CN113184073B - Water-cooled wall pipe climbing robot - Google Patents
Water-cooled wall pipe climbing robot Download PDFInfo
- Publication number
- CN113184073B CN113184073B CN202110355521.9A CN202110355521A CN113184073B CN 113184073 B CN113184073 B CN 113184073B CN 202110355521 A CN202110355521 A CN 202110355521A CN 113184073 B CN113184073 B CN 113184073B
- Authority
- CN
- China
- Prior art keywords
- telescopic
- water
- moving device
- cooled wall
- adsorption
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
本申请涉及一种水冷壁管道爬壁机器人。机器人包括第一吸附装置、第一移动装置和第二移动装置。第一吸附装置用于吸附于水冷壁的管壁。第一吸附装置设置于第一移动装置。第一移动装置用于带动第一吸附装置沿第一方向移动第一预设距离。第一方向垂直于水冷壁所在平面。第一移动装置设置于第二移动装置。第二移动装置用于带动第一移动装置和第一吸附装置沿第二方向移动第二预设距离。第二方向垂直于第一方向，且垂直于所述水冷壁延伸的方向。第一移动装置还用于带动第一吸附装置沿第一方向的反向移动第一预设距离。机器人能够带动检测装置在水冷壁的表面移动，提高了水冷壁检测的便捷性，提升了在水冷壁管排间横向移动的稳定性。
The present application relates to a water-cooled wall pipe climbing robot. The robot includes a first adsorption device, a first moving device and a second moving device. The first adsorption device is used to be adsorbed on the pipe wall of the water-cooled wall. The first adsorption device is arranged on the first moving device. The first moving device is used to drive the first adsorption device to move a first preset distance along a first direction. The first direction is perpendicular to the plane where the water-cooled wall is located. The first moving device is arranged on the second moving device. The second moving device is used to drive the first moving device and the first adsorption device to move a second preset distance along a second direction. The second direction is perpendicular to the first direction and perpendicular to the direction in which the water-cooled wall extends. The first moving device is also used to drive the first adsorption device to move a first preset distance in the opposite direction of the first direction. The robot can drive the detection device to move on the surface of the water-cooled wall, which improves the convenience of water-cooled wall detection and improves the stability of lateral movement between water-cooled wall tube rows.
Description
Technical Field
The application relates to the technical field of detection, in particular to a water wall pipeline wall climbing robot.
Background
The water-cooled wall is an important component of the boiler body, and when the boiler operates, the water-cooled wall heating surface has the problems of thermal deformation, high-temperature corrosion, dust accumulation, coking and the like, and the aging problem is more and more prominent after long-term operation, so that the safety is reduced. Therefore, the periodic overhaul of the water-cooled wall of the boiler is always an important work for the overhaul of the boiler.
The inspection of the heating surface of the water-cooled wall is a high-risk environmental operation, the inspection area is large, the time is long, and the requirement on overhauling personnel is high. The machine device capable of freely and reliably walking on the surface of the water-cooled wall is designed, and the aim of improving the convenience of water-cooled wall detection is a problem to be solved urgently.
Disclosure of Invention
Accordingly, it is necessary to provide a waterwall tube wall climbing robot for solving the problem of how to realize the transverse movement of the robot between the waterwall tube rows.
A wall climbing robot for a water wall pipeline comprises a first adsorption device, a first moving device and a second moving device. The first adsorption device is used for adsorbing the pipe wall of the water-cooled wall. The first adsorption device is arranged on the first mobile device. The first moving device is used for driving the first adsorption device to move a first preset distance along a first direction. The first direction is perpendicular to the plane of the water cooling wall. The first mobile device is arranged on the second mobile device. The second moving device is used for driving the first moving device and the first adsorbing device to move a second preset distance along a second direction. The second direction is perpendicular to the first direction and perpendicular to the extending direction of the water cooling wall. The first moving device is further used for driving the first adsorption device to move reversely along the first direction for a first preset distance.
