• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to an arrangement and a method for providing a cleaning process of magnets (5, 12) of a wall climbing device. The arrangement comprises The magnets (5, 12) are adapted to create an attractive magnetic force in an area between a front surface (5a, 12a) of the magnets and a wall (1) of a magnetizable material so that the device is kept in contact with the wall (1). The arrangement comprises a control unit (9) which is adapted to provide an individual activation of the magnets, the control unit (9) being adapted to, when it is time to clean the magnets, deactivate at least one of the magnets (5, 12) at a time so as to solve particles stuck in connection with the front surface (5a, 12a) of the inactivated magnet loosen and at the same time keep at least one remaining magnet (5, 12) activated so as to provide an attractive magnetic force of a size so that the wall climbing device is kept in contact with the wall (1) -. (Fig. 1)
    公开号:SE1351550A1
    申请号:SE1351550
    申请日:2013-12-20
    公开日:2015-06-21
    发明作者:Martin Sandberg
    申请人:Westinghouse Electric Sweden；
    IPC主号:
    专利说明:

    7 formed with cradles of magnetizable materials such as carbon steel. The water in a reactor basin essentially always contains pollutants in the form of loose particles of magnetizable materials such as carbon steel and nickel. After a period of use of a rock-climbing device in such a liquid-filled space, a coating of magnetizable particles adjacent to the front surfaces of the magnets is inevitably obtained. With the aid of said cleaning process, such coatings can be removed before they have time to undermine the device's ability to move along a cradle.
    BRIEF DESCRIPTION OF THE DRAWINGS In the following, preferred embodiments of the invention are described with reference to the accompanying drawings, in which: Fig. 1 shows a climbing device with magnets according to a first embodiment of the present invention, Figs. 2a-b show a section in the plane AA in Figs. Fig. 3a-b shows the magnets of a climbing device according to a second embodiment of the present invention, Fig. 4 shows a climbing device with a magnet according to a third embodiment of the present invention and Figs. 5a-b show a section in the plane BB in Fig. 4 at two different operating occasions.
    DETAILED DESCRIPTION OF PREFERRED EMBODIMENTS OF THE INVENTION Fig. 1 shows a climbing device which is adapted to be conveyed. Fang a cradle 1 in a liquid-filled space. The liquid-filled space can be a reactor basin and the cradle 1 can form a cradle with a reactor tank. The rocks 1 in a reactor tank usually consist of a carbon steel which has a thickness of about 15 cm and an inner surface layer of a stainless steel material which can have a thickness of 3-8 mm. At least the carbon steel in the reactor wall consists of a magnetizable material. The liquid-filled space in a reactor tank inevitably contains contaminants in the form of pure particles of magnetizable materials.
    The climbing device comprises connectors in the form of two drive wheels 2 and a rotatable support wheel 2a which are adapted to be in contact with the cradle 1. The drive wheels 2 are individually driven by separate electric motors 3. The drive wheels 2 and the support wheel 2a are fixed on a platform 4. The climbing device thus comprises a wheel base in the form of three wheels which only up the platform 4 at a certain distance from the cradle 1. The platform 4 comprises a recess flap where two permanent magnets 5. The permanent magnets 5 are individually fixed on the platform 4 via a respective arm construction 6 and each of the long-changing power devices in the form of a pneumatic cylinder 7. The boating device comprises a detection means in the form of a camera 8 for visual detection of cracks and deformations in the cradle 1. The device can be remotely controlled by an operator standing next to a reactor basin or on a reactor bridge. The operator can remotely control the device with the aid of a computer which comprises at least one control unit 9. The control unit 9 can be connected to the climbing device via a plurality of signal lines (not shown). The climbing device is also provided with a cable (not shown) for supplying electrical energy for operation of the electric motors 3 and a cable for supplying compressed air to the pneumatic cylinders 7. The control unit 9 controls the operation of the climbing device by individual operation of the electric By driving the drive wheels 2 at different speeds, the device can pivot and advance along an arbitrary path along the cradle 1. The control unit 9 can also control the supply of compressed air to the pneumatic cylinders 7. Thus the permanent magnets 5 can be displaced by In a first active layer they provide a magnetic force acting between the device and the cradle 1 so that the drive wheels 29 and the city wheel 2a remain in contact with the cradle 1 and a second inactive layer cla are located at a greater distance from the cradle 1 at which the magnetic force is virtually non-existent. The first distance can be of the order of 0.5-1 cm and the second distance can be of the order of 3-5 cm. The magnetic force decreases with the square of the distance. The control unit 9 is also arranged to control the camera 8 and to receive images from the camera 8 via a signal line (not shown).
