CN109131621B - Six-foot bionic type wall climbing robot for detecting and maintaining water-cooled wall of power plant boiler - Google Patents
Six-foot bionic type wall climbing robot for detecting and maintaining water-cooled wall of power plant boiler Download PDFInfo
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- 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
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- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
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Abstract
The invention relates to a six-foot bionic type wall climbing robot for detecting and maintaining a boiler water-cooled wall of a power plant, which comprises a robot body and a plurality of mechanical legs arranged on two sides of the robot body, wherein each mechanical leg comprises three large-torque steering engines, thighs, calves, leg root parts and magnetic feet, an elastic self-adapting device is arranged between the leg root parts and the magnetic feet, all joints of the mechanical legs are in pivot connection and can freely rotate, the angles of all steering engines are controlled through gait algorithm, six-foot insect walking is simulated, and flexible walking of the robot is realized. Be provided with light filling lamp, camera and flexible arm on the robot body, flexible arm front end can carry on ultrasonic wave thickness measuring probe, water-cooling wall welding set, water-cooling wall cutting device for the detection and the maintenance of boiler water-cooling wall. The magnetic feet adopt the power-off adsorption type electromagnet, so that the robot can be prevented from falling off due to abnormal power-off. The invention has strong loading capacity, flexible movement and strong wall adaptability, almost realizes the full coverage of the inside of the boiler without dead angles and has good application prospect.
Description
Technical Field
The invention relates to the technical field of robot automatic detection and maintenance, in particular to a six-foot bionic type wall climbing robot for detecting and maintaining a water-cooled wall of a power plant boiler.
Background
Since the development of the first magnetic wheel type wall climbing robot in 1988 of Japanese Steel tube Co., ltd., the wall climbing robot industry has been rapidly developed. An 8-foot magnetic foot type wall climbing robot is developed by Japanese Hitachi, and is adsorbed on a wall surface by means of adsorption force provided by magnetic feet, but the robot has no popularization because the robot has complex step control and poor movement flexibility, adopts an electromagnet to provide suction force, and has potential safety hazard caused by unexpected power failure.
Thermal power generation is dominant in power supply in China. In the boiler, the coal powder releases heat after being combusted, and the heat is transferred to a medium in the pipe through a water wall pipe so as to be converted into superheated steam to drive a steam turbine to generate electricity. Because the running coal type is worse than the designed coal type, the high-temperature corrosion of the water-cooled wall of the boiler is unavoidable, and the high-temperature flame and smoke scour the water-cooled wall pipe, and the corrosion can occur in any type, parameter and capacity of boiler. Because the height of the water-cooled wall is generally 6-80m, the water-cooled wall needs to be fully covered with a scaffold during maintenance, manual maintenance is commonly used for the maintenance of the domestic power station boiler at present, and the water-cooled wall has the advantages of high maintenance risk coefficient, long period, poor effect and high price. Robot substitutes are a trend in power plant boiler overhaul.
Many domestic scientific research institutions also conduct a great deal of research on the aspect of the wall climbing robot of the boiler, and previous research shows that the wheel type mobile robot has considerable advantages when running on relatively flat terrain, the movement speed is rapid and stable, the structure and the control are simpler, but the energy consumption is greatly increased when running on uneven ground, the effect of wheels is seriously lost, and the movement efficiency is greatly reduced. In order to improve the adaptability of the wheels to soft ground and uneven ground, the crawler type mobile robot has been developed, but the mobility of the crawler type robot on uneven ground is still poor, and the body shakes seriously when the crawler type mobile robot runs.
The existing robots and the prior art cannot be practically applied, and mainly comprise the defects of the overall performance of the wall climbing robot body, namely the load capacity, the movement flexibility and the wall surface adaptability, so that the boiler detection and maintenance are all manual operation for centuries.
Disclosure of Invention
The invention provides a six-foot bionic type wall climbing robot for detecting and maintaining a water-cooled wall of a power plant boiler, which aims to solve the problems of complex structure, poor universality, complex control, low flexibility, high cost and the like of the traditional wall climbing robot. The robot can be arranged in a boiler, such as a track, and can reach places which cannot be reached by people to finish special operation.
