CN109909972A - The adjustable water-cooling wall of wheelspan detects robot - Google Patents
The adjustable water-cooling wall of wheelspan detects robot Download PDFInfo
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- CN109909972A CN109909972A CN201910309061.9A CN201910309061A CN109909972A CN 109909972 A CN109909972 A CN 109909972A CN 201910309061 A CN201910309061 A CN 201910309061A CN 109909972 A CN109909972 A CN 109909972A
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- wheel base
- flexible wheel
- wheelspan
- cooling wall
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- 238000001816 cooling Methods 0.000 title claims abstract description 38
- 230000009471 action Effects 0.000 claims abstract description 6
- 238000001179 sorption measurement Methods 0.000 claims 1
- 239000003463 adsorbent Substances 0.000 abstract description 6
- 238000001514 detection method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 8
- 238000009434 installation Methods 0.000 description 8
- 238000006073 displacement reaction Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000005526 G1 to G0 transition Effects 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000005336 cracking Methods 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 238000010248 power generation Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000002285 radioactive effect Effects 0.000 description 1
Abstract
The invention discloses a kind of adjustable water-cooling walls of wheelspan to detect robot, including vehicle body hanger and the adsorbent equipment and driving wheel that are installed on the vehicle body hanger, further include the drive connection frame being horizontally slidably connected with the vehicle body hanger, it is described be drivingly connected frame be also connected with can under the action of vertical driving part vertical lifting zigzag tread patterns mounting base；The driving wheel and its zigzag tread patterns component are installed on the zigzag tread patterns mounting base；The vehicle body hanger is also equipped with flexible wheel base driving device and vertical supporting device, and the flexible wheel base driving device is for driving the drive connection frame to cross out and retract relative to the vehicle body hanger；The height of the bottom support portion of the vertical supporting device is located in the altitude range of driving wheel support portion lifting.The adjustable water-cooling wall of above-mentioned wheelspan detects robot, can adapt to different pipeline enclosures away from working scene.
Description
Technical field
The present invention relates to water-cooling wall carrying out flaw detection technical fields more particularly to a kind of adjustable water-cooling wall of wheelspan to detect machine
People.
Background technique
As Thermal Power Generation Industry high parameter, large sized unit more and more come into operation, the capital equipment being related to is increasingly
More, wherein generating equipment is important infrastructure, is generally required to periodic inspection.
The boiler water wall pipeline isometric phase is under high temperature, condition of high voltage and runs, and there are brittle failure, deterioration, crackings for material
A possibility that breaking into pieces with fatigue, thus belong to the equipment that must be periodically overhauled.The maintenance of these equipment needs to take foot hand
Frame, or need maintenance object to remove to be overhauled in workshop, thus the time between overhauls(TBO) is long.It takes, tear open if can exempt
Scaffold or the process for dismantling installation and repairing object, can complete to overhaul, this can reduce nonessential auxiliary process at the scene
Time (disassembly, installation, debugging etc.), huge economic benefit will be generated.In addition, in some cases, due to the limitation of environment
(such as radioactive place, high-altitude), worker carries out upkeep operation, and there is also biggish security risks.
But traditional industrial machines or dedicated maintenance instrument are due in the side such as mobile flexibility and flexible (intelligence)
Face is limited to, and is difficult the working environment application in this complexity of electricity power enterprise, therefore there is an urgent need to new solutions.
Therefore, exploitation is designed replaces manually carrying out detection operation, Ke Yiman suitable for the intelligent robot of field condition
The urgent need of sufficient electricity power enterprise.The time between overhauls(TBO) can not only be shortened, improve upkeep operation efficiency, operation quality can also be promoted
With guarantee operation safety.
Summary of the invention
The object of the present invention is to provide a kind of adjustable water-cooling walls of wheelspan to detect robot, can adapt to different pipeline enclosures away from
Working scene.
To achieve the above object, the present invention provides a kind of adjustable water-cooling walls of wheelspan to detect robot, including car body branch
Frame and the adsorbent equipment and driving wheel for being installed on the vehicle body hanger,
It further include the drive connection frame being horizontally slidably connected with the vehicle body hanger, the drive connection frame is also connected with
Have can under the action of vertical driving part vertical lifting zigzag tread patterns mounting base；The driving wheel and its zigzag tread patterns portion
Part is installed on the zigzag tread patterns mounting base；
The vehicle body hanger is also equipped with flexible wheel base driving device and vertical supporting device, and the flexible wheel base driving device is used
It crosses out and retracts relative to the vehicle body hanger in the driving drive connection frame；The bottom branch of the vertical supporting device
The height of support part is located in the altitude range of driving wheel support portion lifting.