In one embodiment, the first mobile device comprises a first telescoping device. The first telescopic device comprises a first fixing piece and a first telescopic piece. One end of the first telescopic piece is connected with the first fixing piece. The other end of the first telescopic piece is connected with the first adsorption device, and the first telescopic piece is used for stretching along the first direction by a first preset distance. The first fixing piece is connected with the second moving device.
In one embodiment, the first mobile device further comprises a first support frame. One end of the first telescopic piece, which is far away from the first fixing piece, and the first adsorption device are respectively arranged on the first supporting frame.
In one embodiment, the second mobile device further comprises a second support frame, a second telescoping device, and a third telescoping device. The first fixing piece is arranged on the second supporting frame. The second telescopic device comprises a second fixing piece and a second telescopic piece. The second fixing piece is arranged on the second supporting frame. One end of the second telescopic piece is connected with the second fixing piece. The second telescopic member is used for telescopic the second preset distance along the second direction. The third telescopic device comprises a third fixing piece and a third telescopic piece. The third fixing piece is arranged at one end, far away from the second fixing piece, of the second telescopic piece. One end of the third telescopic piece is connected with the third fixing piece. The third telescoping member is configured to telescope a third predetermined distance in the first direction.
In one embodiment, the third telescoping device includes a second adsorption assembly. The second adsorption component is arranged at one end of the third telescopic piece, which is far away from the third fixing piece.
In one embodiment, the first adsorption means comprises a permanent magnet. The permanent magnet is arranged on the first moving device.
In one embodiment, the first adsorption device further comprises a first rolling member. The first rolling piece is arranged at one end of the permanent magnet, which is far away from the first moving device.
In one embodiment, the first adsorption device further comprises an elastic component. One end of the elastic component is connected with the first moving device. The other end of the elastic component is connected with the permanent magnet.
In one embodiment, the waterwall tubing wall climbing robot further comprises a wheel assembly. The wheel assembly is disposed on the first moving device.
In one embodiment, the wheel assembly includes a second elastic member, a power mechanism, and a wheel. One end of the second elastic piece is connected with the first moving device. The wheel is connected with one end of the second elastic piece far away from the first moving device. The power mechanism is arranged on the hub of the wheel.
In the water wall pipeline wall climbing robot provided by the embodiment of the application, the first adsorption device is used for driving the first moving device and the second moving device to be attached to the water wall so as to avoid falling. The first moving device can drive the first adsorption device to move along the direction perpendicular to the plane where the water cooling wall is located. The second moving device is used for driving the first moving device and the first adsorbing device to move a second preset distance along a second direction. The second direction is perpendicular to the first direction and perpendicular to the extending direction of the water cooling wall. The second moving device can drive the first moving device and the first adsorption device to move along the direction parallel to the plane where the water cooling wall is located. The water wall pipeline wall climbing robot realizes transverse stepping movement among water wall pipe rows through the first adsorption device, the first moving device and the second moving device. The water wall pipeline wall climbing robot can bear the detection device and drive the detection device to move on the surface of the water wall, so that the convenience of water wall detection is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments or the conventional techniques of the present application, the drawings required for the descriptions of the embodiments or the conventional techniques will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the drawings without inventive effort for those skilled in the art.
FIG. 1 is a schematic diagram of a wall climbing robot for a water wall pipeline according to an embodiment of the present application;
FIG. 2 is a schematic structural view of the wall climbing robot for a water wall pipeline according to an embodiment of the present application;
FIG. 3 is a schematic structural view of the first telescopic device, the second telescopic device and the third telescopic device according to an embodiment of the present application;
FIG. 4 is a schematic structural view of the second telescopic device and the third telescopic device according to an embodiment of the present application;
FIG. 5 is a schematic view of the first adsorption device according to an embodiment of the present application;
Fig. 6 is a schematic structural view of the wheel assembly provided in one embodiment of the present application.