The aim and the technical problems of the invention are realized by adopting the following technical proposal. The invention provides a six-foot bionic type wall climbing robot for detecting and maintaining a boiler water-cooled wall of a power plant, which comprises a robot body and a plurality of mechanical legs arranged on two sides of the robot body, wherein the mechanical legs are symmetrically or asymmetrically arranged on two sides of the robot body;
each mechanical leg comprises a first steering engine, a second steering engine, a third steering engine, a thigh part, a shank part and a magnetic foot, wherein the thigh part is in pivot connection with a shell of the robot body through a first connecting shaft, the thigh part is in pivot connection with the shank part through a second connecting shaft, the shank part is an L-shaped shell, one end of the shank part is also in pivot connection with one end of the shank part through a third connecting shaft, the other end of the shank part is connected with the magnetic foot through an elastic self-adapting device, the magnetic foot is fixed on the elastic self-adapting device, and the elastic self-adapting device is connected with the shank part through a fourth connecting shaft; the whole mechanical leg can rotate around a first connecting shaft, the shank part can rotate around a second connecting shaft, the leg root part can rotate around a third connecting shaft, and the elastic self-adaptive device can rotate 360 degrees around a fourth connecting shaft;
the first steering engine is arranged in the shell of the robot body, the second steering engine and the third steering engine are vertically arranged and are jointly placed in the L-shaped shell of the lower leg part;
the shell of the robot body is also provided with a light supplementing lamp and a cradle head, the cradle head is provided with a camera, and the camera takes a photograph in 360 degrees around the supporting rod;
the robot body is also provided with a flexible mechanical arm, and the front end of the flexible mechanical arm is provided with a working module;
the magnetic foot is a light large-magnetic force magnetic foot, the magnetic foot adopts a power-off adsorption electromagnet, and the situation that the robot falls off the wall surface can not occur when power is off under any abnormal condition; in the moving process of the robot, six mechanical legs alternately act, and at the moment of leg lifting, the magnet is electrified, and at the moment, the magnetic feet have no adsorption force;
the electric control part of the wall climbing robot adopts a circuit board which is arranged between the inner wall of the shell of the robot body and the first steering engine.
The aim and the technical problems of the invention can be further realized by adopting the following technical proposal.
The six-foot bionic type wall climbing robot for detecting and maintaining the water-cooled wall of the power plant boiler, wherein 6 mechanical legs are arranged on two sides of the wall climbing robot body, and 3 mechanical legs are arranged on each side; the number of the light supplementing lamps is 4, and the light supplementing lamps are symmetrically arranged on the top surface of the robot body; the number of the cradle head and the number of the cameras are 2, and the cradle head and the cameras are symmetrically arranged on the top surface of the robot body.
The six-foot bionic type wall climbing robot for detecting and maintaining the water-cooled wall of the power plant boiler is characterized in that the leg root part is further provided with a reinforcing shaft.
The six-foot bionic type wall climbing robot for detecting and maintaining the water-cooled wall of the power plant boiler, wherein the flexible mechanical arm and the robot body are detachably arranged, and the flexible mechanical arm with large load or small load is replaced according to the requirements of different working conditions; the working module is an ultrasonic probe or a water-cooled wall welding device or a water-cooled wall cutting device or other working devices, and is detachably arranged between the working module and the flexible mechanical arm;
the ultrasonic probe is used for detecting the thickness of the boiler water wall pipeline.
The six-foot bionic type wall climbing robot for detecting and maintaining the water-cooled wall of the power plant boiler further comprises an ultrasonic vibration slag knocking device, an ultrasonic positioning system, a laser guiding system and a magnetic flux leakage detector, wherein the ultrasonic vibration slag knocking device is mounted at the front end of the flexible mechanical arm and used as one of working modules for cleaning scale of the robot in the boiler; the ultrasonic positioning system is arranged in the shell of the robot body and is used for positioning the position of the robot; the laser guiding system is arranged on the camera and used for assisting the robot to keep straight walking; the magnetic flux leakage detector is arranged on the robot body.
