Dust removing robot magnet unit

Abstract

The dust removal robot magnet unit discloses to the field of robot, and it is characterized by comprising: first magnet, second magnet and third magnet are sequentially arranged adjacent; according to the sequentially arranged adjacent of first magnet, second magnet and third magnet, with fixed base combination into the dust removal robot magnet unit of sector section;Wherein, the magnetization direction of first magnet, second magnet and third magnet includes: the N pole of first magnet is towards the direction of center, and S pole is far towards the direction of circular arc;The S pole of third magnet is towards the direction of center, and N pole is far towards the direction of circular arc;Second magnet is located between first magnet and third magnet, and the S pole of second magnet is towards the direction of first magnet, and S level is towards the direction of second magnet.

Description

Technical Field

[0001] This application relates to the field of dust removal robots, and more particularly to magnet units for dust removal robots. Background Technology

[0002] A dust removal robot is used for dust removal on electrostatic precipitators in thermal power plants, specifically crawling on the anode plates 10 of the electrostatic precipitator to perform dust removal operations. The anode plates 10 are vertically arranged, and the dust removal robot relies on a magnetic unit to enable it to perform dust removal operations on the anode plates 10.

[0003] However, the anode plate 10 is a thin iron plate that is easily deformed. In order to ensure that the dust removal robot does not fall and to maintain sufficient traction on the wheels, a high adsorption force needs to be maintained. At the same time, the deformation of the anode plate 10 causes it to stick to the magnet unit, creating resistance.

[0004] Therefore, this utility model proposes a magnetic unit for a dust removal robot to solve the problem of the contradiction between the large resistance caused by the thin iron plate being easily attracted and deformed, and ensuring that the dust removal robot does not fall and that the wheels have sufficient grip. Utility Model Content

[0005] The purpose of this utility model is to provide a magnetic unit for a dust removal robot, which solves the technical problem of the contradiction between the large resistance caused by the adhesion of thin iron plates to the magnetic unit due to easy adsorption and deformation, and ensuring that the dust removal robot does not fall and that the wheels have sufficient grip.

[0006] This utility model provides the following solution: According to a first aspect of the present invention, a magnet unit for a dust removal robot is provided, comprising: The first magnet 1, the second magnet 2, and the third magnet 3 are arranged adjacent to each other in sequence; The first magnet 1, the second magnet 2 and the third magnet 3 are arranged adjacent to each other in sequence, and combined with the fixed base 4 to form a fan-shaped cross-section of the dust removal robot magnet unit; The magnetization directions of the first magnet 1, the second magnet 2, and the third magnet 3 include: The first magnet has its N pole facing the center of the circle and its S pole facing the arc. The third magnet's S pole faces the center of the circle, while its N pole faces the arc. The second magnet 2 is located between the first magnet 1 and the third magnet 3. The S pole of the second magnet 2 faces the direction of the first magnet 1, and the S pole faces the direction of the second magnet 2.

[0007] Further: The fixed base 4 is a column with a trapezoidal cross-section; The first magnet 1 and the third magnet 3 are connected to the hypotenuse of the trapezoidal cross section of the fixed base 4; The second magnet 2 is connected to the short side of the trapezoidal cross-section of the fixed base 4.

[0008] Further: The sector angle is 90 degrees.

[0009] Furthermore, including: The ratio of the first magnet 1, the second magnet 2, and the third magnet 3 in the sector angle is 3:2:3.

[0010] Further: Countersunk holes are made on the first magnet 1, the second magnet 2, the third magnet 3 and the fixed base 4. The first magnet 1, the second magnet 2 and the third magnet 3 are connected and assembled on the fixed base 4 in sequence by bolts 5 to form a dust removal robot magnet unit. Among them, bolt 5 shall not protrude from the surface of the first magnet 1, the second magnet 2, the third magnet 3 and / or the fixing base 4.

[0011] Further: The radius of the sector is 60.5 mm.

[0012] Further; A set of first magnet 1, second magnet 2 and third magnet 3 are set at each end of the fixed base 4, which together with the fixed base 4 form two dust removal robot magnet units with a fan-shaped cross section. Then, the magnet unit of the dust removal robot is connected to the chassis of the dust removal robot via the fixed base 4; The minimum spacing between the two dust removal robot magnet units is 30mm.

