CN110901785A - Novel six-foot boiler water wall maintenance robot - Google Patents
Novel six-foot boiler water wall maintenance robot Download PDFInfo
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- 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
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- 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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Abstract
The invention provides a novel hexapod boiler water wall overhauling robot, which comprises a main transmission system for realizing the longitudinal linear movement of the robot on a vertical wall surface; the transverse motion mechanism of the three-degree-of-freedom mechanical leg realizes the adsorption function and the obstacle crossing function of the robot and spans in different working intervals; realize the maintenance mechanism of sweeping the deposition and function of making a video recording. The electromagnetic wall-climbing robot has the advantages of strong load capacity, flexible movement and strong wall surface adaptability, almost realizes the full coverage of the interior of a boiler without dead angles, and has good application prospect. The scheme design of the invention has the advantages of low noise, no pollution, low cost and light weight, and is beneficial to the sustainable development of the environment and the society.
Description
Technical Field
The invention relates to a hexapod bionic robot, in particular to a novel hexapod boiler water wall overhauling robot which is used for overhauling a boiler water wall of a special power plant.
Background
At present, thermal power generation is still the main power of power generation in China, and about 600 thermal power stations exist. The large and medium-sized thermal power station boilers generally adopt a membrane wall structure and have good heat preservation performance and air tightness, but after the boilers operate for a certain time, the fire facing side wall surfaces of the membrane wall walls are easy to generate dust deposition, slag bonding, convex and concave, cracks, abrasion, corrosion and other conditions, so that the safe operation of the boilers is not guaranteed, and heavy economic loss is caused. The manual operation has the defects of severe working environment, low safety, lagged detection technology, long operation period, low efficiency and the like, so that the robot is designed and is very necessary for the automatic maintenance of the boiler water wall.
Since the first robot model capable of moving on a vertical wall surface in the world was developed in japan, the pioneer of the research on the wall-climbing robot was started, and then some developed countries started research. The wall climbing robot can climb on a vertical wall and complete the automatic robot of operation, has two basic functions of adsorption and movement, and is mainly used for flaw detection or paint spraying treatment of cylindrical large tanks by petrochemical enterprises or cleaning and spraying of buildings. The electromagnetic adsorption type six-foot wall climbing robot can be well applied to the maintenance work of water walls of medium and large boilers, and is used for the automatic maintenance work of the water walls of the boilers on the basis of the system explanation of the existing wall climbing robots at home and abroad and in combination with the actual situation of the operation environment.
Disclosure of Invention
The invention aims to provide a novel hexapod boiler water wall overhauling robot for overcoming the defects of severe working environment, low safety, lagged detection technology, long working period, low efficiency and the like existing in manual operation. The novel electromagnetic wall-climbing robot is used for researching boiler water-cooling walls of medium-large power plants, is strong in load capacity, flexible in movement and strong in wall adaptive capacity, almost realizes that the inside of a boiler is completely covered without dead angles, and is good in application prospect.
The purpose of the invention is realized as follows: the movable maintenance platform comprises a main body movable platform mechanism, a main transmission part arranged in the main body movable platform mechanism, two movable platforms and a fixed platform which are arranged on the main transmission part, mechanical legs symmetrically arranged on two sides of the platform, and an overhauling mechanism arranged below the main body movable platform mechanism, wherein the fixed platform is arranged between the two movable platforms.
The invention also includes such structural features:
1. the main body moving platform mechanism comprises a bottom plate, two sliding rails symmetrically arranged on two sides of the bottom plate, and a sliding block arranged on the sliding rails, wherein the moving platform spans across the two sliding rails and is connected with the sliding block, and the fixed platform spans across the middle position of the two sliding rails.
2. The main transmission part is provided with two groups of main transmission parts which are oppositely arranged on the bottom plate, each group comprises a first motor arranged on the bottom plate, a triple gear mechanism connected with the output end of the motor and a lead screw nut mechanism connected with the output end of the triple gear mechanism, and the two moving platforms are fixedly connected with nuts in the corresponding lead screw nut mechanisms respectively.
