CN100482521C - Water-cooling wall-climbing robot for power plant boiler - Google Patents
Water-cooling wall-climbing robot for power plant boiler Download PDFInfo
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- CN100482521C CN100482521C CNB2007100227621A CN200710022762A CN100482521C CN 100482521 C CN100482521 C CN 100482521C CN B2007100227621 A CNB2007100227621 A CN B2007100227621A CN 200710022762 A CN200710022762 A CN 200710022762A CN 100482521 C CN100482521 C CN 100482521C
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Abstract
The invention discloses a robot for climbing water-cooled wall of the boiler in generating station. It includes: elevating platform, the two permanent-magnet absorption walking devices besides the elevating platform, which includes the vehicles body and many permanent-magnet absorption walking wheels; every walking wheel includes: two permanent-magnet wheels, unmagnetic inductive metal wheel axis, two coattail slide mass, a connecting slide mass, the gear and pressure spring; every permanent wheel is made up of the round ring magnetic inductive board, the high strength soft wheel hub, three ring permanent magnets. The two permanent magnetic wheels are covered on the unmagnetic inductive metal wheel axis which are installed the steel ball in two ends; the coattail slide mass seat is embedded into the gear box; the gear on two ends of the metal axis and the gear are embedded in the coattail slide mass which is installed with the pressure spring. It has the small size, stable character, strong absorption, big friction, smoothly walk and over loading, so it can carry every weight device to finish the work on water-cooled wall automatically.
Description
Technical field
The present invention relates to climbing robot, specifically is a kind of water-cooling wall-climbing robot for power plant boiler.Can be adsorbed on creeps on the boiler of power plant vertical water wall makes the high-altitude limit operation.
Technical background
Thermal electric generation stands in China's power industry and occupies an leading position, and present domestic station boiler maintenance generally uses high pressure water to clean, and expense is higher.Because the restriction of dependent station repair time, hand sweeping can only be cleaned superficial dust, and can't remove the tube wall slagging scorification, and working environment is extremely abominable, can't large tracts of land detect the Bailey wall wall thickness simultaneously.Boiler of power plant water-cooled wall height is generally at 60～80 meters, so boiler of power plant must take full hall scaffold when the time-based maintenance overhaul, just can carry out the work such as cleaning maintenance of wall.Because high-altitude danger, it is the high-altitude limit operation that the Bailey wall service work is called by domestic and international expert. it is time-consuming to scaffold erecting.In order to solve the difficulty of limit operation, many units are all at the research and development climbing robot, puzzlement research staff's a difficult problem is that boiler water wall is to be welded by the steel pipe vertical arrangement, therefore machine must have powerful adsorption affinity to wall, thereby could produce the actv. friction, the load-carrying of machine ability, machine also need not topple by exceeding wall 3～5mm weld seam.P.372-375, " Chinese mechanical engineering " magazine 2000 Vol.11 No.4 have reported a kind of boiler water wall cleaning, have detected climbing robot.This robot adsorption function is realized by two crawler belts, and 30 permanent magnetism Attraction blocks promptly are installed on every crawler belt, wherein has 5 magnetic patch at least on every crawler belt, is in the excellent contact state with wall, thereby robot is attached on the wall.Robot moving on tube wall by driven by motor harmonic speed reducer drive sprocket, and then the driving crawler belt is realized.For adapting to comb wall and correction, use guide plate and track adjusting wheel and arc magnetic patch.
The weak point of above-mentioned technology is, when crawler travel, constantly pull up the magnet of back, make scanning frequency irregular, if magnet suction is excessive, power and mechanical strength all must strengthen, the suction of therefore necessary controlling magnet, cause load carrying ability to be restricted, also need design when crawler belt the place ahead magnet is crossed weld seam to resist and overturn mechanism and deviation correction mechanism, this has just caused the complicated of mechanism, therefore safety can not effectively be guaranteed, has limited its practicality.Therefore a kind of volume of market in urgent need is small and exquisite, rational in infrastructure, adsorption affinity is strong, safety load is big, and the wall-climbing device or the robot that can be competent at the various service works requirements of Bailey wall wall of dependable performance advance to enter soon practical application area.
Summary of the invention
For overcoming the deficiency of above-mentioned technology, the invention provides a kind of water-cooling wall-climbing robot for power plant boiler, it is small and exquisite to have a volume, stable performance, adsorption affinity is strong, and friction is big, smooth running, overload is heavy, and various the reseting of portability is equipped with, and finishes the characteristics of the required work of Bailey wall automatically.