The six-foot bionic type wall climbing robot for detecting and maintaining the water-cooled wall of the power plant boiler is connected with an external workstation through a safety rope.
The six-foot bionic type wall climbing robot for detecting and maintaining the water-cooled wall of the power plant boiler, wherein 2 magnetic feet are mounted on each mechanical leg of the wall climbing robot, the single magnetic foot load is 10kg, and the whole machine load is 120kg; the adsorption force provided by each mechanical leg reaches 20kg;
the first steering engine, the second steering engine and the third steering engine all adopt pure metal gear reduction boxes, the torque is 100kg/cm, the rotating speed is 0.1s/60 degrees, and the moving speed of the wall climbing robot reaches 12m/min.
The six-foot bionic type wall climbing robot for detecting and maintaining the water-cooled wall of the power plant is used for detecting and maintaining the water-cooled wall of the boiler.
The six-foot bionic type wall climbing robot for detecting and maintaining the water-cooled wall of the power plant boiler, wherein the wall climbing robot can achieve obstacle surmounting of the vertical wall surface and reach an upper overheat screen of the boiler.
The six-foot bionic type wall climbing robot for detecting and maintaining the water-cooled wall of the power plant boiler, wherein the diameter of the magnetic foot is 34mm.
The beneficial effects of the invention are as follows:
1. according to the invention, the two sides of the robot body are provided with the mechanical legs, each mechanical leg consists of the thigh, the shank, the leg root, the magnetic foot and three steering engines, and the robot is flexible in movement and can move freely. The light large magnetic force is adopted by the magnetic feet, a single magnetic foot can provide a load of nearly 10kg, the magnetic feet are power-off adsorption type electromagnets, the magnets are electrified in the moment of lifting the arm, the magnetic feet have no adsorption force at the moment, the state is convenient for controlling the action, the load of a steering engine is reduced, the service life is prolonged, and the situation that a robot falls off and is avoided due to abnormal power failure can be prevented.
2. The robot is based on the bionics principle, adopts a mechanical structure of hexapod insects, realizes the control of the hexapod robot by controlling 18 steering engines and adopting gait such as bipedal gait, fixed-point turning and the like, and realizes flexible walking. The hexapod robot is suitable for walking on rugged and uneven terrains, such as the surface of a boiler water-cooled wall, a high-voltage tower, and the like.
3. The invention is provided with the large-view-angle double-cradle head high-definition camera, can realize 360-degree rotation, can shoot about 0.5mm abrasion of the water-cooled wall of the boiler, can completely replace the prior visual observation, and has traceability.
3. Compared with a wheeled and crawler-type mobile robot, the invention has unique and superior performance in walking on rugged road surfaces. The wall climbing robot for detection and maintenance has the advantages of strong loading capacity, flexible movement and strong wall surface adaptability, can be used in a boiler, such as a track, to reach places which cannot be reached by people, almost realizes full coverage of the interior of the boiler without dead angles, and completes special operation, thereby having good application prospect.
4. The invention has strong loading capacity, flexible walking, safety and reliability, the robot is carried with the flexible mechanical arm, the ultrasonic probe is carried at the port, the ultrasonic thickness measurement of the worn part of the water-cooled wall can be realized, the ultrasonic vibration slag knocking can be realized by carrying the transducer, and when the cutting and welding are needed, only the corresponding module is needed to be replaced, so the invention is very convenient to use.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention, as well as the preferred embodiments, which follow, in order to make the above and other objects, features and advantages of the present invention more apparent.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a schematic illustration of the mechanical leg with the shank feature removed;
FIG. 3 is a top view of the present invention;
FIG. 4 is a schematic diagram of a water wall welding apparatus;
FIG. 5 is a schematic view of a water wall cutting apparatus;
FIG. 6 is a schematic circuit diagram of the present invention;
FIG. 7 is a PCB solder joint diagram;
fig. 8 is a WiFi transmit wiring diagram.