Reference numerals:
10. The water wall pipeline wall climbing robot comprises a water wall, a water wall-cooling plane, 20 parts, a first adsorption device, 30 parts, a first moving device, a first direction a, a second moving device, a second direction b, 310 parts, a first telescopic device, 311 parts, a first fixing part, 312 parts, a first telescopic part, 320 parts, a first supporting frame, 410 parts, a second supporting frame, 420 parts, a second telescopic device, 421 parts, second fixing parts, 422 parts, second telescopic parts, 423 parts, a first guide rail, 430 parts, a third telescopic device, 431 parts, a third fixing part, 432 parts, a third telescopic part, 433 parts, a second adsorption assembly, 441 parts, an electromagnet, 442 parts, a rubber block, 210 parts, a permanent magnet, 220 parts, a first rolling part, 230 parts, an elastic assembly, 231 parts, a second elastic part, 232 parts, a vertical shaft, 233 parts, connecting parts, 50 parts, a wheel assembly, 510 parts, a power mechanism, 520 parts, a wheel, 530 parts and a second elastic part.
Detailed Description
In order that the above objects, features and advantages of the application will be readily understood, a more particular description of the application will be rendered by reference to the appended drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. The application may be embodied in many other forms than described herein and similarly modified by those skilled in the art without departing from the spirit or scope of the application, which is therefore not limited to the specific embodiments disclosed below.
The numbering of the components itself, e.g. "first", "second", etc., is used herein only to divide the objects described, and does not have any sequential or technical meaning. The term "coupled" as used herein includes both direct and indirect coupling (coupling), unless otherwise indicated. In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the device or element in question must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.
In the present application, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
Referring to fig. 1 and 2, an embodiment of the present application provides a water wall pipe wall climbing robot 10, which includes a first adsorption device 20, a first moving device 30 and a second moving device 40. The first adsorption device 20 is used for adsorbing on the pipe wall of the water wall 100. The first adsorption device 20 is disposed on the first moving device 30. The first moving device 30 is configured to drive the first adsorbing device 20 to move along a first direction a by a first preset distance. The first direction a is perpendicular to the plane 101 where the water wall 100 is located. The first mobile device 30 is disposed on the second mobile device 40. The second moving device 40 is configured to drive the first moving device 30 and the first adsorbing device 20 to move along the second direction b by a second preset distance. The second direction b is perpendicular to the first direction a and perpendicular to the extending direction of the water wall 100. The first moving device 30 is further configured to drive the first adsorbing device 20 to move the first preset distance along the reverse direction of the first direction a.
The embodiment of the present application provides a water wall pipeline wall climbing robot 10, wherein the first adsorption device 20 is used for driving the first moving device 30 and the second moving device 40 to be attached to the water wall 100, so as to avoid falling. The first moving device 30 can drive the first adsorption device 20 to move along a direction perpendicular to the plane 101 where the water wall 100 is located. The second moving device 40 can drive the first moving device 30 and the first adsorbing device 20 to move along a direction parallel to the plane 101 where the water wall 100 is located. The wall-climbing robot 10 for water wall pipeline realizes the function of step-by-step movement on the surface of the water wall 100 through the first adsorption device 20, the first movement device 30 and the second movement device 40. The water wall pipeline wall climbing robot 10 can bear the detection device and drive the detection device to move on the surface of the water wall 100, so that the convenience of detection of the water wall 100 is improved.
The detection device comprises a wall thickness detection device or an operation state detection device. The water wall pipe wall climbing robot 10 may also carry an inspection apparatus or a camera apparatus, etc.
The first adsorption device 20 may be an electromagnetic adsorption device or a permanent magnetic adsorption device.
The second direction b may be a direction along which the water wall 100 extends, or may be a direction perpendicular to the direction along which the water wall 100 extends.
