CN114229434A - Device is put in to thermal power boiler inspection robot - Google Patents

Device is put in to thermal power boiler inspection robot Download PDF

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Publication number
CN114229434A
CN114229434A CN202111645661.6A CN202111645661A CN114229434A CN 114229434 A CN114229434 A CN 114229434A CN 202111645661 A CN202111645661 A CN 202111645661A CN 114229434 A CN114229434 A CN 114229434A
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CN
China
Prior art keywords
driving
lifting
boiler
moving
winding roller
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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.)
Granted
Application number
CN202111645661.6A
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Chinese (zh)
Other versions
CN114229434B (en
Inventor
陈国宝
林宝森
林志贤
涂宏应
冯冰
徐光平
杨树超
张文强
李健
赵大为
李冬梅
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Tri Happiness Technology Co ltd
Guoneng Quanzhou Thermal Power Co ltd
Original Assignee
Beijing Tri Happiness Technology Co ltd
Guoneng Quanzhou Thermal Power Co ltd
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Application filed by Beijing Tri Happiness Technology Co ltd, Guoneng Quanzhou Thermal Power Co ltd filed Critical Beijing Tri Happiness Technology Co ltd
Priority to CN202111645661.6A priority Critical patent/CN114229434B/en
Publication of CN114229434A publication Critical patent/CN114229434A/en
Application granted granted Critical
Publication of CN114229434B publication Critical patent/CN114229434B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00—Mechanical conveyors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G41/00—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames
    • B65G41/001—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base
    • B65G41/003—Supporting frames or bases for conveyors as a whole, e.g. transportable conveyor frames with the conveyor adjustably mounted on the supporting frame or base mounted for linear movement only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
    • B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/92—Devices for picking-up and depositing articles or materials incorporating electrostatic or magnetic grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C11/00—Trolleys or crabs, e.g. operating above runways
    • B66C11/02—Trolleys or crabs, e.g. operating above runways with operating gear or operator's cabin suspended, or laterally offset, from runway or track
    • B66C11/04—Underhung trolleys
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C11/00—Trolleys or crabs, e.g. operating above runways
    • B66C11/16—Rope, cable, or chain drives for trolleys; Combinations of such drives with hoisting gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C19/00—Cranes comprising trolleys or crabs running on fixed or movable bridges or gantries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C9/00—Travelling gear incorporated in or fitted to trolleys or cranes
    • B66C9/14—Trolley or crane travel drives
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Manipulator (AREA)

Abstract

The application relates to a thermal power boiler detection robot throwing device, which comprises a support frame and a frame body positioned on the support frame, wherein one end of the frame body extends into a boiler through a manhole door of the boiler, the other end of the frame body extends out of the boiler, a fixed plate is arranged on the frame body in a sliding mode along the length direction of the frame body, a fixing mechanism used for fixing a water wall detection robot on the fixed plate is arranged on the fixed plate, and a movement driving mechanism used for driving the fixed plate to drive the water wall detection robot to move into or out of the boiler on the frame body is arranged on the frame body; this application has the advantage of saving the manual work and carrying water-cooling wall inspection robot to the interior manpower of boiler.

Description

Device is put in to thermal power boiler inspection robot
Technical Field
The application relates to a boiler detects auxiliary assembly field, especially relates to a device is put in to fossil power boiler inspection robot.
Background
The water-cooled wall is the main heated part of the boiler, and is composed of a plurality of rows of steel pipes and distributed around the hearth of the boiler. The inside of the furnace is flowing water or steam, and the outside receives the heat of the flame of the boiler furnace. The water-cooled wall is used for absorbing the radiation heat of high-temperature flame or smoke in the hearth, generating steam or hot water in the tube, reducing the temperature of the furnace wall and protecting the furnace wall. The boiler water wall can influence the safe operation of boiler if take place to reveal when bursting the pipe phenomenon, current adopt water wall robot usually to crossing when water wall detection, for example, the climbing robot that is used for boiler water wall to detect that application publication number is CN 113086044A's chinese patent discloses, need adopt artificial mode to carry the robot to boiler inside through the manhole door of boiler when needing to detect boiler water wall, and adopt the mode of artifical transport, wasted a large amount of manpowers.
Disclosure of Invention
In order to save artifical transfer robot's manpower, this application provides a device is put in to thermal power boiler detection robot.
The application provides a pair of thermal power boiler inspection robot puts in device adopts following technical scheme:
the utility model provides a thermal power boiler inspection robot input device, includes the support frame and is located the framework on the support frame, the one end of framework extends to inside the boiler through the manhole door of boiler, and the other end extends to outside the boiler, it is provided with the fixed plate to slide along the length direction of framework in the framework, be provided with on the fixed plate and be used for fixing the fixed establishment on the fixed plate with water-cooling wall inspection robot, be provided with in the framework and be used for driving the fixed plate and drive the water-cooling wall inspection robot and be located the framework and move into or shift out the removal actuating mechanism of boiler.
Through adopting above-mentioned technical scheme, can fix water-cooling wall inspection robot on the fixed plate through fixed establishment, actuating mechanism can drive the fixed plate and remove this moment, thereby make the fixed plate drive water-cooling wall inspection robot carry to the boiler in, water-cooling wall inspection robot can detect the condition of boiler water-cooling wall, need not the manual work and carry water-cooling wall inspection robot to the boiler in, thereby the manpower of artifical transport has been saved, and the boiler is its temperature is higher when the operation, the probability that operating personnel takes place danger has been reduced.
Optionally, the fixing mechanism comprises a connecting electromagnet and a connecting plate, the connecting electromagnet is fixedly arranged on the fixing plate, the connecting plate is arranged to be used for being connected with a metal plate adsorbed by the connecting electromagnet, and the water-cooled wall detection robot is fixedly arranged on the connecting plate.
