CN110203297A - Climb wall detection robot - Google Patents
Climb wall detection robot Download PDFInfo
- Publication number
- CN110203297A CN110203297A CN201910555547.0A CN201910555547A CN110203297A CN 110203297 A CN110203297 A CN 110203297A CN 201910555547 A CN201910555547 A CN 201910555547A CN 110203297 A CN110203297 A CN 110203297A
- Authority
- CN
- China
- Prior art keywords
- main part
- along
- measured
- directive wheel
- tube body
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 65
- 239000003463 adsorbent Substances 0.000 claims abstract description 17
- 238000001816 cooling Methods 0.000 description 23
- 230000009194 climbing Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000011982 device technology Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- 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
Abstract
The present invention provides one kind and climbs wall detection robot, including main part, running gear, adsorbent equipment, detection device and caging system；The caging system includes multiple directive wheels, the directive wheel and the main part are rotatablely connected, the axis of the directive wheel extends along the width direction of the main part, arc groove is formed on the directive wheel, circumferentially extending of the arc groove along the directive wheel, for fitting with tube surfaces to be measured, at least two directive wheels in multiple directive wheels are arranged the arc groove along the width direction interval of the main part；The running gear, adsorbent equipment and detection device are arranged on the main part, the adsorbent equipment is for being adsorbed on the tube surfaces to be measured, the running gear is for driving the main part to walk along the tube body to be measured, and the detection device is for detecting the tube body to be measured.The accuracy of detection can be improved in the present invention.
Description
Technical field
The present invention relates to detection device technologies more particularly to one kind to climb wall detection robot.
Background technique
Water-cooling wall is the main heated portion of boiler, is made of number row's steel pipe, is distributed in the surrounding of boiler furnace, water-cooling wall
Inside be flowing water or steam, the heat of the flame for receiving boiler furnace.
The water-cooling wall of boiler is usually required staff and is detected using detection device at present, so that it is guaranteed that water-cooling wall
It works normally, however the accuracy of existing detection device detection is lower.
Summary of the invention
The present invention provides one kind and climbs wall detection robot, to improve the accuracy of detection.
The present invention provide one kind climb wall detection robot, including main part, running gear, adsorbent equipment, detection device and
Caging system；
The caging system includes multiple directive wheels, and the directive wheel and the main part are rotatablely connected, the directive wheel
Axis extend along the width direction of the main part, be formed with arc groove on the directive wheel, the arc groove is along institute
The circumferentially extending of directive wheel is stated, the arc groove with tube surfaces to be measured for fitting, in multiple directive wheels extremely
Few two directive wheels are arranged along the width direction interval of the main part；
The running gear, adsorbent equipment and detection device are arranged on the main part, and the adsorbent equipment is for inhaling
It is attached on the tube surfaces to be measured, the running gear is described for driving the main part to walk along the tube body to be measured
Detection device is for detecting the tube body to be measured.
It is provided by the invention to climb wall detection robot based on above-mentioned, it can be used for detecting the water-cooling wall of boiler, due to
The water-cooling wall of boiler is made of multiple tube bodies arranged side by side, therefore, climbs wall detection robot to the water-cooling wall of boiler when using
When being detected, it can will climb on the water-cooling wall that wall detection robot is placed on, and make in the width direction and water-cooling wall of main part
The orientation of tube body is consistent, makes spaced at least two guiding of the width direction in caging system along main part later
The arc groove of wheel fits from the different tube bodies in water-cooling wall respectively, and so that main part is adsorbed on water-cooling wall by adsorbent equipment
On, drive main part to walk along water-cooling wall by running gear later, so as to the axis with motion detection device along tube body to be measured
To movement, to complete the detection for tube body to be measured.Since the width direction in caging system along main part is spaced
The arc groove of at least two directive wheels fits from the different tube bodies in water-cooling wall respectively, therefore can effectively prevent climbing wall inspection
It surveys robot and deflection occurs during along the axial movement of tube body to be measured, conducive to the accuracy for improving detection.