The present invention realizes with following technical scheme: a kind of water-cooling wall-climbing robot for power plant boiler, comprise: lifting table, symmetrical mounting adsorb the walking apparatus for work at two permanent magnetism of lifting table left and right sides, and permanent magnetism absorption walking apparatus for work comprises that car body and several permanent magnetism adsorb the walking wheels; Motor, speed reduction gearing are housed on the car body, the car body top is equipped with and is removed tube wall soot remover and pick up camera and the illuminating lamp that the lime-ash on the preceding tube wall of wheel well contacts wheel face and tube wall, the car body front end is equipped with range only radar, metal detection sensor is equipped with in the lower end, and the reciprocating machine arm is fixed on car body the place ahead; Be equiped with totally-enclosed electric cabinet in the middle of the car body; Speed reduction gearing is made up of the transmission worm gear reducer, the gear reduction box that are fixed on connecting rod on the frame; Each permanent magnetism absorption walking wheels comprises: two permanent magnetic wheels, non-magnetic conductive metal wheel shaft, two dovetail slide blocks and connection slide blocks, gear, pressure spring; Each permanent magnetic wheels comprises ring arc concentrating flux plate, high strength software resin neoprene wheel hub, three high-strength magnetic permanent magnets of ring-type, its position relation and connection mode are: three high-strength magnetic permanent magnets of ring-type are diamagnetism and arrange installation, ring arc concentrating flux plate is clamped in the location to permanent magnet respectively according to the order of sequence and refers in the mouth, studs with high strength software resin neoprene wheel hub between ring camber concentrating flux plate; Two permanent magnetic wheels are sleeved on the non-magnetic conductive metal wheel shaft, non-magnetic conductive metal wheel shaft two ends dress studs with steel ball; The dovetail take-up housing is embedded on the gear case, and the bearing and the gear at non-magnetic conductive metal wheel shaft two ends are embedded in the dovetail slide block, on the dovetail slide block pressure spring are housed.
Described drive of motor worm gear reducer transmission both sides gear reduction box, gear reduction box driving wheel group gear case, wheels are rotated, the car body tween drive spindle is provided with magnet stopper, all gear housings are fixed by stand connecting rod, tube wall soot remover and pick up camera and illuminating lamp are equipped with in the car body top, and the car body front end is equipped with the reciprocating machine arm.
The high strength software resin rubber polymer wheel hub of insert has covered magnet fully between the camber concentrating flux plate, and the soft friction that has increased wheel increases load carrying ability; The wheel shaft two ends stud with steel ball, can make wheel with the Bailey wall steel pipe sizes when variant the wheel shaft play do the stop bit adjustment, wheel shaft bearings at both ends and gear are embedded in the dovetail slide block, and pressure spring is equipped with in dovetail slide block top, are embedded in dovetail take-up housing on the gear case in order to fixedly dovetail slide block and spring, make single-wheel drive the dovetail slide block (the vertical slip in 0～10mm), guarantee the come-up distance of wheel when welding excessively, the wheels adsorption affinity is strong, and friction is big, the speed of travel is even, automatic guide when creeping.
The radar range unit that car body the place ahead is provided with, in order to measure the objects in front distance, underneath its body is equipped with metal detection sensor, prevents that wheel from walking sky.
Described reciprocating machine arm is reciprocating by the slide plate on the driven by motor chain, can adorn the rifle head that sandblasts, instruments such as fault finder on the slide plate.
Link to each other with support wheel through connecting plate by two units, driving chain be housed in the connecting plate transmit power to support wheel,, have bigger carrying force, satisfy service personnel fully the rapid construction on the single face Bailey wall forming the Bailey wall lifting table with overline bridge by main frame.
The invention has the beneficial effects as follows, adopt the high-strength light metallic material comprehensively, modular design, rational in infrastructure, safety is good.Volume is small and exquisite, stable performance, and adsorption affinity is strong, and friction is big, smooth running, overload is heavy, and various the reseting of portability is equipped with, and finishes Bailey wall automatically and overhauls every work.
Description of drawings
Fig. 1 is the car body front view;
Fig. 2 is the car body lateral plan;
Fig. 3 is the wheels cutaway views;
Fig. 4 is the lifting table front view;
Fig. 5 is the lifting table lateral plan.