Through adopting above-mentioned technical scheme, through will connecting the electro-magnet circular telegram for connecting the electro-magnet and adsorbing the connecting plate, thereby make the connecting plate drive water-cooling wall inspection robot and fix to the fixed plate on, adopt the setting of connecting the electro-magnet to be convenient for fix the water-cooling wall robot, improved the fixed effect to the water-cooling wall robot.
Optionally, the movable driving mechanism comprises a movable winding roller, an movable driving belt and a movable driving assembly, the movable winding roller is rotatably arranged on the frame body, one end of the movable driving belt is fixedly arranged on the movable winding roller, the other end of the movable driving belt is arranged on one side of the fixed plate in a winding mode, the movable driving belt is arranged on the movable winding roller and moves towards the boiler when being wound on the fixed plate, the movable driving assembly is used for driving the movable winding roller to rotate and driving the movable winding roller to be fixed to any position after rotation, and the movable driving mechanism further comprises a movable driving mechanism which is used for driving the fixed plate to move towards the outside of the boiler when the movable driving belt is arranged on the movable winding roller and is wound on the movable winding roller.
By adopting the technical scheme, the movable winding roller is driven to rotate by the movable driving assembly, so that the movable driving belt is wound on the movable winding roller, the movable driving belt can drive the fixed plate to move towards the interior of the boiler, the conveying of the water-cooled wall detection robot is realized, the conveying at a longer distance can be realized by adopting the movable winding roller and the movable driving belt, and the conveying effect of the water-cooled wall detection robot is improved; when the movable driving assembly drives the movable driving belt to be positioned on the movable winding roller for unwinding, the movable driving mechanism can drive the fixing plate to move towards the outside of the boiler, so that the water-cooled wall detection robot can be conveyed next time.
Optionally, the moving-out driving mechanism includes a moving-out driving belt, one end of the moving-out driving belt is fixedly disposed on the moving winding roller, the other end of the moving-out driving belt is fixedly disposed on the other side of the fixed plate, and when the moving winding roller rotates to drive the moving-in driving belt to be positioned on the moving winding roller for unwinding, the moving-out driving belt is positioned on the moving winding roller for winding so as to drive the fixed plate to move towards the outside of the boiler.
Through adopting above-mentioned technical scheme, when the immigration driving band was located to remove and unreels on the winding roller, the removal was at this moment moved around the winding roller and can be driven to shift out the driving band and wind on moving around the winding roller to make and shift out the driving band and drive the fixed plate and move towards the outside of the boiler, adopt the setting of the immigration driving band cooperation of shifting out, make and move around the winding roller and drive water-cooling wall detection robot and move into or shift out the boiler when forward and reverse rotation, its simple structure has improved the drive effect to the fixed plate.
Optionally, the device is put in to fossil power boiler inspection robot still includes and is used for driving the connecting plate and be close to or keep away from the lift actuating mechanism of fixed plate when connecting the electro-magnet outage.
Through adopting above-mentioned technical scheme, the manhole door because of the boiler has certain height, can drive the connecting plate through lift actuating mechanism and remove towards ground, thereby be convenient for operating personnel to be located subaerial water-cooling wall inspection robot and fix to the connecting plate, drive the connecting plate once more through lift actuating mechanism and remove towards the fixed plate, make the connection electro-magnet fix the connecting plate on the fixed plate, make the fixed plate can drive water-cooling wall inspection robot and move into or shift out the boiler, thereby further saved operating personnel and moved the manpower of water-cooling wall inspection robot.
Optionally, the lifting driving mechanism includes a first lifting driving assembly and a second lifting driving assembly, the first lifting driving assembly is used for driving one side of the connecting plate to lift, and the second lifting driving assembly is used for driving the other side of the connecting plate to lift.
Through adopting above-mentioned technical scheme, when needs fix water-cooling wall detection robot on the connecting plate, it goes up and down to drive the connecting plate through first lift drive assembly and second lift drive assembly simultaneously, the lift effect of connecting plate has been improved, when water-cooling wall detection robot is located the boiler, the both sides that drive the connecting plate through first lift drive assembly and second lift drive assembly move different height, make the connecting plate rotate 90 magnetic roller that drive water-cooling wall detection robot and adsorb on the water-cooling wall of boiler, thereby need not operating personnel and carry the state of water-cooling wall detection robot to adsorbing on the water-cooling wall, the manpower of operating personnel transport water-cooling wall detection robot has further been saved.
Optionally, first lift drive assembly and second lift drive assembly all include to go up and down around winding up roller, lift driving belt and lift runner assembly, first lift drive assembly's lift is around the winding up roller rotation setting on the fixed plate, the one end of first lift drive assembly's lift driving belt is around establishing and fixing on first lift assembly's lift is around the winding up roller, and the other end is fixed to be set up in one side of connecting plate, second lift drive assembly's lift is around the winding up roller rotation setting in the framework, the one end of second lift driving belt is around establishing and fixed connection on second lift drive assembly's lift is around the winding up roller, other end fixed connection is at the opposite side of connecting plate, lift runner assembly is used for driving to go up and down to rotate around the winding up roller and drive and go up and down to fix the position after arbitrary rotation around the winding up roller.
Through adopting above-mentioned technical scheme, drive through lift runner assembly and go up and down to rotate around the winding up roller, go up and down to drive the lift driving band around rolling up around going up and down around the winding up roller, thereby make the lift driving band drive connecting plate lift, when needs drive the connecting plate and rotate 90, the lift driving band through one side drives the connecting plate and removes, the lift driving band of opposite side keep motionless can, adopt to go up and down to set up its simple structure around winding up roller and lift driving band, can realize the lift and the rotation drive to the connecting plate simultaneously.