Detailed description of the invention
Fig. 1 is a kind of use state diagram climbed wall and detect robot provided in an embodiment of the present invention；
Fig. 2 is a kind of partial structural diagram climbed wall and detect robot provided in an embodiment of the present invention；
Fig. 3 is a kind of bottom view climbed wall and detect the main part of robot provided in an embodiment of the present invention.
Appended drawing reference:
101: main part；102: running gear；103: adsorbent equipment；
104: detection device；105: directive wheel；106: arc groove；
107: bracket；108: test section；109: lifting device；
110: motor；111: gear；112: rack gear；
113: guide rail；201: tube body to be measured.
Specific embodiment
To keep the purpose of the present invention, feature, advantage more obvious and understandable, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is only a part of the embodiment of the present invention, and not all embodiments.Based on the embodiments of the present invention, those skilled in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
Fig. 1-3 is please referred to, one kind provided in an embodiment of the present invention climbs wall detection robot, including main part 101, walking dress
Set 102, adsorbent equipment 103, detection device 104 and caging system；Caging system includes multiple directive wheels 105, directive wheel 105 with
Main part 101 is rotatablely connected, and the axis of directive wheel 105 extends along the width direction of main part 101, is formed on directive wheel 105
Arc groove 106, arc groove 106 along directive wheel 105 circumferentially extending, arc groove 106 be used for and 201 surface of tube body to be measured
It fits, at least two directive wheels 105 in multiple directive wheels 105 are arranged along the width direction interval of main part 101；Walking dress
It sets 102, adsorbent equipment 103 and detection device 104 is arranged on main part 101, adsorbent equipment 103 is for being adsorbed on tube body to be measured
On 201 surfaces, for driving main part 101 to walk along tube body 201 to be measured, detection device 104 is used for to be measured running gear 102
Tube body 201 is detected.
Wall detection robot is climbed in the embodiment of the present invention, can be used for detecting the water-cooling wall of boiler, due to boiler
Water-cooling wall be made of multiple tube bodies arranged side by side, therefore, when being carried out to the water-cooling wall of boiler using climbing wall detection robot
It when detection, can will climb on the water-cooling wall that is placed on of wall detection robot, and make to manage in the width direction and water-cooling wall of main part 101
The orientation of body is consistent, makes to lead in caging system along the width direction of main part 101 spaced at least two later
It fits respectively from the different tube bodies in water-cooling wall to the arc groove 106 of wheel 105, and main part is made by adsorbent equipment 103
101 are adsorbed on water-cooling wall, drive main part 101 to walk along water-cooling wall by running gear 102 later, so as to drive inspection
Device 104 is surveyed along the axial movement of tube body 201 to be measured, to complete the detection for tube body 201 to be measured.Due in caging system
Arc groove 106 along spaced at least two directive wheel 105 of the width direction of main part 101 is respectively and in water-cooling wall
Different tube bodies fit, therefore can effectively prevent climbing wall detection robot during along the axial movement of tube body 201 to be measured
There is deflection, conducive to the accuracy for improving detection.
In the present embodiment, it is preferred that detection device 104 includes bracket 107 and test section 108, and the setting of test section 108 is being propped up
It is detected on frame 107 for treating test tube body 201, bracket 107 is equipped with directive wheel 105.As a result, when in use, bracket 107
The meeting of arc groove 106 for the directive wheel 105 being equipped with and fitting for tube body 201 to be measured are prevented so as to play guiding role
Only there is deflection during climbing the axial movement of wall detection Robot tube body 201 to be measured in detection device 104, is conducive to further
Improve the accuracy of detection.