The water wall 100 includes a plurality of pipes arranged side by side. In one embodiment, the second direction b is perpendicular to the direction in which the water wall 100 extends, and perpendicular to the first direction a. The waterwall tube wall climbing robot 10 is used to achieve lateral movement between waterwall tube rows.
Referring to fig. 3 and fig. 4, in one embodiment, the second moving device 40 further includes a second supporting frame 410, a second telescopic device 420, and a third telescopic device 430. The first fixing piece 311 is disposed on the second supporting frame 410. The second telescopic device 420 includes a second fixing member 421 and a second telescopic member 422. The second fixing member 421 is disposed on the second supporting frame 410. One end of the second telescopic member 422 is connected to the second fixing member 421. The second telescopic member 422 is adapted to telescope the second predetermined distance in the second direction b. The third telescopic device 430 includes a third fixing member 431 and a third telescopic member 432. The third fixing member 431 is disposed at an end of the second telescopic member 422 away from the second fixing member 421. One end of the third telescopic member 432 is connected to the third fixing member 431. The third telescoping member 432 is configured to telescope a third predetermined distance in the first direction a.
The shape of the second support frame 410 may be a regular pattern such as rectangle, square or circle, or a spliced pattern such as wave or ellipse.
The second support frame 410 is configured to provide a support platform for the second telescopic device 420 and the third telescopic device 430. The shape of the second support frame 410 may be a regular pattern such as rectangle, square or circle, or a spliced pattern such as wave or ellipse.
In one embodiment, the second support frame 410 is rectangular in shape. A first rail 423 is provided between the two rectangular opposite supporting bodies. The first rail 423 extends in the first direction a. The second fixing member 421 is disposed at one end of the first rail 423. The second telescopic member 422 extends along the first rail 423.
The process of the movement of the water wall pipeline wall climbing robot 10 is as follows:
in the initial state, the first adsorption device 20 is attached to the surface of the water wall 100, and the third expansion device 430 is attached to and fixed to the surface of the water wall 100. The second direction b is along the extending direction of the water wall 100.
In the first step, the first moving device 30 drives the first adsorbing device 20 to move away from the water wall 100 along the first direction a by the first preset distance. The second telescopic device 420 drives the first moving device 30 and the first adsorbing device 20 to move along the second direction b by the second preset distance. The first moving device 30 drives the first adsorbing device 20 to move along the reverse direction of the first direction a for the first preset distance near the water wall 100, so that the first adsorbing device 20 is attached to and fixed on the surface of the water wall 100 again.
In the second step, the third telescopic member 432 is telescopic away from the water wall 100 along the first direction a by a third predetermined distance. The second telescopic device 420 drives the third telescopic device to move along the second direction b by the second preset distance. The third telescopic member 432 is telescopic close to the water wall 100 along the reverse direction of the first direction a by the third predetermined distance, so that the third telescopic device 430 is attached to and fixed to the surface of the water wall 100.
Through the above steps, the water wall pipeline wall climbing robot 10 realizes the function of moving step by step on the surface of the water wall 100.
The second moving means 40 or the third moving means may be an electric telescopic rod or an electric cylinder or the like. When the second moving device 40 or the third moving device is an electric cylinder, the second fixing member 421 or the third fixing member 431 is a cylinder.
In the first step, the position of the second telescopic member 422 is unchanged, and the second fixing member 421 is moved in the second direction b by the second predetermined distance. In the second step, the position of the second fixing member 421 is unchanged, and the second telescopic member 422 is moved in the second direction b by the second predetermined distance.
In a first step, the third telescoping member 432 is moved away from the water wall 100 in the second direction b by the third predetermined distance. In a second step, the third telescoping member 432 is moved in the direction opposite to the second direction b by the third predetermined distance adjacent to the water wall 100.
If the water wall pipe wall climbing robot 10 is operated alternately by the first step and the second step, it is realized to walk on the surface of the water wall 100 in the second direction b.