Optionally, the device is put in to thermal power boiler inspection robot still includes the recovery board, the recovery board be used for with the inside water-cooled wall butt of boiler, the recovery board is including being used for supplying water cold wall inspection robot magnetic adsorption's adsorption plate, be provided with in the framework and be used for driving the recovery board towards the recovery actuating mechanism that is close to or the orientation of keeping away from the boiler manhole door goes up and down.
Through adopting above-mentioned technical scheme, when the water-cooling wall inspection robot that will detect after finishing shifts out the boiler, drive through retrieving actuating mechanism and retrieve on the board goes up and down to the water-cooling wall in the boiler, control water-cooling wall inspection robot this moment and remove to retrieving on the board, drive the lifter plate through retrieving actuating mechanism and go up and down to the position at people's hole door place to be convenient for take out the boiler with the water-cooling wall inspection robot on retrieving the board, the operating personnel of being convenient for retrieves water-cooling wall inspection robot.
Optionally, the support frame is provided with a support member for driving the upper portion of the recovery plate to tightly support the water-cooled wall, and the lower portion of the recovery plate is provided with a fixing member for driving the lower portion of the recovery plate to be fixed on the water-cooled wall.
Through adopting above-mentioned technical scheme, when the recovery board is located the boiler, can support the upper portion of recovering the board tightly to the water-cooled wall through the butt piece, can be fixed the lower part of recovering the board to the water-cooled wall on through the mounting to improved the butt effect of recovering the board butt to on the water-cooled wall, thereby be convenient for water-cooled wall inspection robot removes to retrieve on the board.
Optionally, retrieve actuating mechanism including retrieving around the winding up roller, retrieve the driving band and retrieve drive assembly, retrieving to rotate around the winding up roller and set up in the framework, the one end fixed connection of retrieving the driving band is on retrieving around the winding up roller, and the other end is fixed to be set up on retrieving the board, retrieve drive assembly and be used for driving to retrieve around the winding up roller rotate and drive retrieve around the fixed position to arbitrary rotation back of winding up roller.
Through adopting above-mentioned technical scheme, drive to retrieve through retrieving drive assembly and rotate around the winding up roller for retrieve the driving band and be located to retrieve and wind around rolling up on the winding up roller, thereby make to retrieve the driving band and drive the recovery board and go up and down, adopt to retrieve and set up its simple structure around winding up roller and recovery driving band, improved the drive effect that the board goes up and down is retrieved in the drive.
In summary, the present application includes at least one of the following beneficial technical effects:
the water wall detection robot can be fixed on the fixing plate through the fixing mechanism, and the driving mechanism can drive the fixing plate to move at the moment, so that the fixing plate drives the water wall detection robot to convey the water wall detection robot into the boiler, the water wall detection robot can detect the condition of the water wall of the boiler, the water wall detection robot does not need to be manually conveyed into the boiler, the manual conveying labor is saved, the temperature of the boiler is high during operation, and the danger probability of operators is reduced;
when the water-cooled wall detection robot is required to be fixed on the connecting plate, the first lifting driving assembly and the second lifting driving assembly drive the connecting plate to lift and lower simultaneously, so that the lifting effect of the connecting plate is improved, when the water-cooled wall detection robot is positioned in a boiler, the first lifting driving assembly and the second lifting driving assembly drive two sides of the connecting plate to move by different heights, the connecting plate rotates by 90 degrees to drive the magnetic idler wheels of the water-cooled wall detection robot to be adsorbed on the water-cooled wall of the boiler, an operator is not required to carry the water-cooled wall detection robot to a state of being adsorbed on the water-cooled wall, and the manpower for carrying the water-cooled wall detection robot by the operator is further saved;
when the water wall detection robot after the detection is finished needs to be moved out of the boiler, the recovery plate is driven to lift to the water wall in the boiler through the recovery driving mechanism, the water wall detection robot is controlled to move to the recovery plate at the moment, and the lifting plate is driven to lift to the position of the manhole door through the recovery driving mechanism, so that the water wall detection robot on the recovery plate can be taken out of the boiler conveniently, and an operator can recover the water wall detection robot conveniently.
Drawings
FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present application;
FIG. 2 is a schematic structural view for showing a connection rack and a boiler according to an embodiment of the present application;
FIG. 3 is a schematic structural diagram illustrating a movement drive assembly, a lift drive mechanism, and a recovery drive assembly according to an embodiment of the present application;
FIG. 4 is a schematic structural diagram for showing a fixing plate, a connecting plate and a detection robot according to an embodiment of the application;
FIG. 5 is a schematic structural diagram for showing a fixing plate and a connecting plate according to an embodiment of the present application;
FIG. 6 is a schematic diagram showing the construction of the moving winding roller and the moving in drive belt according to the embodiment of the present application;
FIG. 7 is a schematic diagram showing the construction of the embodiment of the present application for moving the drive roller and removing the drive belt;
FIG. 8 is a schematic structural diagram illustrating the lifting and lowering of the first lifting and lowering assembly with respect to the winding roller and the lifting and lowering drive belt in accordance with an embodiment of the present application;
FIG. 9 is a schematic structural view of a display frame and a second lift assembly according to an embodiment of the present application;
FIG. 10 is a schematic structural view of an embodiment of the present application showing the lift winding roller and lift drive belt of the second lift assembly;
FIG. 11 is a schematic structural view for showing a recovery plate according to an embodiment of the present application;
FIG. 12 is a schematic structural view of an embodiment of the present application for showing an abutment and a fixture;
FIG. 13 is a schematic structural view showing a recovery wind-up roll and a recovery drive belt according to an embodiment of the present application;
FIG. 14 is a schematic diagram showing the construction of the lift roller, lock plate and latch according to an embodiment of the present application.