Preferably, the vehicle body hanger includes longitudinal movement bracket, and the drive connection frame is by way of inserting and vertical
It is slidably connected in motion bracket transverse direction.
Preferably, the drive connection frame is fixedly installed with flexible wheel base nut, and the flexible wheel base driving device includes installation
In the longitudinal movement bracket and the flexible wheel base screw rod that is matched with the flexible wheel base nut, and the driving flexible wheel base screw rod
The flexible wheel base driving part of rotation.
Preferably, the flexible wheel base driving part be flexible wheel base motor, the flexible wheel base motor by flexible wheel base belt with
And flexible wheel base driven pulley drives the flexible wheel base screw rod rotation.
Being preferably located at two flexible wheel base screw rods that the driving wheels of both lateral sides is separately connected has phase derotation
To, and both driven by the flexible wheel base driven pulley.
Preferably, at least two vertical supporting devices are equipped with, the two vertical supporting devices are respectively arranged at described
The support portion of the both ends bottom of vehicle body hanger longitudinal direction, the vertical supporting device is in bar shaped and is laterally extended.
Preferably, the vertical driving part is lead screw motor, and the drive connection frame drives the longitudinal direction by screw rod
Drive installation seat lifting.
Preferably, the wheel face of the driving wheel is arc wheel face.
Preferably, each vertical driving part can independent control to individually adjust the height of the driving wheel corresponding to it
Degree.
Preferably, at least four vertical supporting devices are equipped with, the support portion of the vertical supporting device is square,
And corner location is set to by crossbeam respectively.
The adjustable water-cooling wall of wheelspan provided by the present invention detects robot, including vehicle body hanger and is installed on the vehicle
The adsorbent equipment and driving wheel of body support frame, the adsorbent equipment are used to for the water-cooling wall robot being adsorbed in the surface of water-cooling wall,
It is not contacted between water-cooling wall, and the driving wheel is bonded with water cooling wall surface and is moved.
Water-cooling wall detection robot further includes the drive connection frame being horizontally slidably connected with the vehicle body hanger,
It is described be drivingly connected frame be also connected with can under the action of vertical driving part vertical lifting zigzag tread patterns mounting base；It is described
Driving wheel and its zigzag tread patterns component are installed on the zigzag tread patterns mounting base；The zigzag tread patterns mounting base can drive the drive
Driving wheel carries out vertical lifting.
Water-cooling wall detection robot further includes flexible wheel base driving device and vertical supporting device, the flexible wheel base driving
Device is for driving the drive connection frame to cross out and retract relative to the vehicle body hanger, to drive the driving wheel
Carry out displacement；Water-cooling wall detection robot is integrally erected when the vertical supporting device is used for the driving wheel displacement
To support, the abrasion of the driving wheel is avoided.Wherein, the height of the bottom support portion of the vertical supporting device is located at the drive
In the altitude range of driving wheel support portion lifting.
The above-mentioned adjustable water-cooling wall of wheelspan detects robot, and driving wheel is under the action of vertical driving part with described vertical
To drive installation seat vertical lifting, then pass through flexible wheel base driving device under the support of vertical supporting device between driving wheel
Horizontal spacing be adjusted.In this way, when encounter different pipeline enclosures away from water-cooling wall when, can horizontal spacing to driving wheel into
Row adjustment, thus allow above-mentioned robot to different pipeline enclosures away from water-cooling wall detect.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 detects the overall structure of robot for a kind of adjustable water-cooling wall of provided wheelspan of specific embodiment of the present invention
Schematic diagram；
Fig. 2 is driving wheel mounting means schematic diagram in Fig. 1；
Fig. 3 is zigzag tread patterns installation section view in Fig. 1；
Fig. 4 is the three-dimensional structure diagram that frame is drivingly connected in Fig. 1；
Fig. 5 is flexible wheel base driving device structure schematic diagram in Fig. 1.
