CN114047248A - Ship flue cleaning and detecting robot and cleaning and detecting method thereof - Google Patents
Ship flue cleaning and detecting robot and cleaning and detecting method thereof Download PDFInfo
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- CN114047248A CN114047248A CN202111326982.XA CN202111326982A CN114047248A CN 114047248 A CN114047248 A CN 114047248A CN 202111326982 A CN202111326982 A CN 202111326982A CN 114047248 A CN114047248 A CN 114047248A
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- 238000004140 cleaning Methods 0.000 title claims abstract description 36
- 238000000034 method Methods 0.000 title claims description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 57
- 238000001514 detection method Methods 0.000 claims abstract description 44
- 230000007547 defect Effects 0.000 claims abstract description 25
- 238000007599 discharging Methods 0.000 claims abstract description 13
- 239000000779 smoke Substances 0.000 claims abstract description 10
- 230000005415 magnetization Effects 0.000 claims abstract description 7
- 238000005253 cladding Methods 0.000 claims description 18
- 230000004907 flux Effects 0.000 claims description 17
- 239000000428 dust Substances 0.000 claims description 16
- 230000001360 synchronised effect Effects 0.000 claims description 11
- 239000000463 material Substances 0.000 claims description 9
- 230000002093 peripheral effect Effects 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 238000005516 engineering process Methods 0.000 claims description 4
- 235000019504 cigarettes Nutrition 0.000 claims description 3
- 230000035699 permeability Effects 0.000 claims description 3
- 238000004064 recycling Methods 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 2
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- 238000004519 manufacturing process Methods 0.000 abstract description 2
- 230000006698 induction Effects 0.000 description 6
- 238000005096 rolling process Methods 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 230000002950 deficient Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005406 washing Methods 0.000 description 2
- 239000002253 acid Substances 0.000 description 1
- 239000003929 acidic solution Substances 0.000 description 1
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- 239000011449 brick Substances 0.000 description 1
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- 238000005260 corrosion Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
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Abstract
The invention discloses a ship flue cleaning and detecting robot which comprises universal joints, a supporting wheel mechanism, a cleaning pipe driving joint, a magnetic leakage detecting joint, a computer joint and an ash discharging joint which are sequentially arranged at intervals, wherein the cleaning pipe driving joint, the magnetic leakage detecting joint, the computer joint and the ash discharging joint are coaxially connected through the universal joints respectively, and one end of the same side of the magnetic leakage detecting joint, the computer joint and the ash discharging joint is provided with the supporting wheel mechanism respectively. And provides a cleaning detection method thereof. The invention has the characteristics of low cost, simple structure, easy maintenance and the like, can thoroughly realize manual replacement and automation of the ash removal of the smoke pipeline, and has the condition of actual production. The detection mode of mixing axial detection and circumferential detection is adopted, the advantages of axial magnetization and circumferential magnetization are combined, and the magnetic sensor is sensitive to axial and circumferential defects.
Description
Technical Field
The invention relates to a cleaning and detecting robot, in particular to a ship flue cleaning and detecting robot and a cleaning and detecting method thereof.
Background
In order to ensure the normal operation of the ship boiler, the ship flue needs to be maintained and detected, so that the flue is ensured to be smooth and not damaged. The ship flue is in the adverse circumstances of high salinity, high humidity and high temperature, has received the corruption easily, and the corruption easily leads to the pipeline attenuation, and then the damage shortens the operation life-span of boats and ships smoke exhaust system and relevant equipment, promotes the maintenance cost of boats and ships.
The existing maintenance means mainly comprise water washing and manual shoveling. The main disadvantages of water washing are that the consumed water resource is large, the load on the navigation ship is large, and the ash slag is dissolved and then becomes an acid solution, so that the corrosion to a flue is accelerated; if the acidic solution flows into the boiler, the refractory bricks of the boiler wall are easily damaged, and larger loss is caused. If manual soot removal is carried out, the hearth temperature is high, the working environment is severe, and the damage to the bodies of workers is large.
