CN109647806B - Boiler pipeline cleans and detects climbing robot - Google Patents
Boiler pipeline cleans and detects climbing robot Download PDFInfo
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- CN109647806B CN109647806B CN201811512654.7A CN201811512654A CN109647806B CN 109647806 B CN109647806 B CN 109647806B CN 201811512654 A CN201811512654 A CN 201811512654A CN 109647806 B CN109647806 B CN 109647806B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/02—Cleaning pipes or tubes or systems of pipes or tubes
- B08B9/023—Cleaning the external surface
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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
- B62D57/024—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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
- G01N21/84—Systems specially adapted for particular applications
- G01N21/88—Investigating the presence of flaws or contamination
- G01N21/94—Investigating contamination, e.g. dust
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Abstract
The invention discloses a boiler pipeline cleaning, detecting and climbing robot which comprises a mechanical arm, a cleaning device, a detecting device and a self-locking device, wherein the cleaning device is arranged on the mechanical arm; the mechanical arm comprises an arm main body and swing mechanisms at two ends of the arm main body, the arm main body can be stretched and folded, and the swing mechanisms can drive the mechanical arm to swing; the cleaning device comprises a cleaning frame, a cleaning assembly and a driving assembly, wherein the cleaning assembly is arranged in the cleaning frame, and the driving assembly is arranged outside the cleaning frame and provides power for the cleaning assembly; the detection device comprises a detection frame, a detection track and a detection element, wherein the detection track is connected to the detection frame, and the detection element is assembled on the detection track; the self-locking device comprises a main board, a main clamp, an auxiliary clamp and a rotating motor, wherein the main clamp is hinged to the side part of the main board, the rotating motor is fixedly connected to the outside of the main board, the auxiliary clamp is connected with an output shaft of the rotating motor, and the main clamp and the auxiliary clamp enclose a bayonet; the self-locking device is provided with a pair of self-locking devices which are respectively arranged outside the swing mechanism, the detection device is arranged below the lower end swing mechanism, and the cleaning device is assembled on the upper end swing mechanism.
Description
Technical Field
The invention relates to a pipeline detection device, in particular to a climbing robot for cleaning and detecting a boiler pipeline.
Background
The boiler is the most important equipment in the coal power station, wherein the most central component in the boiler is a pipeline, and once the pipeline is broken or deformed, the pipeline can have a great influence on the production of the power plant, so that the power plant needs to stop the boiler at intervals and then inspect the surface of the pipeline. At present, the following detection methods are generally adopted by large-scale power plants: firstly, a scaffold is manually built on a pipe gallery in a furnace, and then a maintainer inspects a pipeline on the scaffold in a mode of looking at and touching the scaffold by hands; in some large boilers, the maximum detection height can reach dozens of meters, so the current mode of relying on manual detection has low efficiency, strong subjective dependence and considerable potential safety hazard.
In order to solve the problems, some detection robots are arranged, but the existing robots mainly use a magnetic adsorption wall climbing mode and a furnace top hanging mode to enable a detection device to detect the pipeline, but the two modes have great problems. Firstly, with the attention of newly built boilers in China on the safety of pipelines, vulnerable areas in the boilers are replaced by stainless steel alloy pipelines, and the magnetic adsorption capacity of the pipelines is almost zero, so that a detection robot in a magnetic adsorption wall climbing mode cannot work in the boilers at all; secondly, because the furnace top can not enter workers or the space is extremely limited in the design of part of the boiler, the detection robot in the form of furnace top suspension can not be installed in part of the boiler; in addition, the pipeline condition of a part of the pipeline detection area in the furnace needs to be detected, wherein the pipeline condition is positioned at a height of tens of meters, and a general robot walking on the bottom surface can hardly reach the high detection height.
Disclosure of Invention
The invention aims to provide a boiler pipeline cleaning, detecting and climbing robot capable of climbing, crossing obstacles and crossing pipes automatically aiming at the defects of the prior art.