Appended drawing reference of the Fig. 1 into Fig. 5 is as follows:
101. driving wheel；102. lead screw motor；103. being drivingly connected frame；104. linear bearing；105. flexible wheel base screw rod；
106. flexible wheel base nut；108. longitudinal movement bracket；109. longitudinal movement motor；110. longitudinal movement motor cabinet；2. flexible wheel base
Driving device；201. flexible wheel base driven pulleys；202. flexible wheel base belts；203. flexible wheel base idle wheels；204. flexible wheel base motors；
205. flexible wheel base driving pulleys；3. adsorbent equipment；5. vehicle body hanger；6. vertical supporting device.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Core of the present invention is to provide a kind of wheelspan adjustable water-cooling wall detection robot, can adapt to different pipeline enclosures away from
Working scene.
Fig. 1-5 is please referred to, Fig. 1 is provided the adjustable water-cooling wall of wheelspan by a kind of specific embodiment of the present invention and detects machine
The overall structure diagram of people；Fig. 2 is driving wheel mounting means schematic diagram in Fig. 1；Fig. 3 is that zigzag tread patterns mounting base is cutd open in Fig. 1
View；Fig. 4 is the three-dimensional structure diagram that frame is drivingly connected in Fig. 1；Fig. 5 is flexible wheel base driving device structure schematic diagram in Fig. 1.
In the first specific embodiment, the adjustable water-cooling wall of wheelspan provided by the invention detects the artificial carriage type of machine
Robot, including vehicle body hanger 5, other component such as driving wheel 101, adsorbent equipment 3 etc., are directly or indirectly mounted on vehicle
On body support frame 5.
It is also equipped with the drive connection frame 103 that can be horizontally slidably connected in vehicle body hanger 5, is drivingly connected under frame 103
Side be also connected with can vertical driving part 102 effect under vertical lifting zigzag tread patterns mounting base 110, driving wheel 101 and
Its zigzag tread patterns component 109 is installed in the zigzag tread patterns mounting base 110, thus driving wheel 101 and its zigzag tread patterns component
109 go up and down with the lifting of zigzag tread patterns mounting base 110.Zigzag tread patterns component 109 can be motor.
As described in Figure 3, vertically extending slide bar can be set at the left and right sides position of zigzag tread patterns mounting base 110,
It is located in the slide opening for being drivingly connected 103 corresponding position of frame；And screw hole is set at the middle part of zigzag tread patterns mounting base 110,
The screw rod of middle setting and screw hole cooperation.The vertical of the screw rod rotation is able to drive being drivingly connected also to install above frame 103
Driving part 102, such as lead screw motor, thus by controlling the i.e. adjustable zigzag tread patterns mounting base 110 of vertical driving part 102
Relative to the vertical height for being drivingly connected frame 103 and vehicle body hanger 5.Specifically, being driven by the screw rod of above-mentioned lead screw motor vertical
It is gone up and down to drive installation seat 105.
As a result, driving wheel 101 can under the drive of zigzag tread patterns mounting base 110, relative to be drivingly connected frame 103 and
Vehicle body hanger 5 rises vertically or decline.
It is clear that the number of driving wheel 101 can according to need setting, it is generally common with four；Each driving wheel
Zigzag tread patterns mounting base 110 corresponding to 101 can individually adjust its vertical height, operate so more flexible and convenient.
Vehicle body hanger 5 is also equipped with flexible wheel base driving device 2 and vertical supporting device 6, and flexible wheel base driving device 2 is for driving
The dynamic frame 103 that is drivingly connected is crossed out and is retracted relative to vehicle body hanger 5, thus driving wheel 101 is driven to carry out lateral displacement；It is perpendicular
Support is integrally formed to wheelspan adjustable water-cooling wall detection robot when being used for 101 displacement of driving wheel to support device 6, avoids driving
The damage of driving wheel 101, therefore the height of the bottom support portion of vertical supporting device 6 is located at the height of 101 support portion of driving wheel lifting
It spends in range.
Generally vertical support device 6 can be horizontal support perhaps track frame or other support members individually set up.
If transverse direction fixing bracket or track frame, then it is typically provided at least two and is respectively arranged at the longitudinal both ends of vehicle body hanger 5
Bottom, the support portion of support device 6 are in bar shaped and are laterally extended.If being independent support member, typically at least it is arranged
There are four, and corner location is set to by crossbeam respectively, it is not only symmetrical but also stable in this way, and the support portion of four support devices 6
It is preferably square.
Specifically, first pass through vertical driving part 102 when driving wheel 101 needs lateral displacement and adjust its vertical height,
So that it is detached from ground under the support of vertical supporting device 6, then operates flexible wheel base driving device 2 and displacement adjustment is carried out to it.