3. The mechanical leg comprises a motor II arranged on the moving platform, a synchronous belt mechanism connected with the output end of the motor II, a thigh rod hinged with a shaft of the output end of the synchronous belt mechanism, a motor III arranged on the thigh rod, a bevel gear transmission mechanism connected with the output end of the motor III, a shank rod hinged at the end part of the thigh rod through a shaft of the output end of the bevel gear transmission mechanism, a shank part hinged at the end part of the shank rod, an elastic device arranged at the lower end of the shank part, and a magnetic foot arranged below the elastic device, wherein the magnetic resistance comprises a magnetic yoke arranged outside a spring, two electromagnetic cores symmetrically arranged on the magnetic yoke, a coil arranged outside the electromagnetic cores, and an arc-shaped electromagnet arranged at the lower ends of the coil and the electromagnetic cores.
4. The maintenance mechanism comprises a cleaning shell arranged at the lower end of the bottom plate, a cleaning motor arranged in the shell, two brush disc shafts arranged below the cleaning shell, a synchronous belt arranged between the two brush disc shafts, and a conveying disc arranged at the lower end of the two brush disc shafts, wherein one of the two brush disc shafts is connected to the output end of the cleaning motor.
5. The number of the sliding blocks on each sliding rail is four.
Compared with the prior art, the invention has the beneficial effects that: the wall climbing robot is designed aiming at the working environment of the boiler water wall with the ambient temperature of 40-60 degrees, the diameter of a light pipe of 50-70 mm, the pitch of the light pipe of 70-90 mm and the diameter of a boiler inlet hole of more than 450mm, the wall climbing robot is matched with the boiler water wall to the maximum extent, the longitudinal linear movement on a vertical wall surface can be realized, the three-degree-of-freedom mechanical leg with the adsorption device realizes the adsorption function, the obstacle crossing function and the crossing in different working intervals of the robot, and the maintenance mechanism can realize the functions of cleaning accumulated dust and camera monitoring. The scheme design of the invention has the advantages of low noise, no pollution, low cost and light weight, and is beneficial to the sustainable development of the environment and the society.
1. The magnetic foot adopts an electromagnet adsorption mode, and the size and the existence of the adsorption force are controlled through electricity. In addition, in order to maximize the utilization rate of the adsorption force, the electromagnet is designed into an arc-shaped structure which is the same as that of the water wall pipe exposed outside, so that the effective contact area during adsorption is increased, and the stability is improved.
2. The above-mentioned moving mode selection is not a caterpillar moving mode, but a multi-foot type is selected, but the moving speed is not high, so that the transverse moving and obstacle crossing are realized only by the self-adaptability of the wall surface during the design, and the longitudinal moving is completed by a linear transmission mechanism.
3. The driving motor of the screw nut transmission mechanism is selected to be driven by a brushless servo direct current motor with a braking function due to self locking during structural design.
4. Among the aforementioned main drive system, main drive system comprises two sets of ball screw pairs, two sets of trigeminy cylindrical gear pairs and the brushless DC servo motor of area brake type, considers the limited scheduling problem of this robot size design, adopts trigeminy gear drive and drive ratio to be 1: 1: 1 the output direction of the motor shaft is changed, the design length of the robot is shortened, and the layout is more compact and reasonable.
5. The transverse transmission mechanism is an auxiliary mechanism for finishing transverse striding and obstacle crossing of the robot, finishing maintenance operation of the wall-climbing robot in different working intervals and realizing spanning of welding seams, cracks and convex-concave on the water wall tube.
6. A shaftless speed reducing motor is selected from the transverse transmission mechanism, and a transmission shaft is automatically designed to be directly connected with the synchronous belt wheel, so that the installation design of a smaller size can be realized.
7. The disc brush mechanism adopts a double-disc brush structure, and the motor can control the rotation of the two shafts at one time through synchronous belt transmission, so that the two disc brushes are driven to rotate, and the cleaning task is efficiently completed. Install in the centre of main part lower surface bottom plate, neither can increase whole size, also can not produce the motion to mechanical leg's normal operating and interfere, the reliability is higher.