The invention provides a boiler pipeline cleaning, detecting and climbing robot which comprises a mechanical arm, a cleaning device, a detecting device and a self-locking device; the mechanical arm comprises an arm main body and a pair of swinging mechanisms arranged at the upper end and the lower end of the arm main body, the arm main body can be stretched and folded, and the swinging mechanisms can drive the mechanical arm to move in the horizontal direction; the cleaning device comprises a cleaning frame, a cleaning assembly and a driving assembly, wherein the cleaning assembly is arranged in the cleaning frame, and the driving assembly is arranged outside the cleaning frame and provides power for the cleaning assembly; the detection device comprises a detection frame, a detection track and a detection element, wherein the detection track is connected to the detection frame, and the detection element is assembled on the detection track through a rail trolley; the self-locking device comprises a main board, a main clamp, an auxiliary clamp and a rotary motor, wherein the main clamp is hinged to the side part of the main board, the rotary motor is fixedly connected to the outside of one end surface of the main board, the auxiliary clamp is connected with an output shaft of the rotary motor, and the main clamp and the auxiliary clamp enclose a pipeline bayonet; the self-locking device is provided with a pair of self-locking devices which are respectively connected outside the swing mechanisms at the upper end and the lower end of the mechanical arm through main boards, the detection device is fixedly connected below the swing mechanism at the lower end of the mechanical arm through a detection frame, and the cleaning device is assembled on the swing mechanism at the upper end of the mechanical arm through a cleaning frame.
In a specific embodiment, the arm body comprises an upper arm and a lower arm which are hinged with each other, and a pipe climbing motor is fixedly connected outside the top of the upper arm and the bottom of the lower arm; the swing mechanism comprises a pipe-spanning motor and an L-shaped connecting piece, the end part of the arm main body is fixedly connected in the L-shaped connecting piece, and an output shaft of the pipe-spanning motor is fixedly connected with the outer wall of the L-shaped connecting piece.
Preferably, the cleaning frame is a rectangular frame, a longitudinal reinforcing plate is arranged in the middle of the cleaning frame, and lug seats for assembling the cleaning assembly are arranged at two ends of the cleaning frame and on the longitudinal reinforcing plate.
In order to realize synchronous operation, the driving assembly comprises a cleaning motor and a driving bevel gear connected to the outer side of an output shaft of the cleaning motor, and the driving assembly is fixedly connected to the outer side of the longitudinal reinforcing plate through a shell of the cleaning motor.
As a matching scheme, the cleaning assembly is provided with a pair of cleaning assemblies which are symmetrically arranged at two sides of the driving assembly, each cleaning assembly comprises a rotating shaft, and a pipe surface brush, a dust exhaust fan and a driven bevel gear which are sequentially and fixedly connected outside the rotating shaft along the axial direction, the driven bevel gear is meshed with the driving bevel gear, one end of the rotating shaft is connected into the lug seat of the longitudinal reinforcing plate, and the other end of the rotating shaft is connected into the lug seat at the end part of the cleaning frame.
In one embodiment, the detection frame is an I-shaped frame and comprises an upper cross beam, a lower cross beam and a longitudinal beam connected between the upper cross beam and the lower cross beam.
In order to realize 360-degree detection of the pipeline, the detection track comprises a main track and an auxiliary track, the main track is a major arc track, the auxiliary track is a minor arc track, rail trolleys capable of sliding along the tracks are arranged on the main track and the auxiliary track, and the auxiliary track is assembled on the rail trolleys on the main track; the detection elements are of two types, one type is a miniature camera assembled on a small rail car on the auxiliary rail, and the other type is an electromagnetic ultrasonic detection detector fixedly connected on the upper cross beam; the detection tracks are provided with a pair of detection tracks which are symmetrically arranged on the lower cross beam relative to the longitudinal beam.
In order to facilitate clamping, the main clamp is a V-shaped plate, the main clamp is provided with a pair of main clamps which are symmetrically hinged to two sides of the length direction of the main plate, and torsional springs are arranged at the hinged positions.
Preferably, a drive gear is provided outside an output shaft of the rotating electric machine; the auxiliary clamp comprises a driven gear, a gear shaft and a wedge-shaped clamping block, one end of the gear shaft is fixedly connected with the driven gear, the other end of the gear shaft penetrates through the main plate and then is fixedly connected with the wedge-shaped clamping block, and the driven gear is meshed with the driving gear.