It should be noted that herein described " transverse direction " " vertical " " lifting " " height " etc., is with shape shown in Fig. 1, Fig. 2
The description carried out subject to state (when i.e. trolley is horizontal positioned).
The above-mentioned adjustable water-cooling wall of wheelspan detects robot, and driving wheel is under the action of vertical driving part with described vertical
To drive installation seat vertical lifting, then pass through flexible wheel base driving device under the support of vertical supporting device between driving wheel
Horizontal spacing be adjusted.In this way, when encounter different pipeline enclosures away from water-cooling wall when, can horizontal spacing to driving wheel into
Row adjustment, thus allow above-mentioned robot to different pipeline enclosures away from water-cooling wall detect.
In a kind of specific embodiment, vehicle body hanger 5 further includes longitudinal movement bracket 108, with 5 stationary phase of vehicle body hanger
It connects, is drivingly connected frame 103 and is slidably connected by way of inserting in 108 transverse direction of longitudinal movement bracket.
Such as Fig. 2, there are two longitudinal movement brackets 108, and both ends respectively set a drive connection frame 103.It can be in longitudinal movement
Slide opening is arranged in the two sides of bracket 108, and the top slide bar for being drivingly connected frame 103 inserts in the corresponding slide opening, for convenience of sliding,
Linear bearing 104 can be also set on the outside of the top inserted link for being drivingly connected frame 103.
It is drivingly connected on frame 103 and is fixedly installed with flexible wheel base nut 106, flexible wheel base driving device 2 includes being installed on longitudinal direction
Flexible wheel base screw rod 105 on motion bracket 108, matches with flexible wheel base nut 106, and thus flexible wheel base screw rod 105 passes through change
Wheelspan nut 106 is drivingly connected 103 and slides laterally to drive.In addition flexible wheel base driving device 2 further includes that change can be driven to take turns
The flexible wheel base driving part rotated away from screw rod 105.
The flexible wheel base driving part can be flexible wheel base motor 204, and flexible wheel base motor 204 passes through flexible wheel base belt 202
And flexible wheel base driven pulley 201 drives flexible wheel base screw rod 105 to rotate.
In general, flexible wheel base driving device 2 can be set it is multiple, i.e., each be drivingly connected frame 103 be correspondingly arranged one
Flexible wheel base driving device 2；But to simplify apparatus structure, two flexible wheel bases can also be only set for multiple drive connection framves 103 and driven
Dynamic device 2.
Specifically, flexible wheel base driving pulley 205 can be installed in the shaft end of flexible wheel base motor 204, two sides are respectively arranged with
Lower than two flexible wheel base idle wheels 203 of flexible wheel base driving pulley 205, then two flexible wheel base driven pulleys 201 are set again, are become
205, two flexible wheel base idle wheels 203 of wheelspan driving pulley and two flexible wheel base driven pulleys 201 pass through 202 shape of flexible wheel base belt
It links at V belt translation.Two flexible wheel base driven pulleys 201 respectively be located at 5 rear and front end of vehicle body hanger two flexible wheel base screw rods
105 are connected.At this point, two flexible wheel base screw rods 105 are to rotate in same direction.
For the quantity for being further simplified flexible wheel base driving device 2, the driving wheel 101 for being located at both lateral sides is separately connected
Two flexible wheel base screw rods 105 be set as that there is opposite rotation direction, then both can by the same flexible wheel base driven pulley 201
Driving.
In addition, the wheel face of driving wheel 101 can also be set as the arc wheel face matched with tube wall, to improve trolley travelling
Stability.
The quantity setting that vertical driving part 102 can correspond to driving wheel 101 is multiple, and vertical driving part 102 each in this way is
Can independent control to individually adjust the height of the driving wheel 101 corresponding to it.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Wheelspan provided by the present invention adjustable water-cooling wall detection robot is described in detail above.It answers herein
With a specific example illustrates the principle and implementation of the invention, the explanation of above example is only intended to help to manage
Solve method and its core concept of the invention.It should be pointed out that for those skilled in the art, not departing from
, can be with several improvements and modifications are made to the present invention under the premise of the principle of the invention, these improvement and modification also fall into this hair
In bright scope of protection of the claims.