    Fig. 2 shows a sectional view of the two permanent magnets 5. The permanent magnets 5 comprise a respective flat front surface 5a which defines the distance between the permanent magnets 5 and the cradle 1. A Willa 10 of a non-magnetizable material is fixedly arranged in the platform 4. is fixed between the front surfaces 5a of the magnets and the cradle 1. The flatlet 10 comprises an inner surface 10a which is in contact with the front surfaces 5a of the magnets cla the permanent magnets 5 are in the first active layer and an outer surface 10b is in contact with the water in the reactor basin. The housing 10 also comprises side cradles with which it is fixed in the platform 4. The 16-16 groove also comprises a cradle which extends between the two permanent magnets 5. The side cradles formed by the flat have a substantially tat enclosure of the front surfaces 5a of the permanent magnets. This prevents magnetizable particles in the reactor water from coming into direct contact with the front surfaces 5a of the permanent magnets. The housing 10 can be made of a suitable plastic material.
    The water in the reactor basin includes pollutants in the form of crud which i.a. consists of small particles of magnetizable materials. When the climbing device is moved, a cradle 1 is moved in the reactor basin, a flock of water is obtained in a narrow passage formed between the cradle 1 and the outer surface 10b of the tail adjacent to the front surfaces 5a of the magnets. Since it races a strong magnetic field In this passage, the small magnetizable particles are captured after which they adhere to the outer surface 10b of the Flatlet in connection with the front surfaces 5a of the permanent magnets. After a period of operation of the climbing device in the reactor basin, a relatively large amount of such particles 11 may have accumulated on the outer surface lobe of the housing. The particles 11 reduce the magnetic force which still holds the climbing device against the cradle 1. The particles can also completely or partially lose the passage 5 and also in this way counteract the operation of the climbing device. Fig. 2a shows the device during normal operation. In this case, both the permanent magnets 5 1 are the first active layer and they thereby create a combined magnetic force which holds the wheel of the climbing device in contact with the cradle 1. However, a layer of magnetizable particles 11 has been formed on the outer surface 10b of the housing. front surface 5a. Fig. 2b shows the device during a cleaning process of one permanent magnet 5. The cleaning process meant that the control unit 9 activates one of the pneumatic cylinders 7 at a time so that it is required. Thus, via the arm structure 6, it shifts one permanent magnet 5 from the first active layer to the second inactive layer. In the second inactive layer 20, the distance between the front surface 5a of the permanent magnet and the accumulation of particles 11 at the outer surface 10b of the housing is so large that the particles 11 are only affected by a negligible magnetic force. The particles 11 thereby detach from the outer surface 101 of the housing 101). As a rule, one permanent magnet 5 moves to the other layer for a number of seconds causing the particles to loosen and be led away from the passage between the housing 10 and the wall 1.
    The permanent magnets 5 are dimensioned so that they each have the capacity to create a magnetic force which hails the wheels 2, 2a of the climbing device in contact with the cradle 1. The remaining permanent magnet 5 thus remains in the first active layer so that it the climbing device is held against the cradle 1 during the cleaning process. Lamply, the climbing device tangs the wall 1 is driven during the cleaning process so that a liquid flood is created which removes the detached particles from the passage. After the particles 11 have been detached from the outer surface 10b of the housing in connection with one permanent magnet 5, the pneumatic cylinder returns the permanent magnet 5 to the first layer. The control unit 9 then activates the second pneumatic cylinder 7 which moves the second permanent magnet 5 from the first active layer to the second inactive layer. The first permanent magnet 5 in this case is responsible for the magnetic force which retains the climbing device on the cradle 1. Collected particles on the outer surface 10b of the housing outside if the front surface 5a of the second permanent magnet 5 comes loose. The control unit 9 then activates the pneumatic cylinder 7 so that it returned the second permanent magnet to the first active team. The climbing device can then continue the work of inspecting the cradle 1 without risk of the accumulated particles 11 causing problems. Alternatively, the front surface 5a of the permanent magnets may be arranged at a small distance from the inner surface 10a of the housing in the first active layer. The permanent magnet 5 which is to respond causes the climbing device to be held against the cradle 1 as the second permanent magnet 5 is to be cleaned, can thus be lined slightly closer to the cradle surface 1a and provide an increased magnetic force during the cleaning process.