If the waterwall tube wall-climbing robot 10 is controlled to travel in the reverse direction of the second direction b, the position of the second fixing member 421 is not changed, and the second telescopic member 422 is moved in the reverse direction of the second direction b by the second predetermined distance in the first step. In the second step, the position of the second telescopic member 422 is unchanged, and the second fixing member 421 is moved by the second predetermined distance in the reverse direction of the second direction b.
The telescopic lengths of the second moving device 40 and the third moving device may be the same or different.
In one embodiment, the telescoping lengths of the second mobile device 40 and the third mobile device are different. The telescopic length of the second moving device 40 is greater than that of the third moving device, so as to ensure the climbing speed of the water wall pipeline wall climbing robot 10. The telescopic length of the third mobile device is not easy to be overlong, the overlarge movement amplitude of the third mobile device is avoided, the telescopic time is longer, and the advancing speed is reduced. The telescopic length of the third moving device is ensured to span the adjacent pipe wall.
In one embodiment, the telescoping length of the second mobile device 40 is 150mm. The telescopic length of the third moving device is 30mm.
In one embodiment, the first mobile device 30 includes a first telescoping device 310. The first telescopic device 310 includes a first fixing member 311 and a first telescopic member 312. One end of the first telescopic member 312 is connected to the first fixing member 311. The other end of the first telescopic member 312 is connected to the first adsorption device 20, and the first telescopic member 312 is configured to extend and retract along the first direction a by the first preset distance. The first fixing member 311 is connected to the second moving device 40.
The first telescopic device 310 may be an electric telescopic rod or an electric cylinder, etc. When the first moving device 30 is an electric cylinder, the first fixing member 311 is a cylinder body.
In one embodiment, the waterwall tube wall climbing robot 10 further includes a wheel assembly 50. The wheel assembly 50 is provided to the first moving device 30.
The process of the movement of the water wall pipeline wall climbing robot 10 is as follows:
In the initial state, the first adsorption device 20 and the wheel assembly 50 are attached to the surface of the water wall 100, and the third expansion device 430 is attached to and fixed to the surface of the water wall 100.
In the first step, the position of the first fixing member 311 is unchanged, the first telescopic member 312 is retracted along the first direction a by the first predetermined distance, and the first moving device 30 drives the first adsorbing device 20 and the wheel assembly 50 to move away from the water wall 100 along the first direction a by the first predetermined distance. The second fixing member 421 of the second telescopic device 420 drives the first moving device 30 and the first adsorbing device 20 to move along the second direction b by the second preset distance. The first telescopic member 312 contracts along the first direction a by the first predetermined distance, and drives the first adsorption device 20 and the wheel assembly 50 to move along the direction opposite to the first direction a by the first predetermined distance near the water wall 100, so that the first adsorption device 20 and the wheel assembly 50 are attached to and fixed on the surface of the water wall 100 again.
In the second step, the third telescopic member 432 is telescopic away from the water wall 100 along the first direction a by a third predetermined distance. The second telescopic device 420 drives the third telescopic device to move along the second direction b by the second preset distance. The third telescopic member 432 is telescopic close to the water wall 100 along the reverse direction of the first direction a by the third predetermined distance, so that the third telescopic device 430 is attached to and fixed to the surface of the water wall 100.
In one embodiment, the first mobile device 30 further comprises a first support frame 320. The end of the first telescopic member 312 away from the first fixing member 311 and the first adsorption device 20 are respectively disposed on the first supporting frame 320.
The first support frame 320 provides a mounting platform for the first suction device 20 and the wheel assembly 50.
The shape of the first supporting frame 320 may be a regular pattern such as rectangle, square or circle, or a spliced pattern such as wave or ellipse.
In one embodiment, the first moving means 30 further comprises a second guide rail extending in the second direction b. The second guide rail is fixedly arranged on the first frame. The first supporting frame 320 is provided with a sliding body. The sliding body is used for driving the first supporting frame 320 to move along the second guide rail.