[ element and symbol description ]
1. First steering engine 2, second steering engine 3, third steering engine 4 and thigh part
5. Shank part 6, leg root part 7, magnetic foot 8, first connecting shaft
9. Second connecting shaft 10, third connecting shaft 11, and elastic self-adapting device
12. Fourth connecting shaft 13, reinforcing shaft 14, light supplementing lamp 15 and cradle head
16. Camera 17, support bar 18: flexible robotic arm 19: working module
20: circuit board 21: the housing 22 of the robot body: spring 23: cutting nozzle
24: sensor 25: connection block 26: laser guidance system
27: ultrasonic positioning system 28: magnetic leakage detector
Detailed Description
To further illustrate the technical means and effects of the present invention to achieve the intended objects,
the following description refers to the specific embodiments, the features and the effects of the six-foot bionic type wall climbing robot for detecting and maintaining the water-cooled wall of a power plant boiler according to the present invention.
The invention provides a wall climbing robot mainly used for detecting and maintaining a water-cooled wall of a power plant boiler, which comprises a robot body and a plurality of mechanical legs arranged on two sides of the robot body, wherein the number of the mechanical legs is not limited, the mechanical legs can be increased or decreased according to the conditions of application working conditions, and the mechanical legs can be symmetrically arranged on two sides of the robot body or asymmetrically arranged.
Taking fig. 1 as an example to describe an embodiment of the present invention in detail, 6 mechanical legs are provided in fig. 1, symmetrically disposed on two sides of a robot body, 3 mechanical legs are disposed on each side, each mechanical leg includes a first steering engine 1, a second steering engine 2, a third steering engine 3, a thigh part 4, a shank part 5, a leg root part 6, and a magnetic foot 7, wherein the thigh part is pivotally connected with a housing 21 of the robot body through a first connecting shaft 8, the thigh part is pivotally connected with the shank part through a second connecting shaft 9, the shank part is an L-shaped housing, one end of the shank part is also pivotally connected with one end of the leg root part through a third connecting shaft 10, and the other end of the leg root part is connected with the magnetic foot through an elastic self-adapting device 11, the magnetic foot is fixed on the elastic self-adapting device 11, and the elastic self-adapting device is connected with the leg root part through a fourth connecting shaft 12. The whole mechanical leg can rotate around the first connecting shaft 8, the lower leg part can rotate around the second connecting shaft 9, the leg root part can rotate around the third connecting shaft 10, and the elastic self-adapting device can rotate 360 degrees around the fourth connecting shaft 12.
The elastic self-adapting device 11 further comprises a spring 22, the upper end of the spring is connected with the fourth connecting shaft 12, the lower end of the spring is connected with the elastic self-adapting device 11, and the magnetic foot is fixed below the elastic self-adapting device 11.
The first steering engine 1 is arranged in the shell of the robot body, the second steering engine and the third steering engine are vertically arranged, and the first steering engine and the third steering engine are jointly placed in the shell of the lower leg part L-shaped. The leg root part is also provided with a reinforcing shaft 13.
The camera is provided with the camera 16 on the cloud platform, still is provided with light filling lamp 14 and cloud platform 15 on the casing of robot body, and light filling lamp quantity is unlimited, and the figure 1 shows 4, and the symmetry sets up at robot body top surface, and the quantity of cloud platform and camera is also unlimited, and the figure 1 shows 2, and the symmetry sets up. The camera can take a picture in 360 degrees around the supporting rod 17.