    The activation of the cleaning process can take place in several different ways. The control unit 9 may be adapted to receive information from an activating means 9a which is activated manually by an operator cla the cleaning process is to be performed. The control unit 9 may be adapted to receive information from a sensor 9b which senses a parameter related to the amount of magnetizable particles which have adhered to the outer surface 10b of the housing and to start the cleaning process when the amount of particles exceeds a reference value. The control unit 9 may comprise a component 9c which scans the time which has elapsed since the start of the climbing device or the time which has elapsed after the last cleaning process. The control unit 9 receives this information and starts a cleaning process of the permanent magnets 5 after, for example, a certain time operation of the climbing device. During operation of the climbing device, control unit 9 can adjust the position of the permanent magnets 5 with the aid of the pneumatic cylinders 7. At curved portions, the distance between the front surfaces 5a of the magnets 5 and the cradle 1 can momentarily change and thus the magnetic force with which the drive wheels 2 are pressed against the cradle. 1. By adjusting the distance during operation so that the distance of the permanent magnets to the cradle 1 is kept substantially constant, the drive wheels can obtain a substantially constant pressure against the cradle 1 even when they are advanced along uneven portions.
    When the climbing device has performed a detection task, the control unit activates the ram cylinders 7 so that they move the permanent magnets 5 to the inactive layer. Thereby the climbing device detaches from the rock 1 and it is pulled Lipp from the reactor basin with the help of a line or the like. Since the permanent magnets 5 are t the inactive layer, any coatings of particles detach from the outer surface 10b of the housing. As the climbing device is pulled up from the reactor basin, it is free of such particles.
    Figs. 3a and 3b show an alternative magnet arrangement comprising four permanent magnets 5. In this case, the permanent magnets 5 are dimensioned so that the climbing device 25 can be held against the cradle 1 by means of two permanent magnets 5 while the other two permanent magnets 5 are moved to the other. the inactive layer so that accumulated particles 11 in connection with the front surfaces 5a of these two permanent magnets loosen. In this case, two diametrically arranged permanent magnets 5 are pushed simultaneously to the second inactive layer. The remaining permanent magnets 5, which are also diametrically arranged, provide a combined magnetic force which is substantially symmetrically distributed on the two drive wheels 2 so that they are pressed with a corresponding force against the cradle surface during a cleaning process. This facilitates the operation of the climbing device during a cleaning process. However, it is possible to feed one of the permanent magnets 5 at a time to the other inactive layer with the three remaining permanent magnets 5 keeping the climbing device in contact with the cradle 1.
    Fig. 4 shows a climbing device with two electromagnets 12. The electromagnets 12 are provided with their respective actuating means 13. A control unit 9 controls the actuating means 13 so that they supply electric current to a spate cla the electromagnets 12 are to be activated. When the electromagnets 12 are to be deactivated, the activating means 13 breaks the power supply to the coil. In addition to the magnetar arrangement with electromagnets 12, the device has corresponding components as in the embodiment in Fig. 1. We therefore do not go through any further review of the common components.
    Fig. 5a shows a section through the electromagnets 12 cla they are activated by the activating means 13. Both electromagnets 12 thereby provide a magnetic force which presses the wheels 2, 2a of the device against the cradle 1. In this embodiment the electromagnets 12 are completely encapsulated in a housing 10 which consists of a non-magnetizable material. Thereby, the housing 10 completely protects the electromagnets 12 from coming into direct contact with the water in the reactor tank. The electromagnets 12 have a front surface 12a which abuts in contact with an inner surface 10a having the housing. The front surface 12a can be arranged at a distance of about 1 cm from the cradle 1. In the passage between an outer surface 10b the housing and the cradle 1a also in this case small particles of magnetizable material 11 which are present in the reactor water accumulate.
    Fig. 5b shows the electromagnets 12 during a cleaning process of one of the electromagnets 12. The cleaning process can be initiated in one of the above-mentioned ways with the aid of any of the components 9a-c. The control unit 9 controls the activating means 13 so that the current is broken to the electromagnet 12 to be cleaned. In this case, no current is conducted to the left electromagnet in Fig. 5b. The magnetic force acting between the left 14 electromagnet 12 and the cradle 1 ceases. Thereby, the particles 11 of magnetizable material which are attached to the outer surface 10b of the tail in connection with the front surface 12a of the left electromagnet are released. The right electromagnet 12 is in an activated position and it is thus responsible for keeping the climbing device against the cradle 1 during the cleaning process of the left electromagnet 12. The electromagnets 12 are dimensioned so that one of the electromagnets 12 is activated so that the climbing the device should not detach from the cradle 1. The control unit 9 initiates reactivation of the left electromagnet 12 after the outer surface 10b of the housing is freed from particles 11 adjacent the left electromagnet 12. Controllers then initiate inactivation of the right electromagnet 12 so that the outer surface of the housing 10b is also freed from particles 11 adjacent the front surface 12a of the right electromagnet. During a cleaning process there is also the possibility of conducting more electric current to the active electromagnet 12 so that it provides an increased magnetic force during a cleaning process in relation to during normal operation.