At present, there is not an effectual laying dust treatment facility in the market can replace the manual work to carry out deashing and ash discharge work completely, and some mills adopt the mode that manual dust removal and bucket formula ash discharge equipment combined together, but the one load capacity of deashing equipment is limited, need load many times in addition repeatedly, fail to improve dust collection efficiency and reduce artifical risk.
Disclosure of Invention
The purpose of the invention is as follows: aiming at the problems, the invention aims to provide a ship flue cleaning and detecting robot, which solves the problem of ash discharge in a ship flue, detects the problem of sensitivity to the directionality of defects, meets the requirements of ship flue cleaning and detecting, improves the dust removal efficiency and reduces the manual risk, and provides a cleaning and detecting method thereof.
The technical scheme is as follows: the utility model provides a boats and ships flue clearance inspection robot, including universal joint, supporting wheel mechanism and the scavenge pipe actuating section of interval arrangement in proper order, the magnetic leakage detects the festival, the computer festival, arrange grey festival, between scavenge pipe actuating section and the magnetic leakage detection festival, between magnetic leakage detection festival and the computer festival, respectively through a universal joint coaxial coupling between computer festival and the grey festival of arranging, one of magnetic leakage detection festival, the computer festival, arrange one of grey festival homonymy serves and install a supporting wheel mechanism respectively.
Further, the pigging driving section comprises a pigging steel brush, a brush head motor, a bracket, a walking driving motor, a gear assembly, a spring, a bearing plate, synchronous belts, link mechanisms, walking wheels and a connecting table, wherein the walking driving motor is arranged on the inner side surface of one end of the bracket, the brush head motor is arranged on the outer side surface of the bracket, the pigging steel brush is connected with the brush head motor, the gear assembly is arranged in the bracket and is connected with the walking driving motor, the link mechanisms are uniformly arranged on the periphery of the bracket at intervals, each link mechanism is respectively connected with the gear assembly, at least two walking wheels are arranged on the outer side end of each link mechanism at intervals, one walking wheel on each link mechanism is connected with the gear assembly through one synchronous belt, the bearing plate is arranged on the inner side surface of the other end of the bracket through the spring and is sequentially connected with the link mechanisms, one end of the connecting table is connected with the bottom bracket, the other end is connected with the magnetic leakage detection joint through a universal joint.
Further, the gear assembly comprises a first conical gear, a second conical gear and a disc bevel gear, wherein the disc bevel gear is connected with a motor shaft of the walking driving motor, the second conical gear is uniformly distributed in the circumferential direction of the disc bevel gear at intervals and is respectively meshed with the second conical gear, the number of the second conical gears is equal to that of the link mechanisms, each second conical gear is respectively connected with one tail bevel gear through a gear shaft, the gear shafts are installed on the support, each link mechanism is respectively provided with one first conical gear, each first conical gear is respectively meshed with the corresponding tail bevel gear, and the first conical gear on each link mechanism is respectively connected with one walking wheel on the link mechanism through a synchronous belt.
Furthermore, the connecting rod mechanism comprises two U-shaped long rods and a U-shaped short rod, the two U-shaped long rods are opposite at intervals, the open ends of the two U-shaped long rods are respectively connected with the support, the interconnection ends of the two U-shaped long rods are respectively connected with the walking wheels, the interconnection ends of the U-shaped short rods are respectively connected with the middle parts of the two U-shaped long rods, and the open ends of the two U-shaped long rods are connected with the support plate.
Further, the magnetic leakage detection section comprises a mounting flange, a magnetic leakage sleeve and a magnetic leakage detection unit, wherein the mounting flange is respectively installed at two opposite ends of the magnetic leakage sleeve, one of the mounting flanges is connected with the pigging driving joint through a universal joint, the other mounting flange is connected with the computer joint through the universal joint and is provided with a supporting wheel mechanism, and the magnetic leakage detection unit is installed on the outer peripheral surface of the magnetic leakage sleeve along the circumferential direction of the magnetic leakage detection unit.