Claims (10)
1. a kind of adjustable water-cooling wall of wheelspan detects robot, including vehicle body hanger (5) and it is installed on the suction of the vehicle body hanger
Adsorption device (3) and driving wheel (101), which is characterized in that
It further include the drive connection frame (103) being horizontally slidably connected with the vehicle body hanger (5), the drive connection frame
(103) be also connected with can under the action of vertical driving part (102) vertical lifting zigzag tread patterns mounting base (110)；Institute
It states driving wheel (101) and its zigzag tread patterns component (109) is installed on the zigzag tread patterns mounting base (110)；
The vehicle body hanger (5) is also equipped with flexible wheel base driving device (2) and vertical supporting device (6), the flexible wheel base driving
Device (2) is for driving the drive connection frame (103) to cross out and retract relative to the vehicle body hanger (5)；It is described perpendicular
It is located in the altitude range that the driving wheel (101) support portion is gone up and down to the height of the bottom support portion of support device (6).
2. the adjustable water-cooling wall of wheelspan as described in claim 1 detects robot, which is characterized in that the vehicle body hanger (5)
Including longitudinal movement bracket (108), the drive connection frame (103) is horizontal with longitudinal movement bracket (108) by way of inserting
Upward sliding connection.
3. the adjustable water-cooling wall of wheelspan as claimed in claim 2 detects robot, which is characterized in that the drive connection frame
(103) it is fixedly installed with flexible wheel base nut (106), the flexible wheel base driving device (2) includes being installed on the longitudinal movement branch
Frame (108) and the flexible wheel base screw rod (105) matched with the flexible wheel base nut (106), and the driving flexible wheel base screw rod
(105) the flexible wheel base driving part rotated.
4. the adjustable water-cooling wall of wheelspan as claimed in claim 3 detects robot, which is characterized in that the flexible wheel base driving portion
Part is flexible wheel base motor (204), and the flexible wheel base motor (204) passes through flexible wheel base belt (202) and flexible wheel base driven pulley
(201) flexible wheel base screw rod (105) rotation is driven.
5. the adjustable water-cooling wall of wheelspan as claimed in claim 4 detects robot, which is characterized in that positioned at the drive of both lateral sides
Two flexible wheel base screw rods (105) that driving wheel (101) is separately connected have opposite rotation direction, and both by the flexible wheel base
Driven pulley (201) driving.
6. the adjustable water-cooling wall of wheelspan as described in any one in claim 1-5 detects robot, which is characterized in that
Equipped at least two vertical supporting devices (6), the two vertical supporting devices (6) are respectively arranged at the car body branch
The support portion of the both ends bottom of frame (5) longitudinal direction, the vertical supporting device (6) is in bar shaped and is laterally extended.
7. the adjustable water-cooling wall of wheelspan as claimed in claim 6 detects robot, which is characterized in that the vertical driving part
It (102) is lead screw motor, the drive connection frame (103) drives the zigzag tread patterns mounting base (110) to go up and down by screw rod.
8. the adjustable water-cooling wall of wheelspan as claimed in claim 7 detects robot, which is characterized in that the driving wheel (101)
Wheel face be arc wheel face.
9. the adjustable water-cooling wall of wheelspan as claimed in claim 6 detects robot, which is characterized in that each vertical driving portion
Part (102) can independent control to individually adjust the height of the driving wheel (101) corresponding to it.
10. the adjustable water-cooling wall of wheelspan as described in any one in claim 1-5 detects robot, which is characterized in that
Equipped at least four vertical supporting devices (6), the support portion of the vertical supporting device (6) is square, and point
Corner location is not set to by crossbeam.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910309061.9A CN109909972B (en) | 2019-04-17 | 2019-04-17 | Wheel tread adjustable water-cooled wall detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910309061.9A CN109909972B (en) | 2019-04-17 | 2019-04-17 | Wheel tread adjustable water-cooled wall detection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109909972A true CN109909972A (en) | 2019-06-21 |
| CN109909972B CN109909972B (en) | 2024-04-12 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910309061.9A Active CN109909972B (en) | 2019-04-17 | 2019-04-17 | Wheel tread adjustable water-cooled wall detection robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110181535A (en) * | 2019-06-28 | 2019-08-30 | 北京史河科技有限公司 | A kind of water-cooling wall detection robot |
| CN112197799A (en) * | 2020-08-21 | 2021-01-08 | 嘉兴学院 | Wheel tread adjustable piping lane detection device |
| CN112319644A (en) * | 2020-11-17 | 2021-02-05 | 北京汇力智能科技有限公司 | Wall climbing detection robot |
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