8. The water-cooling wall surface is a large tube array surface formed by welding round tubes and flat steel, only 1/3 is exposed outside, and when the robot stretches, the robot must stretch over 70-90 mm of pitch between the two tubes (specifically controlled and designed according to specific environments) to ensure the realization of functions. In addition, in consideration of the actual operating environment, the height and width of the whole robot are limited and cannot be infinitely long, so that the size of each leg rod must be reasonably designed according to the height and width requirements, such as: for the environment of the pitch of 80mm between two pipes, the related size is obtained by the calculation of the related working space, namely when the thigh rod L1 is 210mm and the shank rod L2 is 100mm, the shank end can reach the expected working space, and a certain stability margin is provided, and the size design is reasonable and meets the requirement.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIGS. 2a and 2b are a schematic structural view and a schematic diagram, respectively, of the main transmission system of the present invention;
FIG. 3 is a schematic structural diagram of a robot leg transmission mechanism according to the present invention;
FIG. 4 is a schematic view of the maintenance mechanism of the present invention;
FIG. 5 is a schematic diagram of the internal structure of the magnetic foot of the robot of the present invention;
FIG. 6 is a schematic view of the working principle of the magnetic foot of the present invention;
FIG. 7 is a schematic diagram of the kinematic coordinates of the mechanical leg of the present invention;
FIG. 8 is a schematic view of the design of the vertical movement gait of the robot of the invention;
FIG. 9 is a schematic representation of the lateral movement gait design of the robot of the present invention;
description of the elements and symbols: 1. a main body moving platform mechanism, 2, an overhaul mechanism, 3, a mechanical leg, 4, a moving platform I, 5, a fixed platform, 6, a moving platform II, 7, a bottom plate, 8, a slide rail, 9, a slide block, 10, a screw nut mechanism, 11, a triple gear mechanism, 12, a motor I, 13, a nut slide block, 14, a screw base, 15, a motor II, 16, a synchronous belt, 17, a thigh rod, 18, a motor III, 19, a coupler, 20, a bevel gear transmission mechanism, 21, a shank rod, 22, a leg root part, 23, an elastic device, 24, a magnetic foot 25, a first connecting pivot (driving joint), 26, a second connecting pivot (driving joint), 27, a third connecting pivot (driven joint), 28, a cleaning shell, 29, a coupler, 30, a synchronous belt, 31, a brush disc, 32, a wireless camera, 33, an arc-shaped camera, 34, a coil, 35 and an electromagnet core, 36. yoke, 37, water-cooling wall, 38, brush dish axle, 39, shaft coupling, 40, bearing.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The invention aims to solve the problem of boiler water wall maintenance, and aims to provide a novel six-foot wall climbing robot designed for a boiler water wall working environment with the ambient temperature of 40-60 degrees, the diameter of a light pipe of 50-70 mm, the pitch of the light pipe of 70-90 mm and the diameter of a boiler inlet hole of more than 450mm, and the robot is realized by adopting the following technologies: the invention provides a novel wall climbing robot for overhauling a water cooling wall of a hexapod boiler, which comprises a robot main body moving platform, six mechanical legs symmetrically arranged and an inspection and cleaning mechanism with a rolling brush. The robot body is provided with two groups of symmetrical moving platforms and a group of fixed platforms, the moving platforms are connected with a slide rail arranged on a bottom plate through slide blocks, six mechanical legs are arranged on the platforms, and the front and rear four legs are respectively connected on a screw nut transmission mechanism through the moving platforms to realize front and rear movement; the middle two legs are arranged on a fixed platform, the fixed platform is arranged on a slide rail, is parallel to the two moving platforms, is indirectly connected with a screw rod and moves randomly, and each mechanical leg consists of a thigh, a shank, a leg root part and a magnetic foot connected through an elastic device, so that the flexible movement of the robot is realized. Each thigh angle transmission mechanism is installed on the mobile platform, the shank angle transmission mechanisms are installed inside the thighs, and the cleaning mechanism and the detection device are installed in the middle of the lower surface of the robot main body through bolts.
The main body moving platform is composed of two sets of symmetrical lead screw nut transmission mechanisms, double slide rails are installed on a bottom plate, the lead screw nut moving platform is connected with the slide rails through slide blocks, two sets of centrosymmetric lead screw nut transmission mechanisms are installed on the bottom plate, a servo motor is used as a power source to drive triple gear transmission, the output direction of a motor shaft is changed, the design length of the robot is shortened, screw transmission of a lead screw pair is indirectly driven, the linear motion of the nut drives the moving platform to move, mechanical legs installed on the screw pair are driven to move accordingly, and vertical movement of the wall surface of the robot is achieved. The front and rear four legs are respectively connected on the moving platform through nut seats, and then move back and forth; two legs in the middle are arranged on a fixed platform, the fixed platform is directly connected with the sliding rail and indirectly connected with the screw rod, and the body moves randomly. The two groups of screw nut transmission mechanisms operate alternately to respectively drive the front two mechanical legs and the rear two mechanical legs to move vertically.