Preferably, the magnetic leakage detection unit comprises a front cladding plate, a wear-resistant gasket, a magnetic conductive gasket, two magnets, an axial detector, a rear cladding plate, a circumferential detector, a front spring leaf, a magnetic conductive base, a rear spring leaf and a detector base, wherein two ends of the magnetic conductive base are respectively connected with the front cladding plate and the rear cladding plate, the bottom of the front cladding plate is connected with one end of the front spring leaf, the other end of the front spring leaf is connected with the outer peripheral surface of the magnetic leakage sleeve, the bottom of the rear cladding plate is connected with one end of the rear spring leaf, the other end of the rear spring leaf is connected with the outer peripheral surface of the magnetic leakage sleeve, so that the magnetic conductive base is suspended along the axial direction of the magnetic leakage sleeve, the magnetic conductive base is provided with two magnets at intervals, each magnet is provided with one wear-resistant gasket, the magnetic conductive gasket is arranged between the two magnets, the axial detector is arranged on the magnetic conductive base, and the circumferential detector is arranged on the detector base at intervals, the detector base is arranged on the peripheral surface of the magnetic leakage sleeve on one side of the magnetic conduction base and is parallel to the magnetic conduction base.
Furthermore, the computer section comprises a computer sleeve with flanges at two ends, a mileage wheel is installed at one end of the computer sleeve, a computer system is arranged in the computer sleeve, and the magnetic leakage detection section is in signal connection with the computer system.
Furthermore, arrange the ash festival including both ends be equipped with the row's ash sleeve of flange to and the row's ash pipe of arranging ash sleeve one end intercommunication, supporting wheel mechanism installs in row's ash sleeve and is close to one end of arranging the ash pipe.
Further, supporting wheel mechanism includes a plurality of supporting wheel subassemblies that are circumference interval equipartition, and the supporting wheel subassembly includes the connecting rod, supports walking wheel, supporting spring, supports the base, and the support base is the L type, and connecting rod, supporting spring, support base connect gradually two liang of and constitute the triangle-shaped structure, support walking wheel and install in the connecting rod both sides in connecting rod and supporting spring's junction, support the lateral surface of the link of base and connecting rod and leak magnetism and detect festival or computer festival or arrange the one end of grey festival and be connected.
A cleaning and detecting method of the ship flue cleaning and detecting robot comprises the following steps:
the method comprises the following steps: the robot is placed in the pipeline, the upper computer system controls the operation of the pigging driving section, the pigging driving section operates to clean cigarette ash in the pipeline, and meanwhile, the driving mechanism operates to drive the robot to walk in the pipeline;
step two: the external strong magnetic field generated by the magnetic leakage detection section saturates and magnetizes the ship pipe wall, the magnetic permeability at the defect is reduced, the magnetic resistance is increased, the magnetic force lines at the defect are redistributed, part of the magnetic flux directly passes through the defect or bypasses the defect from the inside of the material, and part of the magnetic flux leaks into the space on the surface of the material, so that a magnetic leakage field is formed at the defect on the surface of the material, and a magnetic leakage field signal is obtained by using the Hall sensor;
step three: after the magnetic flux leakage detection section detects the saturation magnetization of the pipe wall and the defect signal, the magnetic flux leakage detection signal is processed and stored by the computer section and fed back to the upper computer system through a cable;
step four: the negative pressure cleaning technology is adopted, and the dust cleaned by the dust discharging joint is conveyed out of the smoke tube and is loaded into a dust recycling treatment vehicle outside the smoke tube.