The robot body is also provided with a flexible mechanical arm 18, the flexible mechanical arm 18 and the robot body can be arranged in a detachable mode, and the mechanical arm with large load or small load can be replaced at any time according to the requirements of different working conditions. The front end of the flexible mechanical arm is provided with a working module 19, the working module 19 can be an ultrasonic probe or a water-cooled wall welding device or a water-cooled wall cutting device, and can also be other working devices, and the working module 19 and the flexible mechanical arm can be detachably arranged, so that the robot can conveniently replace corresponding working modules when carrying out different detection or maintenance operations. The ultrasonic probe can be used for detecting the thickness of a water wall pipeline of a boiler, and when the boiler is shut down and overhauled, about 100 thickness measuring points are required to be selected at random for each corresponding position, generally 600mw of boiler is required to be measured by ultrasonic waves, the total thickness of the boiler can reach thousands of points, the abrasion degree of the water wall pipeline is judged according to the measured pipe wall thickness, and the service life of the pipeline in the corresponding area of the water wall is judged, so that whether maintenance or replacement is required is determined. When the pipeline needs to be replaced, the flexible mechanical arm is carried with the water-cooled wall cutting device to cut the damaged part, and then the water-cooled wall welding device is replaced to weld a new pipeline. Typically, when a worn thickness of greater than 2mm is detected for boiler water wall tubes, the tubes need to be replaced. However, the standard is not particularly limited and needs to be selected according to the actual working conditions.
Further, the robot body can be additionally provided with an ultrasonic vibration slag knocking device, an ultrasonic positioning system 27, a laser guiding system 26, a magnetic flux leakage detector 28 and the like, the ultrasonic vibration slag knocking device can be mounted at the front end of the flexible mechanical arm, and can be detachably arranged with the flexible mechanical arm as one of the working modules 19, and can be replaced according to use requirements. The ultrasonic vibration slag knocking device is used for cleaning scale of the robot in the boiler, and the ultrasonic positioning system 27 can be arranged in the shell of the robot body and used for positioning the position of the robot; the laser guiding system can be arranged on the camera and is used for assisting the robot to keep straight walking; the magnetic flux leakage detector can be arranged on the robot body.
The ultrasonic probe, the water-cooled wall welding device, the water-cooled wall cutting device, the ultrasonic vibration slag knocking device, the ultrasonic positioning system, the laser guiding system, the magnetic flux leakage detector and the like can all adopt the prior art, and the function can be realized by additionally installing the prior art at the corresponding position of the robot.
The robot of the invention is also connected with a workstation through a safety rope.
Furthermore, 2 magnetic feet can be carried on each mechanical leg of the robot, each magnetic foot adopts a light large magnetic force magnetic foot, each magnetic foot can provide a load of 10kg, the robot complete machine with six mechanical legs comprises 18 steering engines, 12 magnetic feet, and the complete machine load can reach 120kg. The magnetic feet adopt the power-off adsorption type electromagnet, so that the condition that the robot falls off the wall surface can not occur when the power is off under any abnormal condition. The adsorption force of each mechanical leg can reach 20kg, six mechanical legs alternately act in the moving process, and at the moment of leg lifting, the magnet is electrified, and the magnetic foot has no adsorption force at the moment, so that the state is convenient for controlling the action, the load of a steering engine is reduced, and the service life is prolonged. The diameter of a single magnetic foot can be 34mm, so that the magnetic foot is suitable for the climbing environment of the boiler water wall, and can flexibly climb and turn on the surface of the boiler water wall. But the diameter of the magnetic foot is not limited to 34mm, and can be increased or reduced according to practical application conditions.
The steering engine adopts a pure metal gear reduction box, the torque can reach 100kg/cm, the rotating speed of 0.1s/60 DEG can be realized, and the moving speed of the robot can reach 12m/min.
The mechanical part of the wall climbing robot adopts high-strength light aluminum alloy, and the mechanical part refers to accessories, parts and hardware parts of the whole robot, namely parts except a circuit board. The joints (the joint of the thigh and the shank and the joint of the shank and the leg root) are provided with elastic self-adaptive adjusting devices, and the electromagnet can be always guaranteed to face the wall surface under the condition of magnetic force.
The wall climbing robot can realize flexible turning action in a small turning radius, and can select proper footfall points in the crawling process by adopting a foot type crawling mode and combining a gait algorithm and a camera visual guiding algorithm, so that the condition of complicated wall working conditions is overcome, and meanwhile, the robot can realize obstacle surmounting of a vertical wall surface and a 90-degree wall surface, can reach a overheat screen at the upper part of a boiler and perform operation.
Meanwhile, the robot provided by the invention can realize ultrasonic vibration slag knocking by carrying the transducer at the port of the flexible mechanical arm, and when cutting and welding are needed, the flexible mechanical arm with large load needs to be replaced.