Referring to fig. 4, in one embodiment, the third telescopic device 430 further includes a second adsorption component 433. The second adsorption component 433 is disposed at an end of the third telescopic member 432 away from the third fixing member 431.
In one embodiment, the second adsorption assembly 433 includes an electromagnet 441. The electromagnet 441 is disposed at an end of the third telescopic member 432 away from the third fixing member 431. The third telescopic member 432 moves towards the surface of the water wall 100 until the electromagnet 441 is attached to the surface of the water wall 100, and the electromagnet 441 is electrically attracted to the surface of the water wall 100. The third telescopic member 432 moves away from the surface of the water wall 100, and the electromagnet 441 is powered off, so that the third telescopic member does not have an adsorption function.
The electromagnet 441 is electrically attracted to the surface of the water-cooled wall 100, and can support the second telescopic member 422 by the third telescopic device 430, so that the position of the second telescopic member 422 in the first step is unchanged, and the position of the second fixing member 421 in the first step is changed.
The electromagnet 441 may be rectangular, square, cylindrical, or the like.
In one embodiment, the surface of the electromagnet 441 adjacent to the water wall 100 is arched, and the radius of the arched surface is equal to the radius of the water wall 100, so that the surface of the electromagnet 441 is attached to the surface of the water wall 100, thereby increasing the adsorption area and the adsorption force. The electromagnet 441 is one or more. The plurality of electromagnets 441 may be arranged side by side or in a matrix.
In one embodiment, the second absorbent assembly 433 further includes a rubber block 442. The rubber block 442 is arranged side by side with the electromagnet 441. The rubber blocks 442 are used for buffering and reducing impact on the water wall 100. The rubber blocks 442 are one or more. The surface of the rubber block 442 close to the water-cooled wall 100 is arched, and the radius of the arched surface is the radius of the water-cooled wall 100, so that the surface of the rubber block 442 is attached to the surface of the water-cooled wall 100.
In one embodiment, the rubber blocks 442 are multiple. A plurality of the rubber blocks 442 are disposed around the electromagnet 441.
Referring also to fig. 5, in one embodiment, the first adsorption device 20 includes a permanent magnet 210. The permanent magnet 210 is disposed on the first moving device 30. The permanent magnet 210 is configured to be adsorbed on the surface of the water wall 100, so as to prevent the water wall pipeline wall climbing robot 10 from falling off.
In one embodiment, the first suction device 20 further includes a first rolling member 220. The first rolling element 220 is disposed at an end of the permanent magnet 210 away from the first moving device 30. The first rolling member 220 includes a roller. The axis of the roller is parallel to the plane 101 of the water wall 100. The periphery of the permanent magnet is provided with a rolling shaft.
In one embodiment, the first adsorption device 20 further comprises an elastic assembly 230. One end of the elastic member 230 is connected to the first moving means 30. The other end of the elastic member 230 is connected to the permanent magnet 210. The elastic member 230 is configured to raise and lower the permanent magnet 210 along the pipe wall by being contracted.
The elastic assembly 230 includes a vertical shaft 232, a first elastic member 231, and a connection member 233. The vertical shaft 232 is connected to the second support frame 410. The side walls of the vertical shaft 232 are provided with sliding rails. The surface of the permanent magnet 210 is provided with a slider. The slider is used for driving the permanent magnet 210 to move along the sliding rail. The connecting piece 233 is used for being fixed on one end of the vertical shaft 232 away from the sliding rail. The connection member 233 is used to connect a plurality of the vertical shafts 232. The first elastic member 231 is connected between the permanent magnet 210 and the connection member 233.
When there is an obstacle on the water wall 100, the roller drives the permanent magnet 210 to move along the second direction b. The slider moves close to the link 233 and the first elastic member 231 is compressed.
The water wall pipeline wall climbing robot 10 realizes obstacle crossing through the elastic component 230, and prevents the permanent magnet from directly colliding with obstacles such as coking on the pipeline.