Has the advantages that: compared with the prior art, the invention has the advantages that: the device has the characteristics of low cost, simple structure, easy maintenance and the like, can thoroughly realize manual replacement and automation of flue pipe ash removal, and has the conditions of actual production. The detection mode of mixing axial detection and circumferential detection is adopted, the advantages of axial magnetization and circumferential magnetization are combined, and the magnetic sensor is sensitive to axial and circumferential defects. The pipe cleaning driving section is provided with a traveling mechanism with active speed control, and can control and adjust the running speed of the robot to be within an expected range so as to obtain the best dust cleaning effect and magnetic flux leakage detection effect.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a side view of the present invention;
FIG. 3 is a schematic structural view of a support wheel assembly;
FIG. 4 is a schematic front view of the pigging drive section;
FIG. 5 is a schematic view of the gearing assembly drive scheme;
FIG. 6 is a side view of the pigging drive section;
FIG. 7 is a schematic structural diagram of a leakage magnetic detecting section;
fig. 8 is a schematic view of the magnet arrangement and the direction of the magnetic induction lines.
Detailed Description
The present invention will be further illustrated with reference to the following figures and specific examples, which are to be understood as merely illustrative and not restrictive of the scope of the invention.
A ship flue cleaning and detecting robot is shown in figures 1-8 and comprises a universal joint 5, a supporting wheel mechanism 8, and a pigging driving joint 1, a magnetic flux leakage detecting joint 2, a computer joint 3 and an ash discharging joint 4 which are sequentially arranged at intervals.
The pigging driving joint 1 and the magnetic leakage detection joint 2, the magnetic leakage detection joint 2 and the computer joint 3, and the computer joint 3 and the ash discharge joint 4 are coaxially connected through a universal joint 5 respectively.
The pigging driving section 1 comprises a pigging steel brush 14, a brush head motor 15, a support 16, a walking driving motor 17, a gear assembly, a spring 22, a support plate 23, a synchronous belt 24, a link mechanism 25, walking wheels 27 and a connecting table 6, wherein the walking driving motor 17 is arranged on the inner side surface of one end of the support 16, the brush head motor 15 is arranged on the outer side surface, the pigging steel brush 14 is connected with the brush head motor 15, the gear assembly is arranged in the support 16 and connected with the walking driving motor 1, the link mechanism 25 is uniformly arranged on the periphery of the support 16 at intervals, the gear assembly comprises a conical gear I18, a tail bevel gear 19, a conical gear II 20 and a disc bevel gear 21, the disc bevel gear 21 is connected with a motor shaft of the walking driving motor 17, the conical gear II 20 is uniformly arranged on the circumference of the disc bevel gear 21 at intervals and respectively meshed with the conical gear II, the number of the conical gear II 20 is equal to the number of the link mechanism 25, each second conical gear 20 is connected with one tail bevel gear 19 through a gear shaft, the gear shaft is installed on the support 16, each first conical gear 18 is installed on each connecting rod mechanism 25, each first conical gear 18 is meshed with the corresponding tail bevel gear 19, and the first conical gear 18 on each connecting rod mechanism 25 is connected with one traveling wheel 27 on the connecting rod mechanism through a synchronous belt 24.
At least two walking wheels 27 are installed at intervals on the outer side end of each link mechanism 25, one walking wheel 27 on each link mechanism 25 is connected with the gear assembly through a synchronous belt 24, the supporting plate 23 is installed on the inner side face of the other end of the support 16 through a spring 22 and is sequentially connected with the link mechanisms 25, one end of the connecting table 6 is connected with the bottom support 26, and the other end of the connecting table is connected with the magnetic leakage detection joint 2 through the universal joint 5. The link mechanism 25 comprises two long U-shaped rods and a short U-shaped rod, the two long U-shaped rods are opposite at intervals, the open ends of the two long U-shaped rods are respectively connected with the bracket 16, the interconnecting ends are respectively connected with the walking wheels 27, the interconnecting ends of the short U-shaped rods are respectively connected with the middle parts of the two long U-shaped rods, and the open ends are connected with the support plate 23.