The robot provided by the invention is simultaneously provided with the large-view-angle double-cradle head high-definition camera, can realize 360-degree rotation, can shoot about 0.5mm abrasion of the boiler water wall, can completely replace the prior naked eye observation, and has traceability. The strong light LED light supplementing lamp 14 is matched with the camera to shoot, and the light supplementing lamp is also provided with the double holders, so that a shooting area can be illuminated by matching with the camera.
The electric control part of the invention adopts a circuit board 20 which can be arranged between the inner wall of the robot body shell and the first steering engine, as shown in figure 1. The circuit part includes: the system comprises a singlechip, a digital switch control circuit, a communication board, a WiFi image transmission, a sucker and a power supply. The power supply supplies power to the singlechip, and the singlechip completes the control of the robot through peripheral circuits such as a digital switch control circuit, a communication board, wiFi image transmission and the like. The singlechip controls the rotation angle of the steering engine by outputting PWM waveforms so as to control the gait of the robot, and simultaneously, the singlechip controls the adsorption and release of the magnetic foot electromagnet of the robot by controlling the on-off of the digital switch circuit. The electric control part also comprises an upper computer, and the upper computer is connected with the singlechip through a UART or RS232 interface and outputs a control instruction to enable the singlechip to work. The circuit schematic of the invention is shown in fig. 6, the PCB soldering wiring diagram is shown in fig. 7, and the WiFi transmitting wiring diagram is shown in fig. 8.
The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the invention in any way, and any simple modification, equivalent variations and adaptations of the above embodiments according to the technical principles of the present invention without departing from the scope of the technical solutions of the present invention will still fall within the scope of the technical solutions of the present invention.
Claims (9)
1. The six-foot bionic type wall climbing robot for detecting and maintaining the water-cooled wall of the power plant boiler is characterized by comprising a robot body and six mechanical legs arranged on two sides of the robot body, wherein the six mechanical legs are symmetrically or asymmetrically arranged on two sides of the robot body;
each mechanical leg comprises a first steering engine (1), a second steering engine (2), a third steering engine (3), a thigh part (4), a shank part (5), a leg part (6) and a magnetic foot (7), wherein the thigh part (4) is in pivot connection with a shell (21) of the robot body through a first connecting shaft (8), the thigh part (4) is in pivot connection with the shank part (5) through a second connecting shaft (9), the shank part (5) is an L-shaped shell, the shank part (5) is also in pivot connection with one end of the leg part (6) through a third connecting shaft (10), the other end of the leg part is connected with the magnetic foot (7) through an elastic self-adapting device (11), and the magnetic foot (7) is fixed on the elastic self-adapting device (11) and is connected with the leg part through a fourth connecting shaft (12); the whole mechanical leg can rotate around a first connecting shaft (8), the shank part can rotate around a second connecting shaft (9), the leg root part can rotate around a third connecting shaft (10), and the elastic self-adaptive device can rotate 360 degrees around a fourth connecting shaft (12);
the first steering engine (1) is arranged in a shell (21) of the robot body, the second steering engine and the third steering engine are vertically arranged, and the first steering engine and the third steering engine are jointly placed in an L-shaped shell of the shank part;
a light supplementing lamp (14) and a cradle head (15) are further arranged on the shell of the robot body, a camera (16) is arranged on the cradle head, and the camera (16) rotates around a supporting rod (17) for shooting at 360 degrees;
the robot body is also provided with a flexible mechanical arm (18), the front end of the flexible mechanical arm is provided with a working module (19), and the working module and the flexible mechanical arm are detachably arranged; the working module (19) is an ultrasonic probe or a water-cooled wall welding device or a water-cooled wall cutting device or an ultrasonic vibration slag knocking device, the ultrasonic probe is used for detecting the thickness of a boiler water-cooled wall pipeline, and the ultrasonic vibration slag knocking device is used for cleaning scale in the boiler by a wall climbing robot;
an ultrasonic positioning system (27) for positioning the position of the wall climbing robot is also arranged in the shell of the robot body;
the magnetic foot is a light large-magnetic force magnetic foot, and the magnetic foot adopts a power-off adsorption type electromagnet; in the moving process of the wall climbing robot, six mechanical legs alternately act, and at the moment of leg lifting, the magnet is electrified, and at the moment, the magnetic feet have no adsorption force;
the electric control part of the wall climbing robot adopts a circuit board (20), and the circuit board (20) is arranged between the inner wall of the shell of the robot body and the first steering engine.