In order to prevent looseness after clamping, the self-locking device further comprises a pair of electromagnetic push rods connected to the outside of the main board, the electromagnetic push rods are respectively arranged above and below the wedge-shaped clamping blocks, and rotation of the wedge-shaped clamping blocks can be limited when the electromagnetic push rods are pushed out.
In the using process, the self-locking device of the robot is sleeved outside the pipeline; secondly, starting a rotating motor in the lower self-locking device to enable the auxiliary clamp to rotate to be matched with the main clamp to be clamped on the pipeline, and stopping the rotating motor after clamping; then controlling the mechanical arm to work, wherein the mechanical arm extends in the vertical direction, and the cleaning device and the self-locking device at the upper part are enabled to move upwards along the pipeline until the mechanical arm extends to the limit; then, a rotating motor in the upper self-locking device is controlled to work, so that the auxiliary clamp rotates to be matched with the main clamp to be clamped on the pipeline, and the rotating motor works after clamping; then a rotating motor in the lower self-locking device is controlled to rotate reversely to unlock the lower self-locking device from the pipeline, the mechanical arm is controlled to be folded, and the lower self-locking device is pulled up and down until the mechanical arm is folded to the limit position; the pipe climbing and obstacle crossing can be realized by repeating the steps, the work of a detection element in the pipe climbing and obstacle crossing process is monitored in real time, and the pipe wall can be cleaned while the work of the cleaning device is detected. When the robot needs to be translated to other pipelines on the side part, the self-locking device at one end is controlled to be in a locking state, the locking device at the other end is controlled to be unlocked, the swinging mechanisms at the upper end and the lower end of the mechanical arm are controlled to work, the mechanical arm swings to other pipelines, the locking device in the unlocking state swings to the pipeline on the side part along with the mechanical arm, the locking device is controlled to be locked, then the whole robot can be translated to the pipeline on the side part by repeating the unlocking and swinging, and the pipe spanning is completed. Realize automatic climbing, stride the barrier and stride the pipe, can be applicable to the pipeline of no magnetic adsorption ability, also reduced the requirement to operational environment.
Drawings
Fig. 1 is a schematic view of a state of use of a preferred embodiment of the present invention.
Fig. 2 is an enlarged schematic view of the robot arm in the present preferred embodiment.
Fig. 3 is a front enlarged view of the cleaning device in the preferred embodiment.
Fig. 4 is an enlarged schematic view of the detecting device in the preferred embodiment.
Fig. 5 is a schematic enlarged top view of the locking device in the preferred embodiment.
Sequence numbers of the drawings:
1-a mechanical arm, wherein the mechanical arm is provided with a mechanical arm,
11-arm body, 111-upper arm, 112-lower arm and 113-climbing pipe motor,
12-swing mechanism, 121-pipe spanning motor, 122-L-shaped connecting piece;
2-the cleaning device is arranged on the upper portion of the cleaning device,
21-cleaning frame, 211-longitudinal reinforcing plate, 212-ear seat, 213-connecting ring,
22-driving component, 221-cleaning motor, 222-driving bevel gear,
23-cleaning component, 231-rotating shaft, 232-pipe surface brush, 233-dust exhaust fan, 234-driven bevel gear;
3-a detection device for detecting the position of the object,
31-detection frame, 311-upper beam, 312-lower beam, 313-longitudinal beam,
32-detection track, 321-main track, 322-auxiliary track, 323-rail trolley,
33-a miniature camera, which is a video camera,
34-electromagnetic ultrasonic detection detector;
4-a self-locking device is arranged,
41-a main board, wherein the main board is provided with a plurality of grooves,
42-the main clamp is set in the main clamp,
43-auxiliary clamp, 431-driven gear, 432-gear shaft, 433-wedge clamp,
44-rotating electrical machines, 45-electromagnetic push rods, 46-torsion springs, 47-driving gears.