Among the figure: 1, the reciprocating machine arm, 1-1, slide plate, 1-2, motor, 2, car body, 2-1, range only radar, 2-2, illuminating lamp, 2-3, pick up camera, 2-4, electric cabinet, 2-5, metal detection sensor, 2-6, soot remover, 2-7, gear case, 2-8, the dovetail take-up housing, 2-9, worm gear reducer, 2-10, magnet stopper, 2-11, transmission shaft, 2-12, transmission shaft, 2-13, gear reduction box, 2-14, motor, 2-15, stand connecting rod, 3 one 1, ring arc concentrating flux plate, 3-2, high strength software wheel hub, 3-3, pressure spring, 3-4, the dovetail slide block, 3-5, steel ball, 3-12, connect slide block, 3-6, bearing, 3-7, gear, 3-8, permanent magnet, 3-9, magnetic line of force, 3-10, the Bailey wall tube wall, 3-11, wheel shaft, 3-12, connect slide block, 4, support wheel, 5, lifting table, 5-1, set square, 5-2, yoke plate.
The specific embodiment
Below in conjunction with drawings and Examples the present invention is described in detail:
As shown in Figure 1 and Figure 2, car body 2 comprises: the speed reduction gearing of being made up of motor 2-14, worm gear reducer 2-9, gear reduction box 2-13, transmission shaft 2-12, gear case 2-7; Motor 2-14 transmission worm gear reducer 2-9, worm gear reducer 2-9 transmission both sides gear reduction box 2-13, gear reduction box 2-13 make transmission shaft 2-12 driving wheel group gear case 2-7, and wheels 3 are rotated; Car body 2 tween drive spindle 2-11 are provided with magnet stopper 2-10, make brake when stopping walking.All gear housings are fixed on the frame by stand connecting rod 2-15, tube wall soot remover 2-6 and pick up camera 2-3 and illuminating lamp 2-2 are equipped with in car body 2 tops, car body 2 front ends are equipped with range only radar 2-1, and underneath its body is equipped with metal detection sensor 2-5, and reciprocating machine arm 1 is fixed on car body 2 the place aheads.The totally-enclosed electric cabinet 2-4 of installing in the middle of the car body 2.Soot remover 2-6 is that the lime-ash of removing on the preceding Bailey wall tube wall 3-10 of wheel makes wheel face with tube wall 3-10 good the contact be arranged.
The radar range unit 2-1 in car body 2 the place aheads, in order to measure the objects in front distance, metal detection sensor 2-5 is equipped with in car body 2 belows, prevents that wheel from walking sky.
Reciprocating machine arm 1 is reciprocating by the slide plate 1-1 that motor 1-2 drives on the chain, can adorn the rifle head that sandblasts, instruments such as fault finder on the slide plate 1-1.
As shown in Figure 3, each permanent magnetism absorption walking wheels comprises: two the non-magnetic conductive metal wheel shaft of permanent magnetic wheels 3-11, two dovetail slide block 3-4 and a connection slide block 3-12, gear 3-7, pressure spring 3-3; Each permanent magnetic wheels comprises ring arc concentrating flux plate 3-1, high strength software resin rubber polymer wheel hub 3-2, three high-strength magnetic permanent magnets 3-8 of ring-type.Three high-strength magnetic permanent magnets 3-8 of ring-type are diamagnetism and arrange installation, ring arc concentrating flux plate 3-1 is clamped in the location to permanent magnet 3-8 respectively according to the order of sequence and refers in the mouth, studs with high strength software resin rubber polymer wheel hub 3-2 and form a permanent magnetic wheels between ring camber concentrating flux plate 3-1; High strength software resin rubber polymer wheel hub 3-2 has covered magnet 3-8 fully, has increased the soft friction of wheel, and load carrying ability is increased; Two permanent magnetic wheels are sleeved on the non-magnetic conductive metal wheel shaft 3-11, non-magnetic conductive metal wheel shaft 3-11 two ends dress studs with steel ball 3-5, do the stop bit adjustment in the time of can making wheel with the variant wheel shaft 3-11 of Bailey wall steel pipe 3-10 size play.Dovetail take-up housing 2-8 is embedded on the gear case 2-7, and the bearing 3-6 at wheel shaft 3-11 two ends and gear 3-7 are embedded among the dovetail slide block 3-4, and dovetail slide block 3-4 is equipped with pressure spring 3-3 in the top.Dovetail take-up housing 2-8 vertically slides dovetail slide block 3-4 in order to fixedly dovetail slide block 3-4 and spring 3-3 in 0～10mm, guarantee the come-up distance of wheel when crossing solder joint.The signal magnetic line of force 3-9 C/LOOP that concentrating flux plate 3-1 produces on Bailey wall tube wall 3-10.Through experiment, single-wheel adsorption affinity 110kg, greater than 60kg, rolling power is less than 3kg to the vertical friction of tube wall in single-wheel.