2. The six-foot bionic type wall climbing robot for detecting and maintaining the water-cooled wall of the power plant boiler as claimed in claim 1, wherein six mechanical legs are arranged on two sides of the robot body, and three mechanical legs are arranged on each side; the number of the light supplementing lamps is 4, and the light supplementing lamps are symmetrically arranged on the top surface of the robot body; the number of the cradle head and the number of the cameras are 2, and the cradle head and the cameras are symmetrically arranged on the top surface of the robot body.
3. The six-foot bionic type wall climbing robot for detecting and maintaining the water-cooled wall of the power plant boiler according to claim 1 is characterized in that a reinforcing shaft (13) is further arranged on the leg part (6).
4. The six-foot bionic type wall climbing robot for detecting and maintaining the water-cooled wall of the power plant boiler according to claim 1, which is characterized in that the flexible mechanical arm (18) and the robot body are detachably arranged, and the flexible mechanical arm with large load or small load is replaced according to the requirements of different working conditions.
5. The six-foot bionic type wall climbing robot for detecting and maintaining the water-cooled wall of the power plant boiler according to claim 1 is characterized by further comprising a laser guiding system (26) and a magnetic flux leakage detector (28), wherein the laser guiding system (26) is arranged on a camera (16) and used for assisting the wall climbing robot to keep straight line walking; the magnetic flux leakage detector (28) is arranged on the robot body.
6. The six-foot bionic type wall climbing robot for detecting and maintaining the water-cooled wall of a power plant boiler according to claim 1, wherein the wall climbing robot is further connected with an external workstation through a safety rope.
7. The six-foot bionic type wall climbing robot for detecting and maintaining the boiler water-cooled wall of the power plant according to claim 1, wherein each mechanical leg of the wall climbing robot is provided with 2 magnetic feet, the single magnetic foot load is 10kg, and the whole machine load is 120kg; the adsorption force provided by each mechanical leg reaches 20kg;
the first steering engine, the second steering engine and the third steering engine all adopt pure metal gear reduction boxes, the torque is 100kg/cm, the rotating speed is 0.1s/60 degrees, and the moving speed of the wall climbing robot reaches 12m/min.
8. The six-foot bionic type wall climbing robot for detecting, maintaining and maintaining the water-cooled wall of the power plant boiler as claimed in claim 1, wherein the wall climbing robot can realize obstacle surmounting of a vertical wall surface and reach an upper overheat screen of the boiler.
9. The six-foot bionic type wall climbing robot for detecting and maintaining the water-cooled wall of a power plant boiler as claimed in claim 1, wherein the diameter of the magnetic foot is 34mm.
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| CN201811026511.5A CN109131621B (en) | 2018-09-04 | 2018-09-04 | Six-foot bionic type wall climbing robot for detecting and maintaining water-cooled wall of power plant boiler |
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| CN201811026511.5A CN109131621B (en) | 2018-09-04 | 2018-09-04 | Six-foot bionic type wall climbing robot for detecting and maintaining water-cooled wall of power plant boiler |
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| CN109911048A (en) * | 2019-03-19 | 2019-06-21 | 武聚凤 | Climbing robot and control method |
| CN110238860A (en) * | 2019-06-10 | 2019-09-17 | 中国神华能源股份有限公司 | Detect robot and robot system |
| CN110341825B (en) * | 2019-07-05 | 2021-02-02 | 广东电网有限责任公司广州供电局 | Wall-climbing robot |
| CN110341824B (en) * | 2019-07-05 | 2021-02-23 | 广东电网有限责任公司广州供电局 | Wall-climbing robot |
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