Description of reference numerals: 1. a support frame; 11. a frame body; 111. a mounting frame; 112. a connecting frame; 113. a right U-shaped frame; 114. a cross beam; 115. an inverted U-shaped frame; 116. a rod body; 117. a first connection frame; 118. a first hook; 12. a fixing plate; 121. a slide rail; 122. a slider; 123. a sliding groove; 124. a stopper; 125. connecting an electromagnet; 126. a connecting plate; 13. moving the winding roller; 131. moving into a driving belt; 132. a first winding roller; 133. a first guide wheel; 134. a second guide wheel; 135. a third guide wheel; 136. a fourth guide wheel; 137. a first hanging ring; 138. removing the drive belt; 139. a second hoisting ring; 14. moving the drive handle; 15. lifting the winding roller; 151. a lifting drive belt; 152. a plate body; 153. a second winding roller; 154. a wire winding hole; 155. a fifth guide wheel; 156. a sixth guide wheel; 157. a seventh leading wheel; 1571. an eighth guide wheel; 158. a third hoisting ring; 159. a lifting driving handle; 16. recovering the plate; 161. an adsorption plate; 162. a baffle plate; 163. tensioning the belt; 164. a second connection frame; 165. a second hook; 166. a first connecting ring; 167. a second connection ring; 168. recovering the electromagnet; 17. recovering the winding roller; 171. recovering the driving belt; 172. a ninth leading wheel; 173. a tenth guide wheel; 174. a fourth hoisting ring; 175. a connecting belt; 176. the driving handle is recovered; 18. a locking plate; 181. a locking hole; 182. a bolt; 2. a boiler; 21. a manhole door; 22. and (5) detecting the robot.
Detailed Description
The present application is described in further detail below with reference to figures 1-14.
The embodiment of the application discloses device is put in to thermal power boiler inspection robot. Referring to fig. 1 and 2, a fire power boiler detection robot throwing device includes a support frame 1 and a frame 11 located on the support frame 1, in this embodiment, the support frame 1 includes two mounting frames 111 and a connecting frame 112, the two mounting frames 111 are located below the frame 11 and located at two sides of the frame 11, the mounting frame 111 near the boiler includes a regular U-shaped frame 113 and a plurality of cross beams 114 crossing in the regular U-shaped frame 113, the frame 11 is fixedly disposed in the U-shaped frame and located between the two cross beams 114, the connecting frame 112 includes an inverted U-shaped frame 115 fixedly disposed on the frame 11, a rod 116 is fixedly disposed on an outer wall of the boiler 2, a plurality of first adjustable frames are disposed between the inverted U-shaped frame 115 and the rod 116, each of the first adjustable frames includes a first connecting frame 117 and a first hook 118 penetrating through and threaded on two sides of the first connecting frame 117, the first hook 118 on one side is used for penetrating through the inverted U-shaped frame 115, the first couple 118 of opposite side is used for the hookup on body of rod 116, and the whole rectangle setting that is of framework 11, and the manhole door 21 that the one end of framework 11 passed through boiler 2 extends to inside the boiler 2, and the other end extends to outside the boiler 2.
With reference to fig. 1 and fig. 3, a fixed plate 12 is slidably disposed on the frame 11 along the length direction of the frame 11, in this embodiment, slide rails 121 are fixedly disposed on the bottom wall of the frame 11 and located at two sides of the frame 11 along the length direction of the frame 11, a plurality of sliders 122 are fixedly disposed on the fixed plate 12 and located at two sides of the fixed plate 12, each slider 122 is provided with a slide groove 123 for the slide rail 121 to move in, the cross section of the slide rail 121 is circularly disposed, the slide grooves 123 are disposed in cooperation with the circular slide rails 121, and the fixed plate 12 is slidably disposed on the frame 11 through the slide rails 121 and the sliders 122; the fixed dog 124 that is provided with in both sides that just is located framework 11 under the framework 11, dog 124 are located between the both sides mounting bracket 111 and are located the position of keeping away from boiler 2, and the one end of slide rail 121 extends to the position at dog 124 place, and in the other end extended to boiler 2, dog 124 can play the effect that blocks to slider 122.
With reference to fig. 4 and 5, in order to fix the water wall detection robot 22 on the fixing plate 12, a fixing mechanism for fixing the water wall detection robot 22 on the fixing plate 12 is disposed on the fixing plate 12, the fixing mechanism includes two connecting electromagnets 125 and two connecting plates 126, the two connecting electromagnets 125 are fixedly disposed on the fixing plate 12, the two connecting electromagnets 125 are disposed through and fixedly connected to two sides of the fixing plate 12, the connecting plates 126 are disposed as metal plates for being adsorbed by the connecting electromagnets 125, and the water wall detection robot 22 is fixedly disposed on the connecting plates 126; in the present embodiment, the shell of the water wall inspection robot 22 and the connection plate 126 are fixed by bolts.
With reference to fig. 2 and 6, the frame 11 is provided with a movement driving mechanism for driving the fixing plate 12 to drive the water wall detection robot 22 to move into or out of the boiler 2 on the frame 11; the moving driving mechanism is used for driving the fixing plate 12 to drive the water wall detection robot 22 to move into or out of the boiler 2.
Referring to fig. 2 and 6, the moving driving mechanism includes a moving winding roller 13, a moving driving belt 131 and a moving driving assembly, the moving winding roller 13 is rotatably disposed below the frame 11 and located between the two mounting brackets 111 and located far away from the boiler 2, the moving winding roller 13 is sleeved with and fixedly connected with two first winding rollers 132, a first guide wheel 133 is rotatably disposed between the frame 11 and located right above the moving winding roller 13, a second guide wheel 134 is rotatably disposed above the frame 11 and located adjacent to the first guide wheel 133, a third guide wheel 135 is rotatably disposed above the frame 11 and located in the boiler 2, a fourth guide wheel 136 is disposed at the position of the end of the frame 11 located in the boiler 2, one end of the moving driving belt 131 is fixedly disposed on one of the first winding rollers 132 of the moving winding roller 13, and the other end of the moving winding roller 133 sequentially winds around the first guide wheel 133, A second guide wheel 134, a third guide wheel 135 and a fourth guide wheel 136, wherein the end of the moving-in driving belt 131 far away from the first winding roller 132 is fixedly arranged on the surface of the fixing plate 12 far away from the ground and positioned at one side close to the boiler 2, a first hanging ring 137 is arranged on the fixing plate 12 and positioned at the position of the end of the moving-in driving belt 131, the end of the moving-in driving belt 131 passes through the first hanging ring 137 and is sewn on the first hanging ring 137 in a sewing manner, so that the end of the moving-in driving belt 131 is fixed on the first hanging ring 137 (the connection state of the moving-in driving belt 131 and the first hanging ring 137 is not shown in the figure), and the moving-in driving belt 131 rotates around the winding roller 13 to drive the fixing plate 12 to move towards the boiler 2 when the moving-in winding roller 13 winds around; in other embodiments, the run-in drive belt 131 may be replaced with a wire rope.