    During operation of the climbing device, control unit 9 can vary the supply of electric current to the electromagnets 12 as it is moved along curved portions of a cradle I. In curved portions, the distance between the front surfaces 12a of the magnets and the cradle 25 may change instantaneously and thus the magnetic force with the drive wheels 2 is pressed against the cradle 1. By varying the power supply during operation in an appropriate manner, the drive wheels can obtain a substantially constant pressure against the cradle 1 even when they are advanced along uneven portions of a cradle 1.
    When the climbing device has performed a detection task, the control unit 9 deactivates the two electromagnets 12. Thereby the climbing device detaches from the cradle 1 and it is pulled up the Iran reactor basin. Since the electromagnets 12 are inactive, any coatings of particles detach from the outer surface 10b of the housing. As the climbing device is pulled up frail the reactor basin, it is free from such particles.
    The present invention is in no way limited to the embodiments described above in the drawings but can be freely modified within the scope of the claims. The electromagnets need, for example, no fixed housing as they do not need to be displaced to an inert layer coated at a distance from the particles. to unload. Electromagnets can, however, be displaceably arranged between an active layer and an inactive layer in the same way as permanent magnets. In this case, the power supply to the electromagnets does not have to be interrupted in the inactive state. 16
    权利要求:
    Claims (20)
    [1]
    Arrangement is for cleaning magnets (5, 12) of a rock climbing device, the magnets (5, 12) being adapted to create an attractive magnetic force an area between a front surface (5a, 12a) of the magnets and a cradle (1) of a magnetizable material said to maintain the device in contact with the cradle (1), characterized in that it comprises a control unit (9) adapted to provide an individual activation of the magnets, the control unit being adapted to, when it is time to clean the magnets, inactivating at least one of the magnets (5, 12) at a time so as to release particles trapped adjacent to the front surface (5a, 12a) of the inactivated magnet and at the same time keeping at least one remaining magnet (5, 12) activated so as to provide a attractive magnetic force of a size such that the rock climbing device is maintained in contact with the cradle (1).
    [2]
    Arrangement according to claim 1, characterized in that it comprises a housing (10) arranged in connection with the front surfaces (5a, 12a) of the magnets so that lasing particles attracted by the magnets adhere to an outer surface (10b) of the housing (10b). ) in connection with the front surfaces of the respective magnets.
    [3]
    Arrangement according to claim 2, characterized in that the magnets are permanent magnets (5).
    [4]
    Arrangement according to claim 1 or 2, characterized in that said magnets are electromagnets (12).
    [5]
    Arrangement according to claim 2, characterized in that said housing (10) is fixedly arranged and that said activating means comprises a lifting mechanism (6, 7) which is adapted to guide the magnets (5) between an active element in which the front surface (5a) is coated at a first distance the outer surface of said housing (10) and an inactive layer in which the front surface (5a) is coated at a second considerably greater distance from the outer surface has said 1150 (10).
    [6]
    Arrangement according to any one of the preceding claims, characterized in that said housing (10) is adapted to enclose at least a part of the magnets (5, 12) in relation to a surrounding medium so that at least the front surfaces (5a, 12a) of the magnets do not enter contact with the surrounding medium.
    [7]
    Arrangement according to one of the preceding claims, characterized in that the housing (10) consists of a plastic material.
    [8]
    Arrangement according to one of the preceding claims, characterized in that the control unit (9) is adapted to deactivate all the rods after a task has been completed so as to release particles which are stuck in connection with the front surfaces (5a, 12a) of special magnets.
    [9]
    Arrangement according to one of the preceding claims, characterized in that the control unit (9) is adapted to control the activation of the magnets (5, 12) so that they obtain a variable magnetic force during operation.
    [10]
    Arrangement according to one of the preceding claims, characterized in that the control unit (9) is adapted to receive information from an activating means (9a) which is activated manually by an operator when the cleaning process is to be performed.