Detailed Description
As shown in fig. 1, the climbing robot for cleaning and detecting a boiler pipeline provided by the embodiment includes a mechanical arm 1, a cleaning device 2, a detecting device 3 and a self-locking device 4.
As shown in fig. 1 and 2, the mechanical arm 1 includes an arm body 11 and a swing mechanism 12, the arm body 11 includes an upper arm 111 and a lower arm 112 hinged to each other, and a pipe climbing motor 113 is fixedly connected to the top of the upper arm, the bottom of the lower arm and the hinged positions of the two arms; the swing mechanism 12 includes a pipe-spanning motor 121 and an L-shaped connecting member 122, the upper end of the upper arm and the lower end of the lower arm are respectively and fixedly connected to the corresponding L-shaped connecting member, and the output shaft of the pipe-spanning motor is fixedly connected to the outer wall of the L-shaped connecting member. The work of the pipe climbing motor controls the upper arm and the lower arm to relatively extend or furl, the pipe crossing motor works, and the arm main body is driven to swing in the horizontal direction through the L-shaped connecting piece, so that the whole robot can transversely move to the pipelines on the left side and the right side from the current pipelines. As shown in fig. 1, the top end of the mechanical arm 1 is equipped with a cleaning device 2, the bottom end is equipped with a detection device 3, and the bottom and the top are both provided with a self-locking device 4.
As shown in fig. 1 and 3, the cleaning device 2 includes a cleaning frame 21, a driving unit 22, and a cleaning unit 23. The cleaning frame 21 is a rectangular frame, a longitudinal reinforcing plate 211 is provided in the middle thereof, ear seats 212 are provided at both ends thereof and on the longitudinal reinforcing plate, and a connecting ring 213 for connecting with the robot arm is provided at the bottom end of the middle thereof. The driving assembly 22 comprises a sweeping motor 221 and a driving bevel gear 222 connected to the outside of the output shaft of the sweeping motor, and the driving assembly is fixedly connected to the outside of the longitudinal reinforcing plate through the casing of the sweeping motor. Two cleaning assemblies 23 are arranged on two sides of the driving assembly symmetrically; the cleaning assembly 23 comprises a rotating shaft 231, and a pipe surface brush 232, a dust exhaust fan 233 and a driven bevel gear 234 which are fixedly connected to the outside of the rotating shaft in sequence along the axial direction, wherein the pipe surface brush is a conical brush with the section diameter gradually increased from the middle part to the two ends, the outer side of the pipe surface brush is an arc surface matched with a pipeline, and the dust exhaust fan comprises a rotating sleeve and a plurality of fan blades uniformly distributed on the outer wall of the sleeve; one end of the rotating shaft is connected into the lug seat of the longitudinal reinforcing plate, the other end of the rotating shaft is connected into the lug seat at the end part of the cleaning frame, and the driven bevel gear is meshed with the driving bevel gear; the cleaning device 2 is connected with a pipe spanning motor of the mechanical arm upper part swing mechanism through a cleaning frame. When the pipeline needs to be cleaned, the cleaning motor is controlled to be started, the driving bevel gear rotates to enable the two driven bevel gears meshed with the driving bevel gear to synchronously rotate in different directions, namely the cleaning assembly on the two sides rotates in the direction, so that acting force generated in the cleaning process is offset, and the cleaning effect and the motion stability of the robot are improved.
As shown in fig. 1 and 4, the inspection apparatus 3 includes an inspection frame 31, an inspection rail 32, and an inspection element. The inspection frame 31 is an i-shaped frame, and includes an upper cross member 311, a lower cross member 312, and a longitudinal member 313 connected therebetween. The detection track 32 comprises a main track 321 and an auxiliary track 322, the main track is a 270-degree arc track, the auxiliary track is a 120-degree minor arc track, both the main track and the auxiliary track are provided with track trolleys 323 capable of sliding along the tracks, and the auxiliary track is assembled on the track trolleys on the main track. The detection elements are of two types, one is a miniature camera 33 assembled on a small rail car on the auxiliary rail, the other is an electromagnetic ultrasonic detection detector 34 fixedly connected on the upper cross beam, and the detection rail is provided with a pair of detection rails which are symmetrically arranged on the lower cross beam relative to the longitudinal beam. The detection device 3 is connected with a pipe spanning motor of the swing mechanism at the lower part of the mechanical arm through a detection frame. When climbing the pipe, detection device pastes the pipeline rebound, and electromagnetic ultrasonic detector presses close to the pipeline and detects, and the secondary rail moves along the primary rail under trolley's drive, and the miniature camera detects the outside surface this moment, and when moving extreme position, the trolley on the secondary rail begins to start, moves along the secondary rail again, detects the pipeline internal surface to can carry out 360 detection to the pipeline outer wall.
