CN205203190U - A tub robot is climbed to permanent magnetism chain formula based on long -range drive of wifi - Google Patents
A tub robot is climbed to permanent magnetism chain formula based on long -range drive of wifi Download PDFInfo
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- CN205203190U CN205203190U CN201521068827.2U CN201521068827U CN205203190U CN 205203190 U CN205203190 U CN 205203190U CN 201521068827 U CN201521068827 U CN 201521068827U CN 205203190 U CN205203190 U CN 205203190U
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- damping sheet
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Abstract
A tub robot is climbed to permanent magnetism chain formula based on long -range drive of wifi belongs to boiler water wall detection area. The utility model relates to a problem that the area is big, the position disperses, inconvenient measurement brings very big difficulty for the staff of knowing breach dikes cold wall pipe thickness check. A tub robot is climbed to permanent magnetism chain formula based on long -range drive of wifi, the permanent magnetism chain cup joints in pinch roller, driven shaft and the driving shaft outside simultaneously, the control signal output of driver is connected to the control signal output of wifi transmission circuit, and DC servo motor's drive signal input is connected to the drive signal output of driver, and DC servo motor passes through the driving shaft and drives the main wheel rotation, and the ultrasonic thickness measurement appearance is used for detecting water -cooling wall sail cold wall pipe's thickness, realizes wireless wifi data interaction between wifi transmission circuit and the host computer. Be used for carrying out the thickness measuring to water -cooling wall fusion bonding layer.
Description
Technical field
The utility model belongs to boiler water wall detection field, particularly relates to the permanent-magnet chain-type tube climber device people based on wifi remote boot server.
Background technology
In station boiler, Bailey wall runs throughout the year, especially during workload height, goods fluid amount is large, under the material circulated washes away, boiler water-wall tube is very easy to be worn, especially the situation that many positions pipe is worn bottom boiler wear resistant crook, Bailey wall smoke outlet, pendant superheater etc. is very serious, power station staff needs accurately to measure pipe wall thickness and changes the safe and stable operation guaranteeing boiler in time, but the area of water screen tube Thickness sensitivity is large, position disperses, is inconvenient to measure and brings very large difficulty to staff.Further, carry out the thickness measurement of boiler water of electric power plant cold wall surface, superficial dust process, to work such as situation shootings in stove time, work under bad environment in boiler, manual operation work efficiency is low, burner hearth very high manual operation time there is personal safety hidden danger.
Utility model content
The utility model is that the area in order to solve water screen tube Thickness sensitivity is large, position disperses, is inconvenient to measure the problem bringing very large difficulty to staff, now provides the permanent-magnet chain-type tube climber device people based on wifi remote boot server.
Based on the permanent-magnet chain-type tube climber device people of wifi remote boot server, it comprises: the wheels of upper computer, connecting portion and two symmetrical structures;
Connecting portion comprises: vibration damping sheet group, vibration damping sheet bracing frame and leading screw 8;
Vibration damping sheet group is grid shape, and this vibration damping sheet group all can be stretched horizontal and vertical, vibration damping sheet bracing frame comprises the two parts be separated from each other, the two ends of vibration damping sheet group are hinged with two parts of vibration damping sheet bracing frame respectively, leading screw 8 carries out fore and aft motion for driving vibration damping sheet group, and two wheels are separately fixed on two parts of vibration damping sheet bracing frame;
Each wheels comprise: contact roller stay bearing plate 4, actuator 5, trailing wheel 6, from wheeling supporting frame 7, ultrasonic thickness gauge 9, drive wheel carrier 11, permanent-magnet chain 12, contact roller 13, compress wheel shaft 14, wifi transmission circuit, driven shaft 15, carbon fiber support 16, imput shaft 17, main wheel 18 and DC servo motor 19;
Compress wheel shaft 14, driven shaft 15 and imput shaft 17 to be parallel to each other, and compress the top that wheel shaft 14 is positioned at driven shaft 15 and imput shaft 17, contact roller 13 is fixed on and compresses wheel shaft 14 end, main wheel 18 is fixed on imput shaft 17 end, trailing wheel 6 is fixed on driven shaft 15 end, and permanent-magnet chain 12 is socketed in outside contact roller 13, driven shaft 15 and imput shaft 17 simultaneously;
Carbon fiber support 16 is longitudinally arranged, wheels are fixedly connected with by the part of carbon fiber support 16 with vibration damping sheet bracing frame, wheel carrier 11 is driven to be fixed on the end of carbon fiber support 16, the head end of imput shaft 17 is rotationally connected with driving wheel carrier 11, and imput shaft 17 is mutually vertical with carbon fiber support 16, the head end of carbon fiber support 16 is fixed on from wheeling supporting frame 7, the head end of driven shaft 15 be rotationally connected from wheeling supporting frame 7, contact roller stay bearing plate 4 is fixed on and drives on wheel carrier 11, the head end and the contact roller stay bearing plate 4 that compress wheel shaft 14 are rotationally connected, wifi transmission circuit and actuator 5 are all fixed on contact roller stay bearing plate 4,
The control signal mouth of wifi transmission circuit connects the control signal mouth of actuator 5, the drive singal mouth of actuator 5 connects the driving signal input of DC servo motor 19, DC servo motor 19 drives main wheel 18 to rotate by imput shaft 17, ultrasonic thickness gauge 9 is fixed in carbon fiber support 16, ultrasonic thickness gauge 9, for detecting the thickness of water screen tube on Bailey wall, realizes wireless wifi data interaction between wifi transmission circuit and upper computer.