Referring to fig. 6 and 7, the moving driving mechanism further includes a moving-out driving mechanism for driving the fixed plate 12 to move toward the outside of the boiler 2 when the moving-in driving belt 131 is unwound from the moving winding roller 13; the moving-out driving mechanism comprises a moving-out driving belt 138, one end of the moving-out driving belt 138 is fixedly arranged on the other first winding roller 132 of the moving winding roller 13, the other end of the moving-out driving belt 138 is fixedly arranged on the surface, facing away from the ground, of the fixing plate 12 and is positioned on the side, away from the boiler 2, the winding directions of the moving-out driving belt 138 and the moving-in driving belt 131 on the first winding roller 132 and the second winding roller 153 are opposite, and when the moving winding roller 13 rotates to drive the moving-in driving belt 131 to be wound on the moving winding roller 13, the moving-out driving belt 138 is wound on the moving winding roller 13 to drive the fixing plate 12 to move towards the outside of the boiler 2; a second hanging ring 139 is provided on the fixing plate 12 at a position where the end of the removal driving belt 138 is located, and the end of the removal driving belt 138 passes through the second hanging ring 139 and is sewn to itself so that the end of the removal driving belt 138 is fixed to the second hanging ring 139 (the connection state of the removal driving belt 138 and the second hanging ring 139 is not shown in the figure), and in other embodiments, the removal driving belt 138 may be replaced with a wire rope.
With reference to fig. 6 and 7, the moving driving assembly is used for driving the moving winding roller 13 to rotate and driving the moving winding roller 13 to be fixed to a position after any rotation, in this embodiment, the moving driving assembly includes a moving driving handle 14 and a moving driving locking assembly, the moving driving handle 14 is fixedly disposed on the moving winding roller 13, and the moving winding roller 13 can be driven to rotate by moving the driving handle 14, so that the moving winding roller 13 drives the in-moving driving belt 131 to be located on the moving winding roller 13 for winding, so that the fixing plate 12 can move towards the boiler 2; in other embodiments, the movable driving assembly may be replaced by a motor, and the motor may be used to drive the movable winding roller 13 to rotate, and at the same time, the movable winding roller 13 may be driven to be fixed to a state after being rotated arbitrarily; the mobile drive lock assembly is used to secure the mobile drive handle 14 in any rotated position.
With reference to fig. 8 and 9, the feeding device of the thermal power boiler 2 detection robot 22 further includes a lifting driving mechanism for driving the connecting plate 126 to approach or move away from the fixing plate 12 when the connecting electromagnet 125 is powered off; the lifting driving mechanism comprises a first lifting driving component and a second lifting driving component, the first lifting driving component is used for driving one side of the connecting plate 126 to lift, and the second lifting driving component is used for driving the other side of the connecting plate 126 to lift; the first lifting drive assembly and the second lifting drive assembly each include a lifting winding roller 15, a lifting drive belt 151, and a lifting rotation assembly.
Referring to fig. 8 and 9, the edge of the fixing plate 12 away from the boiler 2 is detachably connected with a plate body 152 through a bolt, the second hanging ring 139 is fixedly arranged on the plate body 152, the second hanging ring 139 is arranged on the fixing plate 12 through the plate body 152, the lifting winding roller 15 of the first lifting assembly is rotatably arranged on the surface of the plate body 152 away from the frame body 11, three second winding rollers 153 are sleeved and fixedly connected on the lifting winding roller 15, three lifting driving belts 151 of the first lifting driving assembly are arranged, the three lifting driving belts 151 and the three second winding rollers 153 are arranged in a one-to-one correspondence manner, one end of the lifting driving belt 151 of the first lifting driving assembly is wound and fixedly connected on the second winding roller 153 of the lifting winding roller 15, in this embodiment, three winding holes 154 are arranged on the edge of the connecting plate 126 away from the boiler 2, and the end of the lifting winding roller 15 of the first lifting assembly, which is away from the first lifting assembly, passes through the winding holes 154 and is sewn on the end of the first lifting winding roller 15 in a sewing manner And thus to the connection plate 126.
Referring to fig. 9 and 10, the lifting/lowering/winding roller 15 of the second lifting/lowering driving unit is rotatably disposed in the frame 11 at a position where the end of the frame 11 located outside the boiler 2 is located, a fifth guide wheel 155 is rotatably disposed at a position above the frame 11 and between the second guide wheel 134 and the lifting/winding roller 15, a sixth guide wheel 156 is rotatably disposed above the frame 11 and between the second guide wheel 134 and the third guide wheel 135 and near the third guide wheel 135, a seventh guide wheel 157 is rotatably disposed in the frame 11 and between the sixth guide wheel 156 and the third guide wheel 135, an eighth guide wheel 1571 is rotatably disposed below the frame 11 and between the fifth guide wheel 155 and the sixth guide wheel 156, one end of the lifting/lowering driving belt 151 of the second lifting/lowering driving unit is fixedly connected to the lifting/winding roller 15 of the second lifting/lowering driving unit, and the other end thereof sequentially passes around the fifth guide wheel 155, the sixth guide wheel 155, and the fourth guide wheel 155, The sixth guide wheel 156, the seventh guide wheel 157 and the eighth guide wheel 1571 are fixedly arranged on one side of the connecting plate 126 close to the boiler 2, a third hanging ring 158 is fixedly arranged on the connecting plate 126 at a position where the end of the lifting drive belt 151 of the second lifting assembly is located, the end of the lifting drive belt 151 passes through the third hanging ring 158 and is sewn on the lifting drive belt 151 by adopting a sewing mode so that the end of the lifting drive belt 151 is fixed on the third hanging ring 158 (the connection state of the lifting drive belt 151 and the third hanging ring 158 is not shown in the figure), and in other embodiments, the lifting drive belt 151 can be replaced by a steel wire rope. .