As shown in fig. 1 and 5, the self-locking device 4 includes a main plate 41, a main clamp 42, a sub clamp 43, a rotating motor 44, and an electromagnetic push rod 45. The main board 41 is a rectangular board; the main clamps 42 are V-shaped plates, each main clamp is provided with a pair of main clamps symmetrically hinged to two sides of the main plate, so that the two main clamps are respectively coated on the outer sides of the corresponding pipelines, and torsion springs 46 are arranged at the hinged positions; the auxiliary clamp 43 comprises a driven gear 431, a gear shaft 432 and a wedge-shaped clamping block 433, wherein one end of the gear shaft is fixedly connected with the driven gear, the other end of the gear shaft penetrates through the main plate and then is fixedly connected with the wedge-shaped clamping block, and a height difference exists between the wedge-shaped clamping block and the V-shaped plate; a driving gear 47 is arranged outside an output shaft of the rotating motor 44, and the driving gear 47 is meshed with a driven gear to drive the driven gear to rotate so that the auxiliary clamp can rotate together with the gear shaft; the electromagnetic push rods 45 are in a pair and are respectively arranged above and below the wedge-shaped clamping blocks, and the rotation of the wedge-shaped clamping blocks can be limited when the electromagnetic push rods are pushed out; self-lock device 4 links to each other with the arm through the screw rod that passes the mainboard. The wedge clamp splice is under rotating electrical machines's drive, can rotate, when needs self-lock device presss from both sides tightly on the pipeline, it is parallel with the opening direction of V template that the control wedge clamp splice is rotatory to its length direction, the wedge clamp splice is arranged along the pipeline is radial promptly, make the V template self-adaptation that is located the inboard wedge clamp splice of pipeline and outside press from both sides tight pipeline, and there is certain difference in height between the two, make the focus of whole robot in the pipeline outside, because lever principle, a whole set of self-lock device can realize no matter carries on multiple object, can not take place to fall, thereby realize reliable two rows of pipelines that snatch, control electromagnetic push rod releases, pin the wedge clamp splice, prevent that the wedge clamp splice from taking place to rotate under the effect of heavy load. When the self-locking device and the pipeline need to be loosened, the wedge-shaped clamping block is controlled to rotate to the length direction and then the pipe length direction is controlled.
This embodiment is when putting into use, under the initial condition, the self-lock device of lower part inserts between two pipelines, the wedge clamp splice is under the drive of motor, rotatory 90 degrees, the V type splint self-adaptation of inboard wedge clamp splice and the outside presss from both sides tight pipeline, and there is a difference in height inboard wedge and the V template in the outside, the purpose is in order to realize heavier load, the auto-lock can be realized more to whole set of fixture device, the focus is in the outside of pipeline, because lever principle can know, whole set of fixture device can realize no matter carries on multiple object, can not take place to fall, thereby realize reliable two rows of pipelines of snatching, the control electromagnetism is released and is pinned the wedge clamp splice, prevent that the wedge clamp splice from overcoming the frictional force between the pipeline under the effect of heavy load, take place to rotate. After lower part self-lock device reliably snatched double row pipeline, then steerable arm work, respectively climb a tub motor work, make the arm extend along the pipe length direction, can drive self-lock device and the cleaning device on upper portion and move to the pipeline sky, reach the extension limit of arm after, upper portion self-lock device's V template pastes the pipeline surface, the wedge clamp splice on upper portion this moment inserts between two pipelines, then the wedge clamp splice is under the drive of motor, rotatory 90 degrees, the V template self-adaptation in inboard wedge clamp splice and the outside presss from both sides tight pipeline, repeat foretell process, thereby realize the climbing and hinder more.