The mechanical leg part consists of a thigh rod, a shank rod, a leg root part, a magnetic foot, an elastic self-adaptive device and various transmission mechanisms, and the mechanical leg structure is provided with three joints which comprise two driving joints and a driven joint. The first active joint is arranged at the joint of the thigh rod and the platform to realize the rotation of the thigh rod; the second active joint is arranged at the joint of the thigh rod and the shank rod to realize the rotation of the shank rod; the passive joint is arranged at the joint of the leg root part and the magnetic foot part with the elastic device, and the angle of the magnetic foot part can be passively adjusted by self in operation due to environmental problems. One end of the thigh rod is fixed on the moving platform through a first connecting pivot, the other end of the thigh rod is connected with the shank through a second connecting pivot, the other end of the shank is connected with the leg root part through a third connecting pivot, the leg root part is connected with the magnetic foot through a spring self-adaption device, and the separation and reunion with the wall surface of the boiler water wall is realized through the expansion and contraction of the spring. The whole mechanical leg can rotate around the first active joint, the lower leg can rotate around the second active joint, and the leg root part can rotate around the third passive joint.
The active joint is actively controlled by a motor to realize the active control rotation of the thigh rod and the shank rod so as to reach a determined position; the passive joint is arranged at the tail end of the shank rod and is connected with the shank rod through a cylindrical pin, sliding grooves in the tail end of the shank rod and the foot connecting piece are matched with the sliding block to limit the small-range swing of the adsorption device, the passive joint is mainly added to ensure that the adsorption device can automatically rotate to a certain angle to align the position by relying on the adsorption force between the adsorption device and the wall surface of a water cooling wall during power-on adsorption, and finally the maximum adsorption force is realized.
The thigh rod transmission part and the thigh rod mechanism are controlled by a motor to swing to reach a determined position. The swing of the thigh is realized through synchronous belt transmission, and the transmission mechanism is fixed on three platforms on the screw and nut mechanism.
The transmission mechanism of the shank part is controlled by a motor to control the swinging angle, the swinging of the shank is realized by driving a bevel gear through a servo motor, the change of the space pose of the shank rod part is realized by the bevel gear transmission, and the transmission mechanism is fixed in a thigh part.
The passive joint on the leg root part is arranged at the tail end of a shank rod, the shank rod is connected with a cylindrical pin, and the tail end of the shank rod and a sliding groove on the magnetic foot connecting piece are matched with a sliding block to limit the small-range swing of the adsorption device. The passive joint is mainly added to ensure that the adsorption device can automatically rotate a certain angle to align the position by relying on the adsorption force between the adsorption device and the wall surface of the water-cooled wall during power-on adsorption, and finally, the adsorption force is maximized.
Each mechanical leg is provided with two magnetic feet, a II-type electromagnet and a direct current excitation mode are selected, the arc-shaped electromagnet corresponding to the water cooling pipe is designed according to the shape of the water cooling pipe, so that the maximum area of contact with the water cooling wall pipe can be ensured, and the electromagnet is adsorbed and drives the elastic device connected to the water cooling pipe through the flange to stretch when the water cooling pipe is electrified, so that the elastic device has certain elasticity; when the power is off, the elastic force released by the elastic device during recovery can drive the adsorption device to be away from the wall surface by a certain height, so that the adsorption device can move along with the transmission system and is not contacted with the wall surface, and the movement resistance is reduced; in addition, the elastic device also has the functions of shock absorption and buffering. In the moving process, the front leg and the rear leg alternately move forwards by moving along with the moving platform, and the middle leg are arranged on the bottom plate, are indirectly connected with the screw rod and move randomly.
The maintenance mechanism is fixed on the lower surface of the whole mechanism through a special structure, a double-disc brush structure is adopted, the motor drives a brush disc shaft to rotate through a coupler, and the rotation of two shafts can be controlled at one time through synchronous belt transmission, so that the rotation of the two disc brushes is driven, and the cleaning task is efficiently completed.
The camera shooting part is fixed on the cleaning mechanism, and the wireless camera can be used for monitoring the condition of the water-cooling wall surface in a long distance in real time.
The invention provides a wall-climbing robot for maintenance and monitoring of a boiler water wall of a power plant in a special environment.