In the present embodiment, it is preferred that bracket 107 is equipped with multiple directive wheels 105, multiple directive wheels 105 on bracket 107
In at least two directive wheels 105 along main part 101 length direction interval be arranged, test section 108 be located at along main part 101
Between spaced at least two directive wheel 105 of length direction, multiple directive wheels 105 can be supported on tube body 201 to be measured
So as to keep set distance between test section 108 and tube body to be measured 201.Since bracket 107 is equipped at least two along main part
The spaced directive wheel 105 of 101 length direction, therefore, at least two between the length direction of main part 101 when in use
Multi-point fitting can be realized with same tube body 201 to be measured every the arc groove 106 of the directive wheel 105 of setting, so that detection be made to fill
Set 104 along tube body 201 to be measured axial movement it is more stable, conducive to the accuracy for further increasing detection.
In the present embodiment, it is preferred that detection device 104 is located at the front end of main part 101, and the rear end of main part 101 is equipped with
Along spaced two directive wheels 105 of the width direction of main part 101.Enable main part 101 and tube body to be measured as a result,
201 form 3 points of limits of distributions triangular in shape, to make to climb the axial movement of wall detection Robot tube body 201 to be measured more
Stablize, conducive to the accuracy for further increasing detection.
In the present embodiment, it is preferred that after detection device 104 is located at main part 101 in the width direction of main part 101
It holds between two directive wheels 105 being equipped with.The three of the distribution triangular in shape for as a result, being formed main part 101 and tube body 201 to be measured
Point limit stress is more balanced, stablizes.
In the present embodiment, it is preferred that climbing wall detection robot further includes lifting device 109, and lifting device 109 is arranged in master
In body portion 101, lifting device 109 is arranged along the short transverse of main part 101, and lifting device 109 is connect with directive wheel 105, uses
It is moved in drive directive wheel 105 along the short transverse of main part 101.As a result, when climb wall detection robot need along water-cooling wall
When the orientation of tube body is mobile, directive wheel 105 can be driven to increase by lifting device 109, to prevent directive wheel 105 and pipe
Interference is formed between body.
In the present embodiment, it is preferred that lifting device 109 includes motor 110, gear 111, rack gear 112 and guide rail 113, electricity
Machine 110 is arranged on main part 101, and the output end connection gear 111 of motor 110, guide rail 113 is connect with main part 101, guide rail
113 along main part 101 height it is oppositely extending, rack gear 112 is slidably arranged on guide rail 113 and connect with directive wheel 105, gear
111 engage with rack gear 112, and motor 110 is for driving gear 111 to rotate relative to main part 101, with band carry-over bar 112 along leading
Rail 113 slides.Make 109 structure of lifting device simple as a result, driving is reliable.
In the present embodiment, it is preferred that running gear is crawler attachment, and crawler attachment is two, and two crawler attachments are along main
The length direction in body portion 101 extends and is arranged along the width direction interval of main part 101, and adsorbent equipment 103 is magnet, and magnet is set
It sets the bottom in main part 101 and is located between two crawler attachments.Make to climb wall detection robot as a result, in tube body 201 to be measured
Absorption and walking on surface is more stable.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise
Clear specific restriction.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (8)
1. one kind climbs wall detection robot, which is characterized in that including main part, running gear, adsorbent equipment, detection device and limit
Position system；
The caging system includes multiple directive wheels, and the directive wheel and the main part are rotatablely connected, the axis of the directive wheel
Line extends along the width direction of the main part, and arc groove is formed on the directive wheel, and the arc groove is led described in
Circumferentially extending to wheel, the arc groove with tube surfaces to be measured for fitting, at least two in multiple directive wheels
A directive wheel is arranged along the width direction interval of the main part；
The running gear, adsorbent equipment and detection device are arranged on the main part, and the adsorbent equipment is for being adsorbed on
On the tube surfaces to be measured, the running gear is for driving the main part to walk along the tube body to be measured, the detection
Device is for detecting the tube body to be measured.
2. according to claim 1 climb wall detection robot, which is characterized in that the detection device includes bracket and detection
Portion, on the bracket for detecting to the tube body to be measured, the bracket is equipped with described lead for the test section setting
To wheel.