This embodiment can be applied to the inside pipeline inspection of boiler coal power station, even the magnetism adsorption capacity of pipeline is very poor, has the barrier between the pipeline, requires the robot to bear great load, still can climb to the boiler top from the bottommost, the climbing in-process can reliably snatch with the pipeline on, can bear great load, realize automatic climbing, stride the barrier and stride the pipe to carry on cleaning device and detection device and accomplish the clearance and the detection of pipeline.
Claims (10)
1. The utility model provides a boiler pipeline cleans and detects climbing robot which characterized in that: the cleaning device comprises a mechanical arm, a cleaning device, a detection device and a self-locking device;
the mechanical arm comprises an arm main body and a pair of swinging mechanisms arranged at the upper end and the lower end of the arm main body, the arm main body can be stretched and folded, and the swinging mechanisms can drive the mechanical arm to move in the horizontal direction;
the cleaning device comprises a cleaning frame, a cleaning assembly and a driving assembly, wherein the cleaning assembly is arranged in the cleaning frame, and the driving assembly is arranged outside the cleaning frame and provides power for the cleaning assembly;
the detection device comprises a detection frame, a detection track and a detection element, wherein the detection track is connected to the detection frame, and the detection element is assembled on the detection track through a rail trolley;
the self-locking device comprises a main board, a main clamp, an auxiliary clamp and a rotary motor, wherein the main clamp is hinged to the side part of the main board, the rotary motor is fixedly connected to the outside of one end surface of the main board, the auxiliary clamp is connected with an output shaft of the rotary motor, and the main clamp and the auxiliary clamp enclose a pipeline bayonet;
the self-locking device is provided with a pair of self-locking devices which are respectively connected outside the swing mechanisms at the upper end and the lower end of the mechanical arm through main boards, the detection device is fixedly connected below the swing mechanism at the lower end of the mechanical arm through a detection frame, and the cleaning device is assembled on the swing mechanism at the upper end of the mechanical arm through a cleaning frame.
2. The boiler tube cleaning detection climbing robot of claim 1, characterized in that: the arm main body comprises an upper arm and a lower arm which are hinged with each other, and pipe climbing motors are fixedly connected to the top of the upper arm and the bottom of the lower arm; the swing mechanism comprises a pipe-spanning motor and an L-shaped connecting piece, the end part of the arm main body is fixedly connected in the L-shaped connecting piece, and an output shaft of the pipe-spanning motor is fixedly connected with the outer wall of the L-shaped connecting piece.
3. The boiler tube cleaning detection climbing robot of claim 1, characterized in that: the cleaning frame is a rectangular frame, a longitudinal reinforcing plate is arranged in the middle of the cleaning frame, and lug seats used for assembling the cleaning assembly are arranged at the two ends of the cleaning frame and the longitudinal reinforcing plate.
4. The boiler tube cleaning detection climbing robot of claim 3, characterized in that: the driving assembly comprises a cleaning motor and a driving bevel gear connected to the outside of an output shaft of the cleaning motor, and the driving assembly is fixedly connected to the outside of the longitudinal reinforcing plate through a shell of the cleaning motor.
5. The boiler tube cleaning detection climbing robot of claim 4, characterized in that: clean the subassembly have a pair ofly, symmetrical arrangement in drive assembly both sides, clean the subassembly and include the pivot and along the axial rigid coupling in proper order outside the pivot pipe face brush, dust exhaust fan and driven bevel gear, driven bevel gear with the interlock of drive bevel gear, the one end of pivot connect in the ear seat of vertical reinforcing plate, the other end is connected in the ear seat of cleaning the frame tip.
6. The boiler tube cleaning detection climbing robot of claim 1, characterized in that: the detection frame is an I-shaped frame and comprises an upper cross beam, a lower cross beam and a longitudinal beam connected between the upper cross beam and the lower cross beam.