Also adopt the plasma spray technology spray with high abrasion metal powder coating on ring arc concentrating flux plate 3-1 wheel face, promptly guaranteed the attached resistance to corrosion that increases again of strong magnetic of wheel face, the friction of wheel face also is greatly improved.
The foregoing description Bailey wall climbing robot, adsorption affinity is not less than 2000kg, and design safety load-carrying 500kg climbs speed steadily when load carrying ability 1000kg, except that electric current increases, other no abnormal reaction, and guiding walking certainly.
As Fig. 4, shown in Figure 5, water-cooling wall-climbing robot for power plant boiler is made up of at two permanent magnetism absorption walking apparatus for work of lifting table 5 left and right sides lifting table 5, symmetrical mounting.Lifting table 5 is connected with support wheel 4 through yoke plate 5-2 by car body 2, driving chain is housed in the yoke plate 5-2 transmits power for support wheel 4, set square 5-1 and overline bridge 5 are fixed with yoke plate 5-2, can form the Bailey wall lifting table for two groups, on each permanent magnetism absorption walking apparatus for work 12 permanent magnetism absorption walking wheels are housed in the present embodiment, two row's symmetries are installed in the both sides of vehicle frame about branch.Design safety load-carrying 500kg, maximum gross 1000kg satisfies fully to the rapid construction requirement on the single face Bailey wall.
Claims (7)
1, a kind of water-cooling wall-climbing robot for power plant boiler, comprise: lifting table (5), symmetrical mounting adsorb the walking apparatus for work at two permanent magnetism of lifting table (5) left and right sides, it is characterized in that permanent magnetism absorption walking apparatus for work comprises car body (2) and several permanent magnetism absorption walking wheels; Car body is equipped with motor (2-14), speed reduction gearing on (2), car body (2) top is equipped with and is removed tube wall soot remover (2-6) and pick up camera (2-3) and the illuminating lamp (2-2) that the lime-ash on the preceding tube wall of wheel well contacts wheel face and tube wall, car body (2) front end is equipped with range only radar (2-1), car body is equipped with metal detection sensor (2-5) below (2), and reciprocating machine arm (1) is fixed on car body (2) the place ahead; Be equiped with totally-enclosed electric cabinet (2-4) in the middle of the car body (2); Speed reduction gearing is made up of the transmission worm gear reducer (2-9), the gear reduction box (2-13) that are fixed on connecting rod (2-15) on the frame; Each permanent magnetism absorption walking wheels comprises: two permanent magnetic wheels, non-magnetic conductive metal wheel shaft (3-11), two dovetail slide blocks (3-4) and connection slide blocks (3-12), gear (3-7), pressure spring (3-3); Each permanent magnetic wheels comprises ring arc concentrating flux plate (3-1), high strength software wheel hub (3-2), three high-strength magnetic permanent magnets of ring-type (3-8), its position relation and connection mode are: three high-strength magnetic permanent magnets of ring-type (3-8) are diamagnetism and arrange installation, ring arc concentrating flux plate (3-1) is clamped in the location to permanent magnet (3-8) respectively according to the order of sequence and refers in the mouth, studs with high strength software wheel hub (3-2) between ring camber concentrating flux plate (3-1); Two permanent magnetic wheels are sleeved on the non-magnetic conductive metal wheel shaft (3-11), non-magnetic conductive metal wheel shaft (3-11) two ends dress studs with steel ball (3-5); Dovetail take-up housing (2-8) is embedded on the driving wheel group gear case (2-7), the bearing (3-6) at non-magnetic conductive metal wheel shaft (3-11) two ends and gear (3-7) are embedded in the dovetail slide block (3-4), and pressure spring (3-3) is equipped with in dovetail slide block (3-4) top.