3. according to claim 2 climb wall detection robot, which is characterized in that the bracket is equipped with multiple guiding
It takes turns, at least two directive wheels in multiple directive wheels on the bracket are along the length direction interval of the main part
Setting, the detection position are more between the directive wheel of length direction spaced at least two along the main part
A directive wheel can be supported on the tube body to be measured so as to keep setting between the test section and the tube body to be measured
Distance.
4. according to claim 3 climb wall detection robot, which is characterized in that the detection device is located at the main part
Front end, the rear end of the main part is equipped with spaced two directive wheels of width direction along the main part.
5. according to claim 4 climb wall detection robot, which is characterized in that the detection device is in the main part
Between two directive wheels that rear end in width direction positioned at the main part is equipped with.
6. according to claim 1 climb wall detection robot, which is characterized in that it further include lifting device, the lifting dress
It installs on the main part, the lifting device is arranged along the short transverse of the main part, the lifting device and institute
Directive wheel connection is stated, for driving the directive wheel to move along the short transverse of the main part.
7. it is according to claim 6 climb wall detection robot, which is characterized in that the lifting device include motor, gear,
Rack gear and guide rail, the motor are arranged on the main part, and the output end of the motor connects the gear, the guide rail with
The main part connection, the guide rail is oppositely extending along the height of the main part, and the rack gear is slidably arranged in the guide rail
It above and with the directive wheel connect, the gear is engaged with the rack gear, and the motor is for driving the gear relative to institute
Main part rotation is stated, to drive the rack gear to slide along the guide rail.
8. any in -7 according to claim 1 described climb wall detection robot, which is characterized in that the running gear is crawler belt
Device, the crawler attachment are two, and two crawler attachments extend and along the length direction of the main part along the master
The width direction interval in body portion is arranged, and the adsorbent equipment is magnet, and the bottom of the main part and position is arranged in the magnet
Between two crawler attachments.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910555547.0A CN110203297A (en) | 2019-06-25 | 2019-06-25 | Climb wall detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910555547.0A CN110203297A (en) | 2019-06-25 | 2019-06-25 | Climb wall detection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110203297A true CN110203297A (en) | 2019-09-06 |
Family
ID=67794657
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910555547.0A Pending CN110203297A (en) | 2019-06-25 | 2019-06-25 | Climb wall detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110203297A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101070081A (en) * | 2007-05-28 | 2007-11-14 | 徐州必和科技有限公司 | Water-cooling wall-climbing robot for power plant boiler |
| CN201077480Y (en) * | 2007-05-28 | 2008-06-25 | 徐州必和科技有限公司 | Wall climbing robot for power plant water-cooled wall |
| CN107757746A (en) * | 2017-10-17 | 2018-03-06 | 常州大学 | A kind of water cooling wall-climbing robot guiding Overthrow preventing device |
| CN109910027A (en) * | 2019-04-17 | 2019-06-21 | 华电电力科学研究院有限公司 | All-around mobile formula water-cooling wall detects robot |
| CN210310631U (en) * | 2019-06-25 | 2020-04-14 | 北京史河科技有限公司 | Wall climbing detection robot |
-
2019
- 2019-06-25 CN CN201910555547.0A patent/CN110203297A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101070081A (en) * | 2007-05-28 | 2007-11-14 | 徐州必和科技有限公司 | Water-cooling wall-climbing robot for power plant boiler |
| CN201077480Y (en) * | 2007-05-28 | 2008-06-25 | 徐州必和科技有限公司 | Wall climbing robot for power plant water-cooled wall |
| CN107757746A (en) * | 2017-10-17 | 2018-03-06 | 常州大学 | A kind of water cooling wall-climbing robot guiding Overthrow preventing device |
| CN109910027A (en) * | 2019-04-17 | 2019-06-21 | 华电电力科学研究院有限公司 | All-around mobile formula water-cooling wall detects robot |
| CN210310631U (en) * | 2019-06-25 | 2020-04-14 | 北京史河科技有限公司 | Wall climbing detection robot |
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