The connecting plate 126 can be driven to ascend and descend by the aid of the first ascending and descending driving assembly and the second ascending and descending driving assembly, when the connecting plate 126 descends to a position close to the ground, an operator can conveniently fix the water wall detection robot 22 to the connecting plate 126, when the fixing plate 12 drives the water wall detection robot 22 to move into the boiler 2, the second ascending and descending driving assembly drives the connecting plate 126 to ascend and descend by stopping driving of the first ascending and descending assembly, so that the connecting plate 126 drives the water wall detection robot 22 to rotate 90 degrees, and magnetic rollers of the water wall detection robot 22 are adsorbed on the water wall of the boiler 2; in other embodiments, the first lifting driving assembly and the second lifting driving assembly may be replaced by electric cylinders fixedly disposed on the fixing plate 12, and electromagnets for attracting the connecting plate 126 are hinged to driving ends of the electric cylinders on two sides, so that the electric cylinders on two sides can drive the electromagnets to lift and rotate the connecting plate 126.
With reference to fig. 9 and 10, the lifting rotating assembly is configured to drive the lifting winding roller 15 to rotate and drive the lifting winding roller 15 to be fixed to a position after any rotation; in this embodiment, the lifting and rotating assemblies of the first lifting and driving assembly and the second lifting and driving assembly each include a lifting and driving handle 159 and a lifting and driving locking assembly, the lifting and driving handle 159 is fixedly disposed on the lifting and winding roller 15, and the lifting and winding roller 15 can be driven to rotate by the lifting and driving handle 159, so that the lifting and driving belt 151 drives the connecting plate 126 to lift or rotate; in other embodiments, the lifting rotating assembly may be replaced by a motor, and the motor may be used to drive the lifting winding roller 15 to rotate, and at the same time, the lifting winding roller 15 may be driven to be fixed to a state after being rotated arbitrarily; the lift drive lock assembly is used to secure the lift drive handle 159 in a rotated position.
With reference to fig. 11 and 12, the device for putting in the thermal power boiler 2 detection robot 22 further includes a recovery plate 16, the recovery plate 16 is used for abutting against the water-cooled wall inside the boiler 2, the recovery plate 16 includes an adsorption plate 161 for magnetic adsorption of the water-cooled wall detection robot 22 and a baffle 162 for isolating the adsorption plate 161 from the water-cooled wall, in this embodiment, the adsorption plate 161 is an iron plate, and the baffle 162 is a rubber plate; in order to fix the recovery plate 16 to the water wall of the boiler 2, an abutting member for driving the upper portion of the recovery plate 16 to abut against the water wall is disposed on the support frame 1, in this embodiment, the abutting member includes a second adjustable frame and a tightening strap 163, the second adjustable frame includes a second connection frame 164 and second hooks 165 passing through and screwed on two sides of the second connection frame 164, a first connection ring 166 passes through and screwed on the beam 114 near the mounting frame 111 of the boiler 2, the second hook 165 on one side is hung in the first connection ring 166, one end of the tightening strap 163 passes through the second hook 165 on the other side and is sewed on itself in a sewing manner so that the end of the tightening strap 163 is fixed on the second hook 165 on the other side (the connection state between the tightening strap 163 and the second hook 165 is not shown in the figure), a second connection ring 167 is fixedly disposed on the rubber plate, the end of the tension band 163 remote from the second hook 165 passes through the second connection ring 167 and is sewn to itself by sewing so that the end of the tension band 163 is fixed to the second connection ring 167 (the connection state of the tension band 163 to the second connection ring 167 is not shown in the figure); the lower part of the recovery plate 16 is provided with a fixing part for driving the lower part of the recovery plate 16 to be fixed on the water-cooled wall; in this embodiment, the mounting is including wearing to establish and recovery electro-magnet 168 on the rubber slab of fixed connection, through the circular telegram to recovery electro-magnet 168 for it can drive the rubber slab and adsorb on the water-cooling wall to retrieve electro-magnet 168.
With reference to fig. 11 and 13, the frame 11 is provided with a recovery driving mechanism for driving the recovery plate 16 to move up and down toward the manhole door 21 of the boiler 2; the recovery driving mechanism comprises a recovery winding roller 17, a recovery driving belt 171 and a recovery driving component, the recovery winding roller 17 is rotatably arranged on the frame body 11 and is positioned at the end part of the frame body 11 positioned outside the boiler 2, the recovery winding roller 17 and the lifting winding roller 15 of the second lifting component are positioned on the same straight line, one end of the recovery driving belt 171 is fixedly connected on the recovery winding roller 17, a ninth guide wheel 172 is rotatably arranged above the frame body 11 and at a position adjacent to the fifth guide wheel 155, a tenth guide wheel 173 is rotatably arranged above the frame body 11 and at a position corresponding to the water wall, the other end of the recovery driving belt 171 sequentially winds the ninth guide wheel 172 and the tenth guide wheel 173 and is fixedly arranged on the recovery plate 16, fourth hanging rings 174 are fixedly arranged on the rubber plate and at two sides of the rubber plate, two connecting belts 175 are fixedly arranged at the end part of the recovery driving belt 171 far away from the recovery winding roller 17, two connecting belts 175 are used to pass through the fourth hanging rings 174 at both sides and are sewn on themselves by sewing so that the ends of the connecting belts 175 are fixed to the fourth hanging rings 174 (the connection state of the connecting belts 175 and the fourth hanging rings 174 is not shown in the drawing), and in other embodiments, the recovery driving belt 171 may be replaced with a wire rope.
With reference to fig. 11 and 13, the recycling driving assembly is configured to drive the recycling winding roller 17 to rotate and drive the recycling winding roller 17 to be fixed to a position after any rotation; in this embodiment, the recovery driving assembly includes a recovery driving handle 176 and a recovery driving locking assembly, the recovery driving handle 176 is fixedly disposed on the recovery winding roller 17, and the recovery driving handle 176 can drive the recovery winding roller 17 to rotate, so that the recovery driving belt 171 drives the recovery plate 16 to lift; in other embodiments, the recovery rotation assembly may be replaced by a motor, and the motor may be used to drive the recovery winding roller 17 to rotate, and at the same time, may drive the recovery winding roller 17 to be fixed to a state after any rotation; the retraction drive locking assembly is used to secure the retraction drive handle 176 in the rotated position.
As shown in fig. 14, the mobile driving locking assembly, the lifting driving locking assembly and the recycling driving locking assembly are all provided with a locking plate 18 which is sleeved and fixedly connected on the roller shafts of the mobile winding roller, the lifting winding roller and the recycling winding roller, a plurality of locking holes 181 are uniformly formed in the locking plate 18 along the circumferential position of the locking plate 18, the mobile driving locking assembly, the lifting driving locking assembly and the recycling driving locking assembly further comprise a bolt 182 which is fixedly arranged on the frame body 11 and used for being plugged into any one of the locking holes 181 in the locking plate 18, the bolt 182 is the prior art, and in this embodiment, the detailed structure is not repeated.
The implementation principle of the device is put in to thermal power boiler inspection robot of this application embodiment is: when the water wall detection robot 22 needs to be conveyed into the boiler 2, firstly, the winding roller 15 rotates through the lifting of the first lifting component and the second lifting component, so that the lifting driving belt 151 drives the connecting plate 126 to move towards the ground, at this time, the water wall detection robot 22 and the connecting plate 126 are fixed together through the bolts, and then the winding roller 15 reversely rotates through the lifting of the first lifting component and the second lifting component again, so that the lifting driving belt 151 drives the connecting plate 126 to move towards the fixing plate 12, when the connecting plate 126 is abutted to the connecting electromagnet 125 on the fixing plate 12, the connecting electromagnet 125 is electrified, so that the connecting electromagnet 125 adsorbs the connecting plate 126, at this time, the winding roller 13 rotates through driving, the moving winding roller 13 can drive the moving driving belt 131 to be wound on the first winding roller 132, at this time, the moving-out belt 138 is wound on the second winding roller 153, when the water wall detection robot 22 finishes detection, the water wall detection robot 22 is driven to move to the recovery plate 16 to cut off the power of the recovery electromagnet 168, and the recovery winding roller 17 is driven to rotate, so that the recovery driving belt 171 drives the recovery plate 16 to ascend toward the manhole door 21 of the boiler 2, and at this time, the operator can take out the water wall inspection robot 22 from the boiler 2 through the recovery plate 16.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims (10)

1. The utility model provides a device is put in to thermal power boiler inspection robot which characterized in that: frame (11) on support frame (1) and being located support frame (1), inside manhole door (21) that boiler (2) were passed through to the one end of frame (11) extended to boiler (2), outside the other end extended to boiler (2), the length direction slip of following frame (11) on frame (11) was provided with fixed plate (12), be provided with on fixed plate (12) and be used for fixing the fixed establishment on fixed plate (12) with water-cooling wall detection robot (22), be provided with on frame (11) and be used for driving fixed plate (12) and drive water-cooling wall detection robot (22) and be located immigration or shift out the removal actuating mechanism of boiler (2) on frame (11).
2. The thermal power boiler detection robot throwing device according to claim 1, characterized in that: the fixing mechanism comprises a connecting electromagnet (125) and a connecting plate (126), the connecting electromagnet (125) is fixedly arranged on the fixing plate (12), the connecting plate (126) is arranged to be a metal plate used for being adsorbed by the connecting electromagnet (125), and the water-cooled wall detection robot (22) is fixedly arranged on the connecting plate (126).
3. The thermal power boiler detection robot throwing device according to claim 1, characterized in that: the moving driving mechanism comprises a moving winding roller (13), an in-moving driving belt (131) and a moving driving component, the movable winding roller (13) is rotationally arranged on the frame body (11), one end of the moving-in driving belt (131) is fixedly arranged on the movable winding roller (13), the other end of the moving-in driving belt bypasses one side of the frame body (11) and is fixedly arranged on one side of the fixed plate (12), the moving-in driving belt (131) is positioned on the moving winding roller (13) and drives the fixed plate (12) to move towards the boiler (2) when being wound, the mobile driving component is used for driving the mobile winding roller (13) to rotate and driving the mobile winding roller (13) to be fixed to a position after random rotation, the moving driving mechanism further comprises a moving-out driving mechanism which is used for driving the fixing plate (12) to move towards the outside of the boiler (2) when the moving-in driving belt (131) is positioned on the moving winding roller (13) for unwinding.