The first elastic member 231 includes a spring, a sponge, or other elastic body, etc.
Referring also to fig. 6, in one embodiment, the wheel assembly 50 includes a second elastic member 530, a power mechanism 510, and a wheel 520. One end of the second elastic member 530 is connected to the first moving device 30. The wheel 520 is connected to an end of the second elastic member 530 remote from the first moving device 30. The power mechanism 510 is provided to the hub of the wheel 520.
The second elastic member 530 is configured to drive the wheel 520 and the power mechanism 510 to move along the second direction b. The interface of the wheels 520 with the water wall 100 includes a groove or arc configuration. The surface of the wheel 520 is in contact with the surface of the water wall 100. The power mechanism 510 is configured to power the wheels 520. The wheels 520 are configured to move along the length of the water wall 100.
The second elastic member 530 includes a spring, a sponge, or other elastic body, etc. The power mechanism 510 includes a motor.
The wheel 520 comprises an external rubber wheel and an internal hub, wherein the rubber wheel provides friction for the robot, and the internal hub is made of aluminum alloy, so that the weight is light, the hardness of the wheel 520 is ensured, and the deformation is small.
In one embodiment, the number of the second elastic members 530 is two. The two second elastic members 530 are disposed front and back to ensure that the wheels 520 can better cross when they hit obstacles such as coking during the running process. The elastic component 230 and the wheel 520 frame of the wheel 520 have a gap at the joint, so that the rubber wheel has a certain adaptability to deformed pipelines.
In one embodiment, the waterwall tubing wall climbing robot 10 further comprises a controller. The controller is connected to the first moving device 30, the second moving device 40, the third moving device and the power mechanism 510, respectively.
In a specific embodiment, the controller remote control sends a forward signal to control the motor to rotate forward, so as to drive the water wall pipe climbing robot 10 to advance along the length direction of the pipe of the water wall 100. Similarly, the controller remote controller sends a back signal to control the motor to rotate reversely, so that the water wall pipeline wall climbing robot 10 backs along the water wall 100 pipeline.
When the water wall pipeline wall climbing robot 10 reaches a designated position or the water wall 100 reaches a high point, the controller sends a translation signal, so that the water wall pipeline wall climbing robot 10 realizes the following steps:
In the first step, the 150mm electric cylinder in the second moving device 40 is extended (or shortened) by a certain distance.
In the second step, the 30mm electric cylinder in the second moving device 40 is extended, and the electromagnet 441 is powered, so that the electromagnet 441 is attached to the pipeline.
And a third step, the electric cylinder in the first moving device 30 contracts and lifts the outer frame, so that the rubber wheel is separated from the pipeline.
And a fourth step of contracting (or extending) the 150mm electric cylinder in the second moving means 40 by the same length as in the first step.
And fifth, the electric cylinder in the first moving device 30 stretches and drops the outer frame, so that the rubber wheel is attached to the pipeline.