[0013] Furthermore, the fixed base 4 is a column with a trapezoidal cross-section, including: The four pillars of the fixed base are 172mm high. The first magnet 1, the second magnet 2, and the third magnet 3 are arranged adjacent to each other in sequence and combined with the fixed base 4 to form a fan-shaped cross-section of the dust removal robot magnet unit. The first magnet 1, the second magnet 2, and the third magnet 3 are columnar. The column height of the first magnet 1, the second magnet 2 and the third magnet 3 is 72mm.

[0014] Furthermore, the mounting base 4 also includes: The trapezoidal cross-section of the fixed base 4 has at least two first mounting holes 6 on each side; The magnet unit is fixed to the robot chassis frame according to the first mounting hole 6.

[0015] Furthermore, the mounting base 4 also includes: The fixed base 4 ladder is centered on the column length, and the center is centered on the short side and the long side of the cross section. A second mounting hole 7 is opened from the short side. Install the ball head bolt 8 according to the second mounting hole 7; Among them, ball head bolt 8 protrudes.

[0016] According to a second aspect of this utility model, a dust removal robot is provided, wherein a dust removal robot magnet unit is provided on the chassis, and the dust removal robot includes: The dust removal robot consists of two sets, each with two wheels, located on both sides of the chassis frame; According to the first mounting hole 6, the magnet unit is fixed to the robot chassis frame and close to the wheel; The magnet unit is fixed on the robot chassis frame and close to the wheel and the second mounting hole 7. The ball head bolt 8 is installed and the protrusion height of the ball head bolt 8 is adjusted. This includes acquiring information about the robot's crawling environment and its own weight. The robot's crawling environment information includes information such as whether the crawled iron surface is vertical, the thickness of the iron surface, and the deflection of the iron surface. Information on iron deflection includes information related to the deformation and protrusion of the iron surface after being subjected to force; Based on the robot's crawling environment information and the robot's own weight information, adsorption demand information is generated. Select magnets based on adsorption requirements and set a safe distance range between the magnet unit and the iron surface. Based on the correlation information between the safe distance range between the magnet unit and the iron surface and the deformation and protrusion of the iron surface after being subjected to force, the protrusion distance of the ball head bolt 8 is set.

[0017] Furthermore, it includes: a polytetrafluoroethylene layer 9 on the arc-shaped surface of the magnet unit.

[0018] The above solution achieves the following beneficial technical effects: This application divides the original single magnet unit into two magnet units with a reserved gap in between, and places the magnets close to the wheels on both sides to prevent the robot from deforming the prototype plate by the bottom magnet, which would cause the robot to bottom out during movement.

[0019] This application uses a ball-head bolt 8 placed between two magnets to avoid the robot bottoming out due to deformation caused by magnet adsorption.

[0020] This application uses three magnets to form a novel magnetic attraction configuration. The fan-shaped surface reduces the risk of frictional resistance after bottoming out, while the magnetic circuit configuration of the three magnets maintains a high adsorption effect.

[0021] This application reduces the resistance after bottoming out by wrapping the arc-shaped surface of the magnet unit with a polytetrafluoroethylene layer 9. Attached Figure Description

[0022] Figure 1This is a side view of a magnet unit for a dust removal robot provided in one or more embodiments of the present invention.

[0023] Figure 2 This is a side cross-sectional view of a magnet unit for a dust removal robot provided in one or more embodiments of this utility model.

[0024] Figure 3 This is an assembly structure diagram of a magnet unit for a dust removal robot provided in one or more embodiments of this utility model.

[0025] Figure 4 This is a side cross-sectional view of the assembly robot chassis of a dust removal robot magnet unit provided in one or more embodiments of this utility model.

[0026] Figure 5 This is an external view of the rear abdomen of the robot chassis for assembling a magnet unit of a dust removal robot, provided in one or more embodiments of this utility model.

[0027] Figure 6 This is an appearance view of a dust removal robot magnet unit after it is assembled onto the robot chassis and adsorbed onto the surface of the anode plate, according to one or more embodiments of this utility model.

[0028] Figure 7 This invention provides one or more embodiments of a dust removal robot magnet unit that senses the magnetic field on the surface of an anode plate. Figure 1 .

[0029] Figure 8 This invention provides one or more embodiments of a dust removal robot magnet unit that senses the magnetic field on the surface of an anode plate. Figure 2 .

[0030] Figure 9 This invention provides one or more embodiments of a dust removal robot magnet unit that senses the magnetic field on the surface of an anode plate. Figure 3 .