Beneficial effect: the permanent-magnet chain-type tube climber device people based on wifi remote boot server described in the utility model, freely can walk along tube wall vertical direction on boiler water wall, gather material thickness, and then provide data for tube wear situation under trailer record, whether change Bailey wall pipe for power plant staff provides reference is provided, the utility model degree of automation is high, build small volume and less weight.
Accompanying drawing explanation
Fig. 1 is the structural representation of the permanent-magnet chain-type tube climber device people based on wifi remote boot server described in the utility model;
Fig. 2 is A portion enlarged drawing in Fig. 1;
Fig. 3 is the electrical structure schematic diagram of the permanent-magnet chain-type tube climber device people based on wifi remote boot server described in the utility model.
Detailed description of the invention
Detailed description of the invention one: illustrate present embodiment referring to figs. 1 through Fig. 3, the permanent-magnet chain-type tube climber device people based on wifi remote boot server described in present embodiment, it comprises: the wheels of upper computer, connecting portion and two symmetrical structures;
Connecting portion comprises: vibration damping sheet group, vibration damping sheet bracing frame and leading screw 8;
Vibration damping sheet group is grid shape, and this vibration damping sheet group all can be stretched horizontal and vertical, vibration damping sheet bracing frame comprises the two parts be separated from each other, the two ends of vibration damping sheet group are hinged with two parts of vibration damping sheet bracing frame respectively, leading screw 8 carries out fore and aft motion for driving vibration damping sheet group, and two wheels are separately fixed on two parts of vibration damping sheet bracing frame;
Each wheels comprise: contact roller stay bearing plate 4, actuator 5, trailing wheel 6, from wheeling supporting frame 7, ultrasonic thickness gauge 9, drive wheel carrier 11, permanent-magnet chain 12, contact roller 13, compress wheel shaft 14, wifi transmission circuit, driven shaft 15, carbon fiber support 16, imput shaft 17, main wheel 18 and DC servo motor 19;
Compress wheel shaft 14, driven shaft 15 and imput shaft 17 to be parallel to each other, and compress the top that wheel shaft 14 is positioned at driven shaft 15 and imput shaft 17, contact roller 13 is fixed on and compresses wheel shaft 14 end, main wheel 18 is fixed on imput shaft 17 end, trailing wheel 6 is fixed on driven shaft 15 end, and permanent-magnet chain 12 is socketed in outside contact roller 13, driven shaft 15 and imput shaft 17 simultaneously;
Carbon fiber support 16 is longitudinally arranged, wheels are fixedly connected with by the part of carbon fiber support 16 with vibration damping sheet bracing frame, wheel carrier 11 is driven to be fixed on the end of carbon fiber support 16, the head end of imput shaft 17 is rotationally connected with driving wheel carrier 11, and imput shaft 17 is mutually vertical with carbon fiber support 16, the head end of carbon fiber support 16 is fixed on from wheeling supporting frame 7, the head end of driven shaft 15 be rotationally connected from wheeling supporting frame 7, contact roller stay bearing plate 4 is fixed on and drives on wheel carrier 11, the head end and the contact roller stay bearing plate 4 that compress wheel shaft 14 are rotationally connected, wifi transmission circuit and actuator 5 are all fixed on contact roller stay bearing plate 4,
The control signal mouth of wifi transmission circuit connects the control signal mouth of actuator 5, the drive singal mouth of actuator 5 connects the driving signal input of DC servo motor 19, DC servo motor 19 drives main wheel 18 to rotate by imput shaft 17, ultrasonic thickness gauge 9 is fixed in carbon fiber support 16, ultrasonic thickness gauge 9, for detecting the thickness of water screen tube on Bailey wall, realizes wireless wifi data interaction between wifi transmission circuit and upper computer.
In present embodiment, vibration damping sheet group comprises 2 damping grid, and each damping grid comprise 4 vibration damping sheets 10; 2 vibration damping sheet 10 mid points in each damping grid are hinged, two vibration damping sheet ends of a damping grid head end are hinged with two vibration damping sheet ends of another damping grid head end respectively, the scalable trellis work of this vibration damping sheet group makes vibration damping sheet group can simultaneous retractable on horizontal and vertical, in order to adjust the spacing of two wheels, leading screw 8 is positioned at the longitudinal direction of 2 damping grid, drive vibration damping sheet group longitudinally to stretch, and then make vibration damping sheet group laterally produce expanding-contracting action simultaneously.Vibration damping sheet group can prevent from occurring seismism in the process of walking.And vibration damping sheet 10 is elastic component, can also ensure when Bailey wall is uneven, vibration damping sheet 10 is due to its elasticity generation slight deformation, robot permanent-magnet chain 12 still can be adsorbed on water cooling tube closely, and can regulate the change of the Thicknesser probe distance pipe surface distance caused because of pipeline bulging deformation.
In the structure of permanent-magnet chain 12, main wheel 18, trailing wheel 6 and compression wheel shaft 14, when main wheel 18 rotates, drive trailing wheel 6 and compression wheel shaft 14 to rotate by permanent-magnet chain 12 simultaneously simultaneously, realize robot ambulation function.
Each wheels also comprise: contact roller spring 13, and this contact roller spring 13 is for providing buffering for contact roller 13.Contact roller 13, driven shaft 15 and imput shaft 17 are common by permanent-magnet chain 12 tensioning.
The stage casing of carbon fiber support 16 is provided with thickness indicator bracing frame, and ultrasonic thickness gauge 9 and contact roller stay bearing plate 4 are all fixed on this thickness indicator bracing frame.Thickness indicator bracing frame is provided with thickness indicator clip, for clamping thickness indicator, makes thickness indicator be detouchable structure.
Upper computer and be fixed on to drive between the wifi transmission circuit on wheel carrier 11 and realize wireless wifi data interaction, and then realize the action of Long-distance Control tube climber device people, avoid staff to enter control in burner hearth, decrease the work capacity of staff, also ensure that personal security.
Detailed description of the invention two: present embodiment is described further the permanent-magnet chain-type tube climber device people based on wifi remote boot server described in detailed description of the invention one, in present embodiment, it also comprises: front probe bracket 1, probe sleeve 2 and rear probe bracket 3;
Rear probe bracket 3 is fixed on from wheeling supporting frame 7, and front probe bracket 1 is fixed on rear probe bracket 3, and probe sleeve 2 is fixed on front probe bracket 1, and probe sleeve 2 is for supporting the probe of ultrasonic thickness gauge 9.
Detailed description of the invention three: present embodiment is described further the permanent-magnet chain-type tube climber device people based on wifi remote boot server described in detailed description of the invention one, and in present embodiment, the cross-sectional plane of main wheel 18 and trailing wheel 6 is trapezoidal.
Main wheel 18 and trailing wheel 6 are the primary members driving permanent-magnet chain 12 to move, and the section of main wheel 18 and trailing wheel 6 in echelon; Contact roller 13 mainly plays the effect of tensioning permanent-magnet chain 12, and when this tube climber device people can be made in the process of creeping to run into obstacle, plays the effect of damping.
Claims (3)
1. based on the permanent-magnet chain-type tube climber device people of wifi remote boot server, it is characterized in that, based on the permanent-magnet chain-type tube climber device people of wifi remote boot server, it comprises: the wheels of upper computer, connecting portion and two symmetrical structures;
Connecting portion comprises: vibration damping sheet group, vibration damping sheet bracing frame and leading screw (8);
Vibration damping sheet group is grid shape, and this vibration damping sheet group all can be stretched horizontal and vertical, vibration damping sheet bracing frame comprises the two parts be separated from each other, the two ends of vibration damping sheet group are hinged with two parts of vibration damping sheet bracing frame respectively, leading screw (8) carries out fore and aft motion for driving vibration damping sheet group, and two wheels are separately fixed on two parts of vibration damping sheet bracing frame;
Each wheels comprise: contact roller stay bearing plate (4), actuator (5), trailing wheel (6), from wheeling supporting frame (7), ultrasonic thickness gauge (9), drive wheel carrier (11), permanent-magnet chain (12), contact roller (13), compress wheel shaft (14), wifi transmission circuit, driven shaft (15), carbon fiber support (16), imput shaft (17), main wheel (18) and DC servo motor (19);
Compress wheel shaft (14), driven shaft (15) and imput shaft (17) to be parallel to each other, and compress the top that wheel shaft (14) is positioned at driven shaft (15) and imput shaft (17), contact roller (13) is fixed on and compresses wheel shaft (14) end, main wheel (18) is fixed on imput shaft (17) end, trailing wheel (6) is fixed on driven shaft (15) end, and permanent-magnet chain (12) is socketed in contact roller (13), driven shaft (15) and imput shaft (17) outside simultaneously;
Carbon fiber support (16) is longitudinally arranged, wheels are fixedly connected with a part for vibration damping sheet bracing frame by carbon fiber support (16), wheel carrier (11) is driven to be fixed on the end of carbon fiber support (16), the head end of imput shaft (17) is rotationally connected with driving wheel carrier (11), and imput shaft (17) is mutually vertical with carbon fiber support (16), the head end of carbon fiber support (16) is fixed on from wheeling supporting frame (7), the head end of driven shaft (15) be rotationally connected from wheeling supporting frame (7), contact roller stay bearing plate (4) is fixed on and drives on wheel carrier (11), the head end and the contact roller stay bearing plate (4) that compress wheel shaft (14) are rotationally connected, wifi transmission circuit and actuator (5) are all fixed on contact roller stay bearing plate (4),
The control signal mouth of wifi transmission circuit connects the control signal mouth of actuator (5), the drive singal mouth of actuator (5) connects the driving signal input of DC servo motor (19), DC servo motor (19) drives main wheel (18) to rotate by imput shaft (17), ultrasonic thickness gauge (9) is fixed in carbon fiber support (16), ultrasonic thickness gauge (9), for detecting the thickness of water screen tube on Bailey wall, realizes wireless wifi data interaction between wifi transmission circuit and upper computer.
2. the permanent-magnet chain-type tube climber device people based on wifi remote boot server according to claim 1, it is characterized in that, it also comprises: front probe bracket (1), probe sleeve (2) and rear probe bracket (3); Rear probe bracket (3) is fixed on from wheeling supporting frame (7), front probe bracket (1) is fixed on rear probe bracket (3), probe sleeve (2) is fixed on front probe bracket (1), and probe sleeve (2) is for supporting the probe of ultrasonic thickness gauge (9).
3. the permanent-magnet chain-type tube climber device people based on wifi remote boot server according to claim 1, it is characterized in that, the cross-sectional plane of main wheel (18) and trailing wheel (6) is trapezoidal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521068827.2U CN205203190U (en) | 2015-12-18 | 2015-12-18 | A tub robot is climbed to permanent magnetism chain formula based on long -range drive of wifi |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521068827.2U CN205203190U (en) | 2015-12-18 | 2015-12-18 | A tub robot is climbed to permanent magnetism chain formula based on long -range drive of wifi |
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| Publication Number | Publication Date |
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| CN205203190U true CN205203190U (en) | 2016-05-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521068827.2U Active CN205203190U (en) | 2015-12-18 | 2015-12-18 | A tub robot is climbed to permanent magnetism chain formula based on long -range drive of wifi |
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| CN (1) | CN205203190U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109909972A (en) * | 2019-04-17 | 2019-06-21 | 华电电力科学研究院有限公司 | The adjustable water-cooling wall of wheelspan detects robot |
-
2015
- 2015-12-18 CN CN201521068827.2U patent/CN205203190U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109909972A (en) * | 2019-04-17 | 2019-06-21 | 华电电力科学研究院有限公司 | The adjustable water-cooling wall of wheelspan detects robot |
| CN109909972B (en) * | 2019-04-17 | 2024-04-12 | 华电电力科学研究院有限公司 | Wheel tread adjustable water-cooled wall detection robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: No.1, 4th floor, unit 1, Longyue building, Hongqi Street, Nangang concentration District, Harbin Economic Development Zone, Heilongjiang Province Patentee after: Harbin Keneng Cladding Technology Co., Ltd Address before: 150040 Lesong square, Xiangfang District, Harbin City, Heilongjiang Province Patentee before: HARBIN KENENG CLADDING TECHNOLOGY Co.,Ltd. |
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| CP03 | Change of name, title or address |