The invention is explained in detail by taking fig. 1 to fig. 4 as an example, in fig. 1, a main body moving platform mechanism 1 of the wall-climbing robot realizes the movement in the vertical direction, wherein a main transmission part is arranged in the main body platform mechanism 1; the first moving platform 4, the fixed platform 5 and the second moving platform 6 are arranged on the main body platform mechanism and are used for bearing the movement of other mechanisms, wherein the moving platforms are directly connected with the slide rails, and the fixed platforms are arranged on the slide rails and are on the same horizontal plane with the two groups of moving platforms; the wall-climbing robot maintenance mechanism 2 is arranged in the middle of the lower surface of the main body platform 1; the mechanical legs 3 of the wall-climbing robot are respectively fixed on the moving platform and the fixed platform by six mechanical legs which are symmetrically distributed, and three mechanical legs are arranged on each side.
The main body moving platform mechanism 1 is explained in detail by figure 2, the main body moving platform is composed of two groups of centrosymmetric lead screw nut platform transmission mechanisms, all parts are fixedly installed on a bottom plate 7, a first servo motor 12 drives a triple gear 11 to rotate, so that a lead screw nut mechanism 10 is indirectly transmitted, the output direction of a motor shaft is changed, the design length of the robot is shortened, the lead screw nut mechanism 10 is installed on the bottom plate 7 through a lead screw seat 14, two sliding rails 8 are installed on the bottom plate 7, the moving platform 4 and the moving platform 7 are connected with the sliding rails 8 through eight sliding blocks 9 and are connected with a lead screw through a nut sliding block 13, the platform is driven through the linear motion of a nut, and the platform is linearly moved.
The mechanical legs are illustrated in detail by fig. 3, and are mounted on the moving platform, and the front and rear four legs are mounted on the moving platforms 4 and 6 and move back and forth along with the platform; two middle legs are arranged on the fixed platform 5, are indirectly connected with the screw rod and move randomly, and each mechanical leg consists of a thigh rod 17, a shank rod 21, a leg root part 22, an elastic self-adaptive device 23, a magnetic foot 24 and a transmission mechanism. Each thigh angle transmission mechanism is arranged on the movable platform, and the shank angle transmission mechanism is arranged inside a thigh. The thigh lever 17 is fixed at one end to the moving platform by a first link pivot 25, at the other end to the shank lever 21 by a second link pivot 26, at the other end to the shank element by a third link pivot 27, which is connected to the magnetic foot 24 by a spring adaptive device 23. The whole mechanical leg can rotate around the first active joint, the lower leg can rotate around the second active joint, and the leg root part can rotate around the third passive joint. The thigh rod rotates and is driven by a second motor 15 fixed on the platform to drive a synchronous belt 16 to rotate, and the shank rod rotates and is driven by a third motor 18 fixed inside the thigh rod to drive a space bevel gear 20 to rotate, so that the transverse flexible movement of the robot is realized.
The maintenance mechanism 2 is described in detail by the figure 4, a cleaning shell 28 of the maintenance mechanism is fixed in the middle of the lower surface of the main body moving platform 1, a double-disc brush structure is adopted, a servo motor in the shell drives a brush disc shaft 38 to rotate through a coupler 29, and the rotation of the two shafts can be controlled at one time through the transmission of a synchronous belt 30, so that the rotation of the two disc brushes 31 is driven, and the cleaning task is efficiently completed; the wireless camera 32 is arranged on the cleaning shell, so that the condition of the water-cooling wall surface can be monitored in a long distance at any time.
Furthermore, each mechanical leg of the wall-climbing robot is provided with two magnetic feet, and for a boiler water wall with the diameter d of a light pipe being 60mm, part of electromagnets of the magnetic feet are designed into arc-shaped structures which are the same as those of the exposed water wall pipe, so that the effective contact area during adsorption is increased, and the stability is improved. The internal structure of the magnetic foot part is shown in fig. 5, and the magnetic foot part is composed of an arc-shaped electromagnet 33, a coil 34, an electromagnet core 35 and a magnetic yoke 36 and is connected with the leg root part 22 through an elastic device 23. The adsorption force F of a single adsorption device is 300N, the requirements of no falling and no overturn can be met sufficiently through calculation, a II-type electromagnet and a direct current excitation mode are selected and designed to be an arc-shaped electromagnet, the single adsorption device is an arc-shaped electromagnet, two magnetic poles are arranged, two working air gaps are formed between the single adsorption device and an armature, the two working air gaps are connected in series, the adsorption force of the single adsorption device is generated by the two working air gaps together, and the adsorption force of each working air gap is half of the total adsorption force.