4. The thermal power boiler detection robot throwing device according to claim 3, characterized in that: the moving-out driving mechanism comprises a moving-out driving belt (138), one end of the moving-out driving belt (138) is fixedly arranged on the moving winding roller (13), the other end of the moving-out driving belt is fixedly arranged on the other side of the fixed plate (12), and when the moving winding roller (13) rotates to drive the moving-in driving belt (131) to be positioned on the moving winding roller (13) to unwind, the moving-out driving belt (138) is positioned on the moving winding roller (13) to wind so as to drive the fixed plate (12) to move towards the outside of the boiler (2).
5. The thermal power boiler detection robot throwing device according to claim 2, characterized in that: the device for putting the thermal power boiler (2) detection robot (22) further comprises a lifting driving mechanism for driving the connecting plate (126) to be close to or far away from the fixing plate (12) when the connecting electromagnet (125) is powered off.
6. The thermal power boiler detection robot throwing device according to claim 5, characterized in that: the lifting driving mechanism comprises a first lifting driving component and a second lifting driving component, the first lifting driving component is used for driving one side of the connecting plate (126) to lift, and the second lifting driving component is used for driving the other side of the connecting plate (126) to lift.
7. The thermal power boiler detection robot throwing device according to claim 6, characterized in that: the first lifting driving component and the second lifting driving component respectively comprise a lifting winding roller (15), a lifting driving belt (151) and a lifting rotating component, the lifting winding roller (15) of the first lifting driving component is rotatably arranged on the fixing plate (12), one end of a lifting driving belt (151) of the first lifting driving component is wound and fixed on a lifting winding roller (15) of the first lifting component, the other end is fixedly arranged at one side of the connecting plate (126), the lifting winding roller (15) of the second lifting driving component is rotationally arranged on the frame body (11), one end of a lifting driving belt (151) of the second lifting component is wound and fixedly connected on a lifting winding roller (15) of the second lifting driving component, the other end is fixedly connected on the other side of the connecting plate (126), the lifting rotating assembly is used for driving the lifting winding roller (15) to rotate and driving the lifting winding roller (15) to be fixed to the position after random rotation.
8. The thermal power boiler detection robot throwing device according to any one of claims 1 to 7, characterized in that: thermal power boiler (2) inspection robot (22) input device still includes recovery board (16), recovery board (16) are used for with the inside water-cooled wall butt of boiler (2), recovery board (16) are including adsorption plate (161) that are used for supplying water cold wall inspection robot (22) magnetic adsorption, be provided with on framework (11) and be used for driving recovery board (16) towards the recovery actuating mechanism that is close to or the direction lift of boiler (2) manhole door (21) of keeping away from.
9. The thermal power boiler detection robot throwing device according to claim 8, characterized in that: the support frame (1) is provided with a butt joint part for driving the upper part of the recovery plate (16) to abut against the water-cooled wall, and the lower part of the recovery plate (16) is provided with a fixing part for driving the lower part of the recovery plate (16) to be fixed on the water-cooled wall.
10. The thermal power boiler detection robot throwing device according to claim 8, characterized in that: retrieve actuating mechanism and retrieve drive assembly including retrieving around winding up roller (17), recovery driving band (171), retrieve and rotate around winding up roller (17) and set up on framework (11), the one end fixed connection of retrieving driving band (171) is retrieved around winding up roller (17), and the other end is fixed to be set up on retrieving board (16), retrieve drive assembly and be used for driving to retrieve around winding up roller (17) and rotate and drive and retrieve around the position of winding up roller (17) fixed to arbitrary rotation back.
CN202111645661.6A 2021-12-29 2021-12-29 Thermal power boiler detection robot throwing device Active CN114229434B (en)

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Application Number Priority Date Filing Date Title
CN202111645661.6A CN114229434B (en) 2021-12-29 2021-12-29 Thermal power boiler detection robot throwing device

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Application Number Priority Date Filing Date Title
CN202111645661.6A CN114229434B (en) 2021-12-29 2021-12-29 Thermal power boiler detection robot throwing device

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CN114229434B CN114229434B (en) 2024-08-09

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201010319Y (en) * 2007-04-06 2008-01-23 重汽集团专用汽车公司 Goods handling flat car system
CN202124286U (en) * 2011-06-08 2012-01-25 侯唯敏 Mobile carrying mechanism and bidirectional carrying mechanism
CN104003131A (en) * 2014-06-13 2014-08-27 山东电力建设第一工程公司 Rail-type reciprocating conveying trolley
CN210795550U (en) * 2019-11-06 2020-06-19 姜忠波 Hoisting device for boiler equipment installation
CN211997497U (en) * 2020-03-13 2020-11-24 中国电建集团山东电力建设第一工程有限公司 Boiler body water-cooling wall tube replacement conveyer
CN113086044A (en) * 2021-04-26 2021-07-09 彼合彼方机器人(天津)有限公司 Magnetic wheel type wall-climbing robot for detecting boiler water wall
CN113247778A (en) * 2021-05-13 2021-08-13 山西省工业设备安装集团有限公司 Quick hoist device of water-cooled wall for boiler construction

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201010319Y (en) * 2007-04-06 2008-01-23 重汽集团专用汽车公司 Goods handling flat car system
CN202124286U (en) * 2011-06-08 2012-01-25 侯唯敏 Mobile carrying mechanism and bidirectional carrying mechanism
CN104003131A (en) * 2014-06-13 2014-08-27 山东电力建设第一工程公司 Rail-type reciprocating conveying trolley
CN210795550U (en) * 2019-11-06 2020-06-19 姜忠波 Hoisting device for boiler equipment installation
CN211997497U (en) * 2020-03-13 2020-11-24 中国电建集团山东电力建设第一工程有限公司 Boiler body water-cooling wall tube replacement conveyer
CN113086044A (en) * 2021-04-26 2021-07-09 彼合彼方机器人(天津)有限公司 Magnetic wheel type wall-climbing robot for detecting boiler water wall
CN113247778A (en) * 2021-05-13 2021-08-13 山西省工业设备安装集团有限公司 Quick hoist device of water-cooled wall for boiler construction

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