In a sixth step, the electromagnet 441 in the second moving device 40 is de-energized, and the 30mm electric cylinder is contracted, so that the electromagnet 441 is disengaged from the pipe.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The examples described above represent only a few embodiments of the present application and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110355521.9A CN113184073B (en) | 2021-04-01 | 2021-04-01 | Water-cooled wall pipe climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110355521.9A CN113184073B (en) | 2021-04-01 | 2021-04-01 | Water-cooled wall pipe climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113184073A CN113184073A (en) | 2021-07-30 |
| CN113184073B true CN113184073B (en) | 2025-02-07 |
Family
ID=76974430
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110355521.9A Active CN113184073B (en) | 2021-04-01 | 2021-04-01 | Water-cooled wall pipe climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113184073B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113895534B (en) * | 2021-10-15 | 2022-07-08 | 北京京能电力股份有限公司 | Wall-climbing robot and control method |
| CN117864267B (en) * | 2024-03-08 | 2024-06-25 | 西安热工研究院有限公司 | A water-cooled wall tube climbing mechanism |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003062771A (en) * | 2001-08-24 | 2003-03-05 | Hitachi Engineering & Services Co Ltd | Inspection robot device |
| CN110203297A (en) * | 2019-06-25 | 2019-09-06 | 北京史河科技有限公司 | Climb wall detection robot |
| CN215622355U (en) * | 2021-04-01 | 2022-01-25 | 北京京能能源技术研究有限责任公司 | Wall climbing robot for water wall pipeline |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5429009A (en) * | 1993-05-20 | 1995-07-04 | Carnegie Mellon University | Robot with cruciform geometry |
| CN206528543U (en) * | 2016-12-26 | 2017-09-29 | 哈尔滨科能熔敷科技有限公司 | A kind of sufficient formula barrier-crossing wall-climbing robot of the Electromagnetic wheel with guide function |
| CN109229227B (en) * | 2018-11-09 | 2019-10-01 | 燕山大学 | Climbing robot |
| KR101988938B1 (en) * | 2018-12-07 | 2019-06-13 | 정현오 | Magnetic crane device and method for transport the track-shoe by using the same |
-
2021
- 2021-04-01 CN CN202110355521.9A patent/CN113184073B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003062771A (en) * | 2001-08-24 | 2003-03-05 | Hitachi Engineering & Services Co Ltd | Inspection robot device |
| CN110203297A (en) * | 2019-06-25 | 2019-09-06 | 北京史河科技有限公司 | Climb wall detection robot |
| CN215622355U (en) * | 2021-04-01 | 2022-01-25 | 北京京能能源技术研究有限责任公司 | Wall climbing robot for water wall pipeline |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113184073A (en) | 2021-07-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113184073B (en) | Water-cooled wall pipe climbing robot | |
| CN215622355U (en) | Wall climbing robot for water wall pipeline | |
| CN210790956U (en) | A suspended motion device for orbital robots | |
| CN110539284A (en) | A Unilaterally Adaptable Track Robot Chassis | |
| JP2012224326A (en) | Wall climbing robot | |
| CN113353168B (en) | A kind of outer pipeline inspection robot and walking method | |
| KR101358384B1 (en) | Robot for running on the wall | |
| CN111391883B (en) | Motor train unit bottom fault detection device | |
| CN108749943B (en) | Magnetic adsorption wall climbing robot | |
| US20240084610A1 (en) | Structure assembling robot | |
| CN111661188A (en) | Universal translation magnetic wall-climbing robot for decontamination of hull plates and working method | |
| CN105841628A (en) | Spiral-orbit type auxiliary system for structural distortion shooting measurement | |
| CN218818924U (en) | Worm type pipeline detection robot | |
| CN218662136U (en) | Formula robot chassis is inhaled to contact length adjustable magnetism | |
| CN112224298A (en) | Wall climbing detection robot obstacle crossing device | |
| CN102494554B (en) | Mechanical ash removing device at outer wall of heat exchanger tube group | |
| CN109941366B (en) | Novel wire-hanging robot upper and lower obstacle-avoiding type traveling mechanism and traveling method thereof | |
| CN111824283A (en) | Adaptive Curvature Device, Facade Robot Based on Permanent Magnet Adsorption | |
| CN110901785A (en) | Novel six-foot boiler water wall maintenance robot | |
| CN111335440B (en) | A construction device for water supply and drainage engineering in building construction and a construction technology for drainage engineering | |
| CN110652667A (en) | A mobile rescue robot | |
| CN213862464U (en) | Frame type wall-climbing robot | |
| CN107433620B (en) | Casing type fully-flexible mechanical arm driven in layered mode | |
| CN107585044B (en) | A passive passive alignment device for wireless charging of electric vehicles | |
| CN214296200U (en) | Wall climbing detection robot obstacle crossing device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |