effectiveness.

[0045] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A magnetic adsorption wall-climbing robot, characterized by: The invention comprises a main structure (1) and a magnetic drive assembly (2), wherein the magnetic drive assembly (2) comprises a magnetic reinforcement array (22) fixed to the bottom of the main structure (1) and a plurality of permanent magnetic wheels (21) installed on the circumference of the main structure (1), wherein the permanent magnetic wheels (21) are used to be adsorbed to the inner wall of the oil tank, and the magnetic reinforcement array (22) is spaced apart from the inner wall of the oil tank; The main structure (1) comprises an electric push rod (11) and an adsorption cleaning head (12). The adsorption cleaning head (12) is used to adhere to the inner wall of the oil tank and absorb grease. The electric push rod (11) is arranged between the adsorption cleaning head (12) and the permanent magnetic wheel (21) and is used to support the inner wall of the oil tank to realize the overall flipping of the robot.

2. The magnetic adsorption wall-climbing robot according to claim 1, characterized in that: A circulating flushing device (3) and a soft rubber brush (4) are provided in the adsorption cleaning head (12); the circulating flushing device (3) is provided on both sides of the adsorption cleaning head (12); the soft rubber brush (4) comprises a first brush portion (41) and a second brush portion (42); the first brush portion (41) and the second brush portion (42) are provided at an obtuse angle.

3. The magnetic adsorption wall-climbing robot according to claim 2, characterized in that: The circulating flushing device (3) comprises a cleaning pipe (31) and a negative pressure pumping device (32), and the cleaning pipe (31) and the negative pressure pumping device (32) are both arranged in the gap between the side of the soft rubber brush (4) away from the moving direction and the inner wall of the adsorption cleaning head (12).

4. The magnetic adsorption wall-climbing robot according to claim 1, characterized in that: The main structure (1) comprises: A waterproof electrical box (13) for accommodating the robot's main control board, power supply, and switch; A lens structure (14) is used to capture images of the inner wall of the oil tank and transmit the images to an operator's control terminal; A fixed platform (15), wherein the fixed platform (15) is fixed above the lens structure (14); A support arm (16), one end of the support arm (16) is fixed to the fixed platform (15), and the other end is used for mounting the adsorption cleaning head (12).

5. The magnetic adsorption wall-climbing robot according to claim 4, characterized in that: The lens structure (14) comprises a front-view lens structure (141) and a rear-view lens structure (142), wherein the front-view lens structure (141) faces the robot's forward direction, and the rear-view lens structure (142) faces the opposite side of the robot's forward direction.

6. The magnetic adsorption wall-climbing robot according to claim 5, characterized in that: The front view lens structure (141) is also provided with a hoisting reserved hole position (143) for hoisting and fixing.

7. The magnetic adsorption wall-climbing robot according to claim 2, characterized in that: The adsorption cleaning head (12) comprises an anti-splash cover (121) and a soft rubber adsorption shell (122) fixed to the end of the anti-splash cover (121); the soft rubber brush (4) is partially located in the anti-splash cover (121) and partially located in the soft rubber adsorption shell (122).

8. The magnetic adsorption wall-climbing robot according to claim 4, characterized in that: The waterproof electrical box (13) is covered with an explosion-proof rubber layer (5) on its circumference.

9. The magnetic adsorption wall-climbing robot according to claim 1, characterized in that: Anti-slip grooves (211) are evenly arranged on the surface of the permanent magnet wheel (21).

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