7. The boiler tube cleaning detection climbing robot of claim 6, characterized in that: the detection track comprises a main track and an auxiliary track, the main track is a major arc track, the auxiliary track is a minor arc track, rail trolleys capable of sliding along the tracks are arranged on the main track and the auxiliary track, and the auxiliary track is assembled on the rail trolleys on the main track; the detection elements are of two types, one type is a miniature camera assembled on a small rail car on the auxiliary rail, and the other type is an electromagnetic ultrasonic detection detector fixedly connected on the upper cross beam; the detection tracks are provided with a pair of detection tracks which are symmetrically arranged on the lower cross beam relative to the longitudinal beam.
8. The boiler tube cleaning detection climbing robot of claim 1, characterized in that: the main board is a rectangular board; the main clamp is a V-shaped plate, the main clamp is provided with a pair of main clamps which are symmetrically hinged to two sides of the length direction of the main plate, and torsional springs are arranged at the hinged positions.
9. The boiler tube cleaning detection climbing robot of claim 8, characterized in that: a driving gear is arranged outside an output shaft of the rotating motor; the auxiliary clamp comprises a driven gear, a gear shaft and a wedge-shaped clamping block, one end of the gear shaft is fixedly connected with the driven gear, the other end of the gear shaft penetrates through the main plate and then is fixedly connected with the wedge-shaped clamping block, and the driven gear is meshed with the driving gear.
10. The boiler tube cleaning detection climbing robot of claim 9, characterized in that: the self-locking device also comprises electromagnetic push rods connected outside the main board, and the electromagnetic push rods are in a pair and are respectively arranged above and below the wedge-shaped clamping blocks and can limit the rotation of the wedge-shaped clamping blocks when pushed out.
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| CN201811512654.7A CN109647806B (en) | 2018-12-11 | 2018-12-11 | Boiler pipeline cleans and detects climbing robot |
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| CN201811512654.7A CN109647806B (en) | 2018-12-11 | 2018-12-11 | Boiler pipeline cleans and detects climbing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110255431B (en) * | 2019-06-20 | 2023-11-03 | 深圳市翠箓科技绿化工程有限公司 | Guide rail climbing robot motion unit capable of adapting to guide rail deviation |
| CN110614623A (en) * | 2019-09-24 | 2019-12-27 | 西南石油大学 | Self-adaptive variable-radius pipeline detection robot |
| CN111604306B (en) * | 2020-05-19 | 2022-03-15 | 深圳市南星海洋工程服务有限公司 | Jacket marine organism cleaning robot |
| CN112303375A (en) * | 2020-10-29 | 2021-02-02 | 张梅 | Pipeline inspection robot |
| CN112576883B (en) * | 2020-12-09 | 2022-04-01 | 浙江工贸职业技术学院 | Derrick climbing device |
| CN112891826A (en) * | 2021-01-13 | 2021-06-04 | 广州华立科技职业学院 | Three-rail sliding self-locking moving mechanism |
| CN113073731A (en) * | 2021-04-07 | 2021-07-06 | 武汉合创四联科技发展有限公司 | High-rise building sewage pipeline cleaning device and using method thereof |
| CN113547529B (en) * | 2021-07-01 | 2022-08-19 | 徐州工程学院 | Small-size intelligent defrosting robot of freezer refrigeration calandria |
| CN118372901B (en) * | 2024-06-21 | 2024-08-16 | 安徽建筑大学 | Multi-pipe diameter outer wall crawling device, system and method |
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| US8105442B2 (en) * | 2008-02-28 | 2012-01-31 | Welaptega Marine Limited | Tubular measurement system |
| CN204585197U (en) * | 2015-03-18 | 2015-08-26 | 重庆交通大学 | Can automatic obstacle-avoiding Work robot |
| CN205524551U (en) * | 2016-03-29 | 2016-08-31 | 广州市执信中学 | Perpendicular climbing robot |
| GB2553271B (en) * | 2016-07-19 | 2019-03-13 | Kongsberg Ferrotech As | Pipeline maintenance and inspection vehicle |
| GB201708326D0 (en) * | 2017-05-24 | 2017-07-05 | Kongsberg Ferrotech As | Maintenance and repair device |
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