[0031] Icon labels: 1. First magnet; 2. Second magnet; 3. Third magnet; 4. Fixed base; 5. Bolt; 6. First mounting hole; 7. Second mounting hole; 8. Ball head bolt; 9. Polytetrafluoroethylene layer; 10. Anode plate; 11. Induced magnetic field. Detailed Implementation

[0032] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0033] Figure 1 This is a side view of a magnet unit for a dust removal robot provided in one or more embodiments of the present invention.

[0034] Figure 2 This is a side cross-sectional view of a magnet unit for a dust removal robot provided in one or more embodiments of this utility model.

[0035] Figure 3 This is an assembly structure diagram of a magnet unit for a dust removal robot provided in one or more embodiments of this utility model.

[0036] Figure 4 This is a side cross-sectional view of the assembly robot chassis of a dust removal robot magnet unit provided in one or more embodiments of this utility model.

[0037] Figure 5 This is an external view of the rear abdomen of the robot chassis for assembling a magnet unit of a dust removal robot, provided in one or more embodiments of this utility model.

[0038] Figure 6 This is an appearance view of a dust removal robot magnet unit after it is assembled onto the robot chassis and adsorbed onto the surface of the anode plate, according to one or more embodiments of this utility model.

[0039] like Figures 1 to 6 The dust removal robot's magnet unit includes: The first magnet 1, the second magnet 2, and the third magnet 3 are arranged adjacent to each other in sequence; The first magnet 1, the second magnet 2 and the third magnet 3 are arranged adjacent to each other in sequence, and combined with the fixed base 4 to form a fan-shaped cross-section of the dust removal robot magnet unit; The magnetization directions of the first magnet 1, the second magnet 2, and the third magnet 3 include: The N pole of the first magnet 1 faces the center of the circle, and the S pole faces the arc. The S pole of the third magnet 3 is oriented towards the center of the circle, while the N pole is oriented far towards the arc. The second magnet 2 is located between the first magnet 1 and the third magnet 3. The S pole of the second magnet 2 faces the direction of the first magnet 1, and the S terminal faces the direction of the second magnet 2.

[0040] Specifically, the second magnet 2 serves as a magnetic field channel, giving the entire magnet unit two distinct adsorption points. The magnet unit is designed with an arc-shaped surface, ensuring that the magnet unit and the anode plate 10 have at most one contact line, preventing the magnet unit from adsorbing onto the anode plate 10 and becoming stuck, while maintaining relatively stable adsorption.

[0041] In this embodiment: The fixed base 4 is a column with a trapezoidal cross-section; The first magnet 1 and the third magnet 3 are connected to the hypotenuse of the trapezoidal cross section of the fixed base 4; The second magnet 2 is connected to the short side of the trapezoidal cross-section of the fixed base 4.

[0042] Specifically, the trapezoidal cross-section of the fixed base 4 is a preferred option. Other cross-sections are also possible depending on assembly requirements, but it is essential to ensure that the positions of the first magnet 1, the second magnet 2, and the third magnet 3 remain unchanged, and that the arc-shaped surface of the magnet unit composed of the first magnet 1, the second magnet 2, and the third magnet 3 remains unchanged.

[0043] In this embodiment: The sector angle is 90 degrees.

[0044] Specifically, a sector angle of 90 degrees is a preferred option. Any sector angle below 180 degrees can be selected.

[0045] In this embodiment: The ratio of the first magnet 1, the second magnet 2, and the third magnet 3 in the sector angle is 3:2:3.

[0046] Specifically, a preferred scheme is that the ratio of the first magnet 1, the second magnet 2, and the third magnet 3 in the sector angle is 3:2:3. The ratio can be adjusted appropriately according to the required spacing of the adsorption force points of the first magnet 1 and the third magnet 3.

[0047] In this embodiment: Countersunk holes are made on the first magnet 1, the second magnet 2, the third magnet 3 and the fixed base 4. The first magnet 1, the second magnet 2 and the third magnet 3 are connected and assembled on the fixed base 4 in sequence by bolts 5 to form a dust removal robot magnet unit. Among them, bolt 5 shall not protrude from the surface of the first magnet 1, the second magnet 2, the third magnet 3 and / or the fixing base 4.

[0048] Specifically, bolt 5 must not protrude from the surface of the first magnet 1, the second magnet 2, the third magnet 3, or / and the fixing base 4, to ensure that the dust removal robot's magnet unit, when installed behind the robot chassis, will not interfere with or block the magnetic circuit, or hook other objects.

[0049] In this embodiment: The radius of the sector is 60.5 mm.

[0050] Specifically, based on the size of the robot, a preferred fan-shaped radius of 60.5 mm is provided, which matches the minimum spacing of the two dust removal robot magnet units of 30 mm and the height of the four columns of the fixed base of 172 mm.

[0051] In this embodiment; A set of first magnet 1, second magnet 2 and third magnet 3 are set at each end of the fixed base 4, which together with the fixed base 4 form two dust removal robot magnet units with a fan-shaped cross section. Then, the magnet unit of the dust removal robot is connected to the chassis of the dust removal robot via the fixed base 4; The minimum spacing between the two dust removal robot magnet units is 30mm.

[0052] Specifically, the minimum spacing between the two dust removal robot magnet units is 30mm to ensure that the two magnet units do not excessively adhere to the anode plate 10, thus preventing the robot from bottoming out. A minimum spacing of 30mm is one preferred option; a smaller spacing between magnet units could cause deformation of the anode plate surface, increasing the risk of the robot bottoming out. Considering the robot's shape and the width of the anode plate, a minimum spacing of 30mm between the two dust removal robot magnet units is preferred.

[0053] In this embodiment, the fixed base 4 is a column with a trapezoidal cross-section, including: The four pillars of the fixed base are 172mm high. The first magnet 1, the second magnet 2, and the third magnet 3 are arranged adjacent to each other in sequence and combined with the fixed base 4 to form a fan-shaped cross-section of the dust removal robot magnet unit. The first magnet 1, the second magnet 2, and the third magnet 3 are columnar. The column height of the first magnet 1, the second magnet 2 and the third magnet 3 is 72mm.

[0054] In this embodiment, the fixed base 4 further includes: The trapezoidal cross-section of the fixed base 4 has at least two first mounting holes 6 on each side; The magnet unit is fixed to the robot chassis frame according to the first mounting hole 6.

[0055] Specifically, the mounting base 4, equipped with two magnet units, is assembled as an independent unit onto the robot's chassis frame via the first mounting hole 6. The mounting base 4 is, but is not limited to, a column with a trapezoidal cross-section, such as... Figure 1 As shown, it can also be extended to a pentagonal cross section.

[0056] In this embodiment, the fixed base 4 further includes: The fixed base 4 ladder is centered on the column length, and the center is centered on the short side and the long side of the cross section. A second mounting hole 7 is opened from the short side. Install the ball head bolt 8 according to the second mounting hole 7; Among them, ball head bolt 8 protrudes.

[0057] Specifically, the ball head bolt 8 protrudes above the arc-shaped surface of the magnet unit of the dust removal robot, but below the surface of the wheel. The ball head bolt is chosen instead of the wheel for preventative measures against bottoming out and to accommodate the unpredictability of the robot's movement direction. The surface of the ball head bolt 8 can also be covered with a layer of polytetrafluoroethylene (PTFE).

[0058] In one specific embodiment, a simulation of the actual working environment of this application on the anode plate 10 is disclosed, and as follows: Figure 7 , Figure 8 , Figure 9 The diagram shows the magnetic field induction of the magnet unit of the dust removal robot.

[0059] like Figure 7 As shown, the attraction points of the induced magnetic field 11 generated by a single dust removal robot magnet unit are distributed across two columns, compared to the concentration of attraction points of a single magnet in one column, thus reducing the deformation impact on the anode plate 10. The fan-shaped cross-section design helps reduce the risk of resistance; that is, even if the dust removal robot magnet unit contacts the anode plate 10, the contact area is controlled to at most one "line," resulting in a relatively small contact area. Furthermore, the curved surface, compared to a flat surface, facilitates traversing uneven surfaces, reducing the risk of resistance even when bottoming out. The presence of a polytetrafluoroethylene layer 9 on the curved surface of the magnet unit further reduces the coefficient of sliding friction.

[0060] like Figure 8 , 9 As shown, a dust removal robot magnet unit is set at both ends of a fixed base 4. This magnet unit, together with the anode plate 10, forms an induced magnetic field 11 that is distributed across the anode plate 10. The points where the adsorption force is dispersed are close to the wheels on both sides, further reducing the impact on the adsorption deformation of the anode plate 10.