The brush head motor 15 is powered by a cable to drive the cleaning steel brush 14 to work to finish the dust cleaning work, when the walking drive motor 17 works, the disc bevel gear 21 is driven to move, if three conical gear pairs 20 are provided, each three conical gear pair 20 is meshed with the disc bevel gear 21 in an angle of 120 degrees, when the disc bevel gear 21 moves, the conical gear pairs 20 are driven to work through gear transmission, the conical gear pairs 20 drive the tail bevel gear 19 to work through a gear shaft, the tail bevel gear 19 is meshed with the conical gear pairs 18, the walking drive motor 17 transmits power to the conical gear pairs 18 through the gear transmission, when the walking wheels 27 are pressed, the connecting rod mechanism 25 drives the supporting plate 23 to press downwards, the supporting plate 23 is pushed upwards by the counter force of the spring 22, the force is transmitted to the walking wheels 27 through the connecting rod mechanism 25 to ensure that the walking wheels 27 are tightly attached to the pipe wall, and the conical gear pairs 18 are connected to the walking wheels 27 through a synchronous belt 24, the power is transmitted to the travelling wheels 27 through the transmission of the synchronous belt 24 to drive the whole mechanism to travel.
Magnetic leakage detection festival 2 includes mounting flange 28, magnetic leakage sleeve 36, magnetic leakage detecting element, a mounting flange 28 is installed respectively to the relative both ends of magnetic leakage sleeve 36, one of them mounting flange 28 is connected with dredging pipe drive festival 1 through a universal joint 5, another mounting flange 28 is connected and installs a supporting wheel mechanism 8 through a universal joint 5 and computer festival 3, magnetic leakage detecting element installs a plurality ofly along its circumference on magnetic leakage sleeve 36's the outer peripheral face. The magnetic leakage detection unit comprises a front cladding plate 29, a wear-resistant gasket 30, a magnetic conductive gasket 31, a magnet 32, an axial detector 33, a rear cladding plate 34, a circumferential detector 35, a front spring piece 37, a magnetic conductive base 38, a rear spring piece 39 and a detector base, wherein two ends of the magnetic conductive base 38 are respectively connected with the front cladding plate 29 and the rear cladding plate 34, the bottom of the front cladding plate 29 is connected with one end of the front spring piece 37, the other end of the front spring piece 37 is connected with the outer circumferential surface of a magnetic leakage sleeve 36, the bottom of the rear cladding plate 34 is connected with one end of the rear spring piece 39, the other end of the rear spring piece 39 is connected with the outer circumferential surface of the magnetic leakage sleeve 36, so that the magnetic conductive base 38 is suspended along the axial direction of the magnetic leakage sleeve 36, two magnets 32 are installed on the magnetic conductive base 38 at intervals, one wear-resistant gasket 30 is installed on each magnet 32, the magnetic conductive gasket 31 is arranged between the two magnets, the axial detector 33 is installed on the base 38 between the two magnets 32, two circumferential detectors 35 are mounted at intervals on a detector base, and the detector base is mounted on the outer circumferential surface of the leakage sleeve 36 on the side of the magnetic conductive base 38 and is parallel to the magnetic conductive base 38. The axial direction detector 33 and the circumferential direction detector 35 are both hall sensors.
The computer section 3 comprises a computer sleeve with flanges at two ends, one end of the computer sleeve is provided with a mileage wheel, a computer system is arranged in the computer sleeve, and the magnetic leakage detection section 2 is in signal connection with the computer system. The distance of walking of robot is recorded to the mileage wheel, and the mileage wheel avoids computer festival outer wall to suffer wearing and tearing with pipeline inner wall rolling friction, and axial detector 33 among computer system and the magnetic leakage detecting element, circumference detector 35 are connected, are connected with upper computer system through the cable.
The ash discharging joint 4 comprises an ash discharging sleeve with flanges at two ends and an ash discharging pipe 9 communicated with one end of the ash discharging sleeve, and the supporting wheel mechanism 8 is installed at one end, close to the ash discharging pipe 9, of the ash discharging sleeve. The ash discharge pipe 9 adopts a negative pressure technology to intensively transport the ash cleaned by the cleaning pipe driving section 1 out of the smoke pipe and load the ash into a dust recovery vehicle outside the smoke pipe.
And one end of the same side of the magnetic flux leakage detection section 2, the computer section 3 and the ash discharge section 4 is respectively provided with a supporting wheel mechanism 8.
Supporting wheel mechanism 8 includes a plurality of supporting wheel subassemblies 7 that are circumference interval equipartition, supporting wheel subassembly 7 includes connecting rod 10, support walking wheel 11, supporting spring 12, support base 13 is the L type, connecting rod 10, supporting spring 12, support base 13 two liang of connections in proper order constitute triangular structure, support walking wheel 11 and install in connecting rod 10 both sides at the junction of connecting rod 10 and supporting spring 12, the lateral surface and the magnetic leakage of the link of support base 13 and connecting rod 10 detect festival 2 or computer festival 3 or arrange grey festival 4 one end and be connected. The mounting flange at the end part of the ash discharge joint is provided with a supporting wheel assembly 7, and the running resistance is reduced through the rolling friction between the supporting wheel assembly 7 and the inner wall of the pipeline. A supporting wheel assembly 7 is arranged on the magnetic flux leakage detection section end mounting flange 28, and running resistance is reduced through rolling friction between the supporting wheel assembly 7 and the inner wall of the pipeline. When supporting walking wheel 11 and receiving pressure, supporting spring 12 compresses, realizes the reducing, through supporting walking wheel 11 and pipeline inner wall rolling friction, when reducing running resistance, avoids each section outer wall to suffer wearing and tearing.
The arrangement directions of the magnet blocks of the magnetic leakage detection unit are shown in figures 7 and 8, the magnetic induction line directions are directed to S level from N level, axial magnetic induction lines and circumferential magnetic induction lines are formed in the pipeline through staggered arrangement of the positions of the magnet blocks, if the pipe wall in the axial direction is defective, part of the magnetic induction lines leak into the air around the pipe wall to form a magnetic leakage field, the axial detector detects the magnetic leakage field in the air at the defect position, so that the condition of the defect of the axial pipe wall is obtained, if the pipe wall in the circumferential direction is defective, part of the magnetic induction lines leak into the air around the pipe wall to form the magnetic leakage field, and the circumferential detector detects the magnetic leakage field in the air at the defect position, so that the condition of the defect of the circumferential pipe wall is obtained.
The detection method of the ship flue cleaning and detecting robot comprises the following steps:
the method comprises the following steps: the robot is placed in the pipeline, the upper computer system controls the operation of the pigging driving section, the pigging driving section operates to clean cigarette ash in the pipeline, and meanwhile, the driving mechanism operates to drive the robot to walk in the pipeline;
step two: the external strong magnetic field generated by the magnetic leakage detection section saturates and magnetizes the ship pipe wall, the magnetic permeability at the defect is reduced, the magnetic resistance is increased, the magnetic force lines at the defect are redistributed, part of the magnetic flux directly passes through the defect or bypasses the defect from the inside of the material, and part of the magnetic flux leaks into the space on the surface of the material, so that a magnetic leakage field is formed at the defect on the surface of the material, and a magnetic leakage field signal is obtained by using the Hall sensor;
step three: after the magnetic flux leakage detection section detects the saturation magnetization of the pipe wall and the defect signal, the magnetic flux leakage detection signal is processed and stored by the computer section and fed back to the upper computer system through a cable;
step four: the negative pressure cleaning technology is adopted, and the dust cleaned by the dust discharging joint is conveyed out of the smoke tube and is loaded into a dust recycling treatment vehicle outside the smoke tube.
Claims (10)
1. The utility model provides a boats and ships flue clearance inspection robot which characterized in that: including universal joint (5), supporting wheel mechanism (8) and pigging drive section (1) of interval arrangement in proper order, the magnetic leakage detects festival (2), computer festival (3), arrange grey festival (4), between pigging drive section (1) and magnetic leakage detection festival (2), magnetic leakage detects festival (2) and computer festival (3), respectively through a universal joint (5) coaxial coupling between computer festival (3) and the grey festival (4) of row, magnetic leakage detects festival (2), computer festival (3), arrange one of grey festival (4) homonymy and serve and install a supporting wheel mechanism (8) respectively.
2. The ship flue cleaning and detecting robot of claim 1, wherein: the pigging driving section (1) comprises a pigging steel brush (14), a brush head motor (15), a support (16), a walking driving motor (17), a gear assembly, a spring (22), a support plate (23), a synchronous belt (24), a connecting rod mechanism (25), walking wheels (27) and a connecting table (6), wherein the walking driving motor (17) is installed on the inner side surface of one end of the support (16), the brush head motor (15) is installed on the outer side surface, the pigging steel brush (14) is connected with the brush head motor (15), the gear assembly is installed inside the support (16) and is connected with the walking driving motor (17), the connecting rod mechanism (25) is uniformly installed on the periphery of the support (16) at intervals, each connecting rod mechanism (25) is respectively connected with the gear assembly, at least two walking wheels (27) are installed on the outer side end of each connecting rod mechanism (25) at intervals, and one walking wheel (27) on each connecting rod mechanism (25) is connected with the gear assembly through one synchronous belt (24) The support plate (23) is arranged on the inner side face of the other end of the support (16) through a spring (22) and is sequentially connected with the plurality of link mechanisms (25), one end of the connecting table (6) is connected with the bottom support (26), and the other end of the connecting table is connected with the magnetic flux leakage detection joint (2) through the universal joint (5).
3. The ship flue cleaning and detecting robot of claim 2, wherein: the gear assembly comprises a first conical gear (18) and a tail bevel gear (19), the walking mechanism comprises two conical gears (20) and two disc bevel gears (21), wherein the disc bevel gears (21) are connected with a motor shaft of a walking driving motor (17), the two conical gears (20) are uniformly distributed in the circumferential direction of the disc bevel gears (21) at intervals and are respectively meshed with the disc bevel gears, the number of the two conical gears (20) is equal to that of the connecting rod mechanisms (25), each two conical gear (20) is respectively connected with one tail bevel gear (19) through one gear shaft, the gear shafts are installed on a support (16), each connecting rod mechanism (25) is respectively provided with one conical gear (18), each conical gear (18) is respectively meshed with the corresponding tail bevel gear (19), and the conical gear (18) on each connecting rod mechanism (25) is respectively connected with one walking wheel (27) on the connecting rod mechanism through one synchronous belt (24).
4. The ship flue cleaning and detecting robot of claim 2, wherein: the connecting rod mechanism (25) comprises two U-shaped long rods and a U-shaped short rod, the two U-shaped long rods are opposite at intervals, the open ends of the two U-shaped long rods are respectively connected with the support (16), the interconnection ends of the two U-shaped long rods are respectively connected with the traveling wheels (27), the interconnection ends of the U-shaped short rod are respectively connected with the middle parts of the two U-shaped long rods, and the open ends of the two U-shaped long rods are connected with the support plate (23).
5. The ship flue cleaning and detecting robot of claim 1, wherein: magnetic leakage detection festival (2) is including mounting flange (28), magnetic leakage sleeve (36), magnetic leakage detection unit, a mounting flange (28) is installed respectively at the relative both ends of magnetic leakage sleeve (36), one of them mounting flange (28) are connected with dredging pipe actuating section (1) through a universal joint (5), another mounting flange (28) are connected and are installed a supporting wheel mechanism (8) through a universal joint (5) and computer festival (3), magnetic leakage detection unit installs a plurality ofly along its circumference on the outer peripheral face of magnetic leakage sleeve (36).
6. The ship flue cleaning and detecting robot of claim 5, wherein: the magnetic leakage detection unit comprises a front cladding plate (29), a wear-resistant gasket (30), a magnetic conductive gasket (31), a magnet (32), an axial detector (33), a rear cladding plate (34), a circumferential detector (35), a front spring piece (37), a magnetic conductive base (38), a rear spring piece (39) and a detector base, wherein two ends of the magnetic conductive base (38) are respectively connected with the front cladding plate (29) and the rear cladding plate (34), the bottom of the front cladding plate (29) is connected with one end of the front spring piece (37), the other end of the front spring piece (37) is connected with the outer peripheral surface of a magnetic leakage sleeve (36), the bottom of the rear cladding plate (34) is connected with one end of the rear spring piece (39), the other end of the rear spring piece (39) is connected with the outer peripheral surface of the magnetic leakage sleeve (36), so that the magnetic conductive base (38) is suspended along the axial direction of the magnetic leakage sleeve (36), two magnets (32) are installed on the magnetic conductive base (38) at intervals, each magnet (32) is provided with a wear-resistant gasket (30), a magnetic conduction gasket (31) is arranged between the wear-resistant gaskets and the magnetic conduction gaskets, the axial detector (33) is arranged between the two magnets (32) on a magnetic conduction base (38), the circumferential detectors (35) are arranged on the detector base at intervals, and the detector base is arranged on the outer peripheral surface of a magnetic leakage sleeve (36) on one side of the magnetic conduction base (38) and is parallel to the magnetic conduction base (38).
7. The ship flue cleaning and detecting robot of claim 1, wherein: the computer section (3) comprises a computer sleeve with flanges at two ends, one end of the computer sleeve is provided with a mileage wheel, a computer system is arranged in the computer sleeve, and the magnetic leakage detection section (2) is in signal connection with the computer system.
8. The ship flue cleaning and detecting robot of claim 1, wherein: arrange grey festival (4) including both ends be equipped with the row's grey sleeve of flange to and arrange grey pipe (9) with row's grey sleeve one end intercommunication, supporting wheel mechanism (8) are installed in row's grey sleeve and are close to one of row's grey pipe (9) and serve.
9. The ship flue cleaning and detecting robot of claim 1, wherein: supporting wheel mechanism (8) are including a plurality of supporting wheel subassemblies (7) that are circumference interval equipartition, supporting wheel subassembly (7) are including connecting rod (10), support walking wheel (11), supporting spring (12), support base (13) are the L type, connecting rod (10), supporting spring (12), support base (13) two liang of connections in proper order constitute triangular structure, support walking wheel (11) are installed in connecting rod (10) both sides in the junction of connecting rod (10) and supporting spring (12), the lateral surface of the link of supporting base (13) and connecting rod (10) is connected with the one end that magnetic leakage detected festival (2) or computer festival (3) or row ash festival (4).
10. The cleaning and detecting method of the ship flue cleaning and detecting robot as claimed in any one of claims 1 to 9, characterized by comprising the following steps:
the method comprises the following steps: the robot is placed in the pipeline, the upper computer system controls the operation of the pigging driving section, the pigging driving section operates to clean cigarette ash in the pipeline, and meanwhile, the driving mechanism operates to drive the robot to walk in the pipeline;
step two: the external strong magnetic field generated by the magnetic leakage detection section saturates and magnetizes the ship pipe wall, the magnetic permeability at the defect is reduced, the magnetic resistance is increased, the magnetic force lines at the defect are redistributed, part of the magnetic flux directly passes through the defect or bypasses the defect from the inside of the material, and part of the magnetic flux leaks into the space on the surface of the material, so that a magnetic leakage field is formed at the defect on the surface of the material, and a magnetic leakage field signal is obtained by using the Hall sensor;
step three: after the magnetic flux leakage detection section detects the saturation magnetization of the pipe wall and the defect signal, the magnetic flux leakage detection signal is processed and stored by the computer section and fed back to the upper computer system through a cable;
step four: the negative pressure cleaning technology is adopted, and the dust cleaned by the dust discharging joint is conveyed out of the smoke tube and is loaded into a dust recycling treatment vehicle outside the smoke tube.
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