The working principle of the electromagnet in design is shown in fig. 6, after the iron core 35 is inserted into the coil 34, the iron core 35 is magnetized by the magnetic field of the coil 34, the magnetized iron core also becomes a magnet, thus the two magnetic fields are mutually superposed to enhance the magnetism of the magnetic field, and when the electromagnet is electrified, the electromagnet generates magnetic force to adsorb the water-cooled wall 37, so that the elastic device 23 is driven to stretch, and the elastic device has certain elasticity; when the power is off, the elastic force released by the elastic device during recovery can drive the adsorption device to be away from the wall surface by a certain height, so that the adsorption device can move along with the transmission system and is not contacted with the wall surface, and the movement resistance is reduced; in addition, the elastic device also has the functions of shock absorption and buffering.
Further, to ensure that the robot can work in a specific environment, the water-cooling wall surface is a large pipe array surface formed by welding round pipes and flat steel, and only 1/3 is exposed, so that the invention analyzes specific environmental data (the environment can be changed, and the analysis is specific for convenience): when the robot realizes the span, the robot must span the pitch between two pipes by 80mm to ensure the realization of the function, a mechanical leg motion coordinate system is shown in fig. 7, two position coordinates which the tail end of a lower leg rod of the robot should reach are designed to be (60, 260) and (140, 260) according to the motion situation of the robot, a mathematical model and space coordinates are taken as known conditions, and the swing angle ranges of the leg rod are respectively set to be (-80 degrees, -20 degrees) and (-90 degrees, 30 degrees) according to the structure of the designed robot. The thigh rod L1 is 210mm, and the shank rod L2 is 100mm, the shank end can reach the expected working space, and has a certain stability margin. Thigh rods and shank rods with different lengths can be designed according to different diameters and pitches of the water cooling pipes.
The gait of the robot moving vertically is shown in fig. 8, in which the black circle represents that the adsorption device is in an adsorption state, and the white circle represents that the adsorption device is in a relaxation state. The '0' is the initial state of the robot, all the adsorption devices on the six legs are in the adsorption state, and the state of the robot is the most stable at the moment; then, the suction devices of the front two legs are released and ready to move forward, as shown in figure 1; under the transmission of the screw pair, the front two legs are driven to move forward to reach the position shown by '2'; at the moment, the adsorption devices of the front two legs adsorb to finish one-time forward movement, the middle two legs start to be separated from the adsorption state to prepare for advancing, the movement actions of the front two legs are repeated as shown in figure 3, and so on, and finally the whole body is advanced in a biped gait movement mode.
The transverse moving gait of the robot is shown in figure 9, as shown in the figure, 0 is the initial state of the robot, all the adsorption devices on the six legs are in an adsorption state, and the robot is in the most stable state at the moment; then, the suction device of leg one is released and ready to cross, as shown in fig. 1; the transverse movement between the two pipes is realized by adjusting the swing angle of each rod piece of the leg part, and the 2 state is reached; at this time, the adsorption device of the first leg adsorbs the first leg to finish one transverse movement, and the second leg starts to be separated from the adsorption state to prepare for starting the transverse movement, as shown in a figure 3; and repeating the motion of the first leg, as shown in the figure 4, and so on, and finally realizing the total crossing of the six legs of the robot.
In summary, the invention relates to a novel six-foot wall-climbing robot for overhauling the boiler water wall of a special large and medium power station, which comprises a main transmission system for realizing the longitudinal linear movement of the robot on a vertical wall surface; the transverse motion mechanism of the three-degree-of-freedom mechanical leg realizes the adsorption function and the obstacle crossing function of the robot and spans in different working intervals; realize the maintenance mechanism of sweeping the deposition and function of making a video recording. The robot comprises a robot body, wherein two groups of ball screw nut moving platforms driven by centrosymmetric servo motors are installed on the robot body, six mechanical legs are installed on each moving platform, the front and rear groups of mechanical legs move along with the moving platforms, the middle group of mechanical legs are fixed on a fixed platform in the middle of a machine body and move randomly, each mechanical leg is composed of a thigh rod controlled to swing by a synchronous belt transmission mechanism, a shank rod controlled to swing by a space bevel gear transmission mechanism, a leg root part capable of realizing passive adjustment and a magnetic foot connected through an elastic device, a passive adjusting device at the leg root part and an arc-shaped structure of the magnetic foot part meet special operation requirements, and the robot can flexibly move. The middle of the lower surface of the robot main body is provided with a cleaning mechanism and a detection device through bolts. The electromagnetic wall-climbing robot has the advantages of strong load capacity, flexible movement and strong wall surface adaptability, almost realizes the full coverage of the interior of a boiler without dead angles, and has good application prospect.