[0061] In one embodiment, a dust removal robot has a chassis equipped with a dust removal robot magnet unit, and the dust removal robot includes: The dust removal robot consists of two sets, each with two wheels, located on both sides of the chassis frame; According to the first mounting hole 6, the magnet unit is fixed to the robot chassis frame and close to the wheel; The magnet unit is fixed on the robot chassis frame and close to the wheel and the second mounting hole 7. The ball head bolt 8 is installed and the protrusion height of the ball head bolt 8 is adjusted. This includes acquiring information about the robot's crawling environment and its own weight. The robot's crawling environment information includes information such as whether the crawled iron surface is vertical, the thickness of the iron surface, and the deflection of the iron surface. Information on iron deflection includes information related to the deformation and protrusion of the iron surface after being subjected to force; Based on the robot's crawling environment information and the robot's own weight information, adsorption demand information is generated. Select magnets based on adsorption requirements and set a safe distance range between the magnet unit and the iron surface. Based on the correlation information between the safe distance range between the magnet unit and the iron surface and the deformation and protrusion of the iron surface after being subjected to force, the protrusion distance of the ball head bolt 8 is set.

[0062] In this embodiment, a polytetrafluoroethylene layer 9 is provided on the arc-shaped surface of the magnet unit.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A magnetic unit for a dust removal robot, characterized in that, The dust removal robot's magnet unit includes: The first magnet, the second magnet, and the third magnet are arranged adjacent to each other in sequence; The first magnet, the second magnet, and the third magnet are arranged adjacent to each other in sequence, and combined with the fixed base to form a fan-shaped cross-section of the dust removal robot magnet unit; The magnetization directions of the first, second, and third magnets include: The N pole of the first magnet faces the center of the circle, and the S pole faces the arc. The S pole of the third magnet is pointing towards the center of the circle, and the N pole is pointing far towards the arc. The second magnet is located between the first magnet and the third magnet, with its S pole facing the direction of the first magnet and its S end facing the direction of the second magnet.

2. The dust removal robot magnet unit according to claim 1, characterized in that: The fixed base is a column with a trapezoidal cross-section; The first and third magnets are connected to the hypotenuse of the trapezoidal cross-section of the fixed base; The second magnet is connected to the short side of the trapezoidal cross-section of the fixed base.

3. The dust removal robot magnet unit according to claim 2, characterized in that: The sector angle is 90 degrees.

4. The dust removal robot magnet unit according to claim 2, characterized in that: The ratio of the first magnet, the second magnet, and the third magnet in the sector angle is 3:2:

3.

5. The dust removal robot magnet unit according to claim 3 or 4, characterized in that: Countersunk holes are made on the first magnet, the second magnet, the third magnet and the fixed base. The first magnet, the second magnet and the third magnet are connected and assembled on the fixed base in sequence by bolts to form a dust removal robot magnet unit. The bolts must not protrude from the surface of the first magnet, the second magnet, the third magnet, or / and the fixed base.

6. The dust removal robot magnet unit according to claim 5, characterized in that: The radius of the sector is 60.5 mm; Also includes; Each end of the fixed base is equipped with a first magnet, a second magnet, and a third magnet, which together with the fixed base form two dust removal robot magnet units with a fan-shaped cross section. Then, the magnetic unit of the dust removal robot is connected to the chassis of the dust removal robot via the fixed base; The minimum spacing between the two dust removal robot magnet units is 30mm; The fixed base is a column with a trapezoidal cross-section, including: The height of the fixed base column is 172mm; The dust removal robot magnet unit is formed by sequentially arranging the first magnet, the second magnet, and the third magnet adjacent to each other and combining with the fixed base to form a fan-shaped cross-section. The first magnet, the second magnet, and the third magnet are cylindrical. The column height of the first, second, and third magnets is 72 mm.

7. The dust removal robot magnet unit according to claim 6, characterized in that, The fixed base also includes: The trapezoidal cross-section of the fixed base has at least two first mounting holes on each side; The magnet unit is fixed to the robot chassis frame according to the first mounting hole.

8. The dust removal robot magnet unit according to claim 7, characterized in that, The fixed base also includes: The fixed base ladder is centered on the column length, and the center is centered on the short side and the long side of the cross section. A second mounting hole is opened from the short side. Install the ball head bolt according to the second mounting hole; Among them, the ball head bolt protrudes.

9. A dust removal robot, characterized in that, The chassis is equipped with a magnet unit for the dust removal robot as described in any one of claims 1 to 8, and the dust removal robot comprises: The dust removal robot consists of two sets, each with two wheels, located on both sides of the chassis frame; The magnet unit is fixed to the robot chassis frame and close to the wheel according to the first mounting hole; The magnet unit is fixed to the robot chassis frame near the wheel and the second mounting hole. The ball head bolt is installed and the protrusion height of the ball head bolt is adjusted.

10. The dust removal robot according to claim 9, characterized in that, The dust removal robot magnet unit includes: a polytetrafluoroethylene layer on the arc-shaped surface of the magnet unit.

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