2, water-cooling wall-climbing robot for power plant boiler according to claim 1, it is characterized in that, gear reduction box (2-13) rotates transmission shaft (2-12), driving wheel group gear case (2-7) rotates wheels (3), is positioned at the magnet stopper (2-10) that also is equiped with brake when stopping walking on the transmission shaft (2-11) of car body (2) midway location.
3, water-cooling wall-climbing robot for power plant boiler according to claim 1 is characterized in that, thermal spraying has high abrasion metal powder coating on ring arc concentrating flux plate (3-1) wheel face.
4, water-cooling wall-climbing robot for power plant boiler according to claim 1 is characterized in that, high strength software wheel hub (3-2) adopts the resin rubber polymer to make.
5, water-cooling wall-climbing robot for power plant boiler according to claim 1 is characterized in that, 8 permanent magnetism absorption of installing walking wheels on each car body.
6, water-cooling wall-climbing robot for power plant boiler according to claim 1 is characterized in that, non-magnetic conductive metal wheel shaft (3-11) by about two sections flexibly connect and form with connecting slide block (3-12).
7, water-cooling wall-climbing robot for power plant boiler according to claim 1 is characterized in that, 12 permanent magnetism absorption walking wheels are housed on each permanent magnetism absorption walking apparatus for work, and two row's symmetries are installed in the both sides of vehicle frame about branch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100227621A CN100482521C (en) | 2007-05-28 | 2007-05-28 | Water-cooling wall-climbing robot for power plant boiler |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100227621A CN100482521C (en) | 2007-05-28 | 2007-05-28 | Water-cooling wall-climbing robot for power plant boiler |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101070081A CN101070081A (en) | 2007-11-14 |
| CN100482521C true CN100482521C (en) | 2009-04-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2007100227621A Expired - Fee Related CN100482521C (en) | 2007-05-28 | 2007-05-28 | Water-cooling wall-climbing robot for power plant boiler |
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| CN (1) | CN100482521C (en) |
Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102861393A (en) * | 2012-08-10 | 2013-01-09 | 施呈儒 | Small-scale high-altitude rescue robot |
| CN105091805A (en) * | 2015-06-09 | 2015-11-25 | 哈尔滨科能熔敷科技有限公司 | Apparatus for automatically measuring wall thickness of large-area pipe wall (water screen) |
| CN105438293B (en) * | 2015-12-18 | 2017-07-21 | 哈尔滨科能熔敷科技有限公司 | A kind of use Single spring connects the water cooling wall-climbing robot of magnet holder |
| CN105438303B (en) * | 2015-12-18 | 2017-07-21 | 哈尔滨科能熔敷科技有限公司 | A kind of use dual spring connects the water cooling wall-climbing robot of magnet holder |
| CN105460092B (en) * | 2015-12-18 | 2017-07-21 | 哈尔滨科能熔敷科技有限公司 | The water cooling wall-climbing robot positioned using ultrasonic range finder |
| CN106514610B (en) * | 2016-12-30 | 2020-07-10 | 洛阳圣瑞智能机器人有限公司 | Wall-climbing robot carrying slide rail type mechanical arm |
| CN108082313B (en) * | 2017-12-13 | 2020-01-17 | 哈尔滨科能熔敷科技有限公司 | Single-track crawler-type water-cooled wall climbing detection robot |
| CN109131621B (en) * | 2018-09-04 | 2023-06-30 | 洛阳清展智能科技有限公司 | Six-foot bionic type wall climbing robot for detecting and maintaining water-cooled wall of power plant boiler |
| CN109720431B (en) * | 2019-03-01 | 2021-07-02 | 天津理工大学 | Wall-climbing robot and active adhesion control method thereof |
| CN110203297A (en) * | 2019-06-25 | 2019-09-06 | 北京史河科技有限公司 | Climb wall detection robot |
| CN111661187B (en) * | 2020-06-04 | 2022-05-24 | 大连理工大学 | Eccentric universal translation wall-climbing robot for large-curvature surface spraying and working mode |
| CN111661186B (en) * | 2020-06-04 | 2022-05-24 | 大连理工大学 | Eccentric universal translation magnetic wall-climbing robot and working mode thereof |
| CN114789760B (en) * | 2022-03-25 | 2023-09-29 | 安徽芯核防务装备技术股份有限公司 | Self-track-laying wall-climbing robot |
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2007
- 2007-05-28 CN CNB2007100227621A patent/CN100482521C/en not_active Expired - Fee Related
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| CN101070081A (en) | 2007-11-14 |
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