Claims (10)
1. The utility model provides a novel six sufficient boiler water-cooling wall overhauls robot which characterized in that: the movable maintenance platform comprises a main body movable platform mechanism, a main transmission part arranged in the main body movable platform mechanism, two movable platforms and a fixed platform which are arranged on the main transmission part, mechanical legs symmetrically arranged on two sides of the platform, and an overhauling mechanism arranged below the main body movable platform mechanism, wherein the fixed platform is arranged between the two movable platforms.
2. The novel hexapod boiler water wall service robot of claim 1, characterized in that: the main body moving platform mechanism comprises a bottom plate, two sliding rails symmetrically arranged on two sides of the bottom plate, and a sliding block arranged on the sliding rails, wherein the moving platform spans across the two sliding rails and is connected with the sliding block, and the fixed platform spans across the middle position of the two sliding rails.
3. The novel hexapod boiler water wall service robot of claim 2, characterized in that: the main transmission part is provided with two groups of main transmission parts which are oppositely arranged on the bottom plate, each group comprises a first motor arranged on the bottom plate, a triple gear mechanism connected with the output end of the motor and a lead screw nut mechanism connected with the output end of the triple gear mechanism, and the two moving platforms are fixedly connected with nuts in the corresponding lead screw nut mechanisms respectively.
4. The novel hexapod boiler water wall service robot as claimed in claim 1, 2 or 3, wherein: the mechanical leg comprises a motor II arranged on the moving platform, a synchronous belt mechanism connected with the output end of the motor II, a thigh rod hinged with a shaft of the output end of the synchronous belt mechanism, a motor III arranged on the thigh rod, a bevel gear transmission mechanism connected with the output end of the motor III, a shank rod hinged at the end part of the thigh rod through a shaft of the output end of the bevel gear transmission mechanism, a shank part hinged at the end part of the shank rod, an elastic device arranged at the lower end of the shank part, and a magnetic foot arranged below the elastic device, wherein the magnetic resistance comprises a magnetic yoke arranged outside a spring, two electromagnetic cores symmetrically arranged on the magnetic yoke, a coil arranged outside the electromagnetic cores, and an arc-shaped electromagnet arranged at the lower ends of the coil and the electromagnetic cores.
5. The novel hexapod boiler water wall service robot as claimed in claim 2 or 3, characterized in that: the maintenance mechanism comprises a cleaning shell arranged at the lower end of the bottom plate, a cleaning motor arranged in the shell, two brush disc shafts arranged below the cleaning shell, a synchronous belt arranged between the two brush disc shafts, and a conveying disc arranged at the lower end of the two brush disc shafts, wherein one of the two brush disc shafts is connected to the output end of the cleaning motor.
6. The novel hexapod boiler water wall service robot of claim 4, characterized in that: the maintenance mechanism comprises a cleaning shell arranged at the lower end of the bottom plate, a cleaning motor arranged in the shell, two brush disc shafts arranged below the cleaning shell, a synchronous belt arranged between the two brush disc shafts, and a conveying disc arranged at the lower end of the two brush disc shafts, wherein one of the two brush disc shafts is connected to the output end of the cleaning motor.
7. The novel hexapod boiler water wall service robot as claimed in claim 2 or 3, characterized in that: the number of the sliding blocks on each sliding rail is four.
8. The novel hexapod boiler water wall service robot of claim 4, characterized in that: the number of the sliding blocks on each sliding rail is four.
9. The novel hexapod boiler water wall service robot of claim 5, characterized in that: the number of the sliding blocks on each sliding rail is four.
10. The novel hexapod boiler water wall service robot of claim 6, characterized in that: the number of the sliding blocks on each sliding rail is four.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911255558.3A CN110901785B (en) | 2019-12-10 | 2019-12-10 | Novel six-foot boiler water wall maintenance robot |
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| CN112722104A (en) * | 2020-12-28 | 2021-04-30 | 广东工业大学 | Foot adheres to fixed establishment's wall climbing robot |
| CN113771981A (en) * | 2021-10-08 | 2021-12-10 | 浙江友联修造船有限公司 | Crawler-type wall-climbing robot for ship and control method thereof |
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