    [11]
    Arrangement according to any one of the preceding claims 1-9, characterized in that the control unit (9) is adapted to receive information from a sensor (9b) which senses a parameter related to the plurality of particles (11) stuck on the housing ( 10) in connection with the front surfaces (5a, 12a) of the magnets and to start the cleaning process when the amount of particles (11) exceeds a reference value. 18
    [12]
    Arrangement according to any one of the preceding claims 1-9, characterized in that the control unit (9) is adapted to initiate the start of the cleaning process at predetermined time intervals with the aid of a component (9c) which measures the time elapsed since the last cleaning process. challenged.
    [13]
    Arrangement according to one of the preceding claims, characterized in that the rock-climbing device comprises a platform (4) which carried the magnets (5, 12).
    [14]
    Arrangement according to one of the preceding claims, characterized in that the rock-climbing device comprises a wheel arrangement (2, 2a) which is adapted to be in contact with the cradle (1).
    [15]
    Arrangement according to claim 14, characterized in that the wheel arrangement comprises a pair of wheels with two individually driven wheels (2).
    [16]
    Arrangement according to claim 14 or 15, characterized in that the wheel arrangement comprises a pivoting support wheel (2a).
    [17]
    Arrangement according to any one of the preceding claims, characterized in that the rock climbing device comprises detection means (8) for detecting defects in the cradle (1).
    [18]
    Arrangement according to one of the preceding claims, characterized in that the detection means is a camera (8).
    [19]
    Arrangement according to one of the preceding claims, characterized in that the rock-climbing device is adapted to be conveyed in a liquid-filled space.
    [20]
    A method of cleaning magnets (5, 12) of a rock climbing device, the magnets (5, 12) being adapted to create an attractive magnetic force in an area between a front surface (5a, 12a) having the magnets and a rock. (1) of a magnetizable material so that the device is kept in contact with the cradle (1), characterized in that it is time to clean the magnets, inactivate at least one of the magnets (5, 12) at a time so as to release particles which are stuck in connection to the front surface (5a, 12a) of the inactivated magnet loosens and at the same time keeping at least one remaining magnet (5, 12) activated so as to provide an attractive magnetic force of a size such that the rock climbing device is kept in contact with the cradle (1 ). 1 9a 9b 9c
    类似技术:
    公开号 | 公开日 | 专利标题
    US20130052291A1|2013-02-28|Powder removing apparatus, molding system, and method of manufacturing molded object
    US20140076226A1|2014-03-20|Hull Cleaning Robot
    SG190431A1|2013-07-31|A surface-cleaning device and vehicle
    US8500373B1|2013-08-06|Pneumatic delivery system with braking
    CN112313018A|2021-02-02|Novel materials and hardware for self-cleaning flexible electronic web roll
    CN105358988A|2016-02-24|Laboratory automation system with double motor traction device for conveyor belts
    JP2016193716A|2016-11-17|Electro-permanent magnetic attachment of vehicle to object
    SE502758C2|1996-01-08|Method and apparatus for transporting objects with flat support surface
    CN1149206A|1997-05-07|Method and apparatus for packing batteries in package boxes
    SE1351550A1|2015-06-21|Arrangement and method for cleaning magnets of a wall climbing device
    US9233441B2|2016-01-12|Machining system
    JP2011125262A|2011-06-30|Device for cleaning underwater fishing net
    KR101368202B1|2014-03-12|Apparatus for cracking nut products
    CN101738162B|2012-10-10|Method of detecting state of levitate-transported subject and apparatus for the same
    KR20170089903A|2017-08-04|Stacked-roller belt conveyor with zone control
    CN210133648U|2020-03-10|A roll-over stand for processing LED screen
    FR2984184A1|2013-06-21|MAGNETIC SEPARATOR
    KR20170028773A|2017-03-14|Apparatus for removing the ailen substance of the roll surface
    KR102081279B1|2020-02-26|Ionizer
    KR20090070068A|2009-07-01|A waste and aggregate soring unit
    CN104071557B|2017-05-17|Automatic arranging and conveying device for fruit boxes
    CN103480587B|2016-05-11|A kind of robot palletizer production line is rejected conveying device
    KR20210118526A|2021-10-01|Transferring apparatus having gripper
    JP5308498B2|2013-10-09|Screw dimension measuring device
    CN211001996U|2020-07-14|Novel polyethylene pipeline packing device
    同族专利:
    公开号 | 公开日
    SE542161C2|2020-03-03|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1351550A|SE542161C2|2013-12-20|2013-12-20|Wall climbing device for detecting defects in a wall|SE1351550A| SE542161C2|2013-12-20|2013-12-20|Wall climbing device for detecting defects in a wall|
    [返回顶部]