CN208789812U - A kind of bionic 6-leg formula boiler of power plant water-cooling wall Measuring error climbing robot - Google Patents
A kind of bionic 6-leg formula boiler of power plant water-cooling wall Measuring error climbing robot Download PDFInfo
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- CN208789812U CN208789812U CN201821443326.1U CN201821443326U CN208789812U CN 208789812 U CN208789812 U CN 208789812U CN 201821443326 U CN201821443326 U CN 201821443326U CN 208789812 U CN208789812 U CN 208789812U
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Abstract
The utility model relates to a kind of bionic 6-leg formula boiler of power plant water-cooling wall Measuring error climbing robots, including robot body and a plurality of pedipulator for being set to ontology two sides, every pedipulator includes three large torque steering engines, thigh, shank, leg root element, magnetic foot, elastic self-reacting device is equipped between leg root element and magnetic foot, it is to be pivotally connected between each joint of pedipulator, it is freely rotatable, each steering engine angle is controlled by gait algorithm, six sufficient insect walkings are imitated, realize that robot flexibly walks.Robot body is equipped with light compensating lamp, video camera and flexible mechanical arm, and flexible mechanical arm front end can carry ultrasonic wave thickness measuring probe, water-cooling wall welder, water-cooling wall cutter device, the detection and maintenance for boiler water wall.For magnetic enough using power-off absorption type electromagnet, avoidable abnormal power-down causes robot to fall off.The utility model load capacity is strong, and flexibly, adaptive capability on wall surface is strong for movement, almost realizes boiler internal all standing without dead angle, application prospect is good.
Description
Technical field
The utility model relates to robot automation's Measuring error technical field, specifically a kind of bionic 6-leg formula power plant pots
Furnace water-cooling wall Measuring error climbing robot.
Background technique
Since japanese steel pipe Zhu Shi commercial firm developed the first wheeled climbing robot of magnetism in 1988, climbing robot
Industry is developed rapidly.Hitachi, Japan has developed one 8 sufficient magnetic foot formula climbing robot, the suction provided enough by magnetic
Attached power is adsorbed on wall surface, but since control is more complicated for robot footwork, kinematic dexterity is bad, and uses electromagnet
Suction is provided, there are security risks caused by accident power-off, so not promoting.
Thermal power generation is occupied an leading position in China's power supply.In the boiler, heat is discharged after coal dust firing, these heat
Amount passes to medium in pipe by water screen tube, it is made to be converted to the power generation of superheated steam pushing turbine.Due to running coal ratio
Design coal is poor, so the high temperature corrosion of boiler water wall not can avoid, thermal-flame and sweep of gases water screen tube are any
Pattern, parameter, capacity boiler this corrosion can all occur.Since the height of water-cooling wall is generally in 6-80m, so palpus when maintenance
Full hall scaffold is taken, country's station boiler maintenance now is generally using artificial maintenance, and maintenance danger coefficient is high, the period is long, effect
Difference, price are high.Machine is for the trend that people is that boiler of power plant overhauls.
Domestic many R&D institutions have also carried out a large amount of research in terms of boiler climbing robot, it is previous research shows that
Wheel type mobile formula robot when driving, has comparable advantage in the landform of relatively flat, and movement velocity rapidly, steadily, is tied
Structure and control are also relatively simple, but on uneven ground when driving, energy consumption will greatly increase, the effect of wheel also by serious loss,
Mobile efficiency substantially reduces.In order to improve wheel to the adaptability of soft terrain and uneven ground, crawler-type mobile formula machine
People comes into being but mobility of the caterpillar type robot on uneven ground is still very poor, and fuselage shakes serious when driving.
Current robot and the prior art can not be applied in practice, essentially consist in wall-climbing device human body's
The comprehensive performance Shortcomings of load capacity, kinematic dexterity and wall surface adaptability in terms of these three, cause boiler exam to be tieed up
Repair all manual works over 100 years.
Summary of the invention
Structure is complicated, versatility is poor to solve present in existing climbing robot, and control is complicated, flexibility is strong,
The problems such as higher cost, the utility model provide a kind of bionic 6-leg formula boiler of power plant water-cooling wall Measuring error climbing robot,
The barrier for overcoming the prior art, the Measuring error climbing robot load capacity researched and developed is strong, and flexibly, wall surface adapts to energy for movement
Power is strong, almost realizes boiler internal all standing without dead angle, application prospect is good.The robot of the utility model can be in boiler such as
Level land is carried out, can achieve the place that people is unable to reach, completes job that requires special skills.
It the purpose of this utility model and solves its technical problem and adopts the following technical solutions to realize.It is practical according to this
A kind of bionic 6-leg formula boiler of power plant water-cooling wall Measuring error climbing robot of novel proposition, including robot body and setting
A plurality of pedipulator in robot body two sides, a plurality of pedipulator are symmetrically or non-symmetrically arranged in robot body two sides；
Every pedipulator includes the first steering engine, the second steering engine, third steering engine, thigh part, shank part, leg root zero
Part, magnetic foot, wherein the shell of thigh part and robot body is pivotally connected by the first connecting shaft, thigh part and shank
Part by the second connecting shaft be pivotally connected, shank part be " L " type shell, shank part also with leg root element one
End is pivotally connected by third connecting shaft, and the other end of leg root element passes through elastic self-reacting device with magnetic enough and connect, wherein magnetic
Foot is fixed on elastic self-reacting device, and elastic self-reacting device is connect by the fourth connecting shaft with leg root element；Pedipulator is whole
Body can be rotated around the first connecting shaft, and shank part can be rotated around the second connecting shaft, and leg root element can be rotated around third connecting shaft, bullet
Property self-reacting device can around the fourth connecting shaft in 360 ° rotation；
First steering engine is set in the shell of robot body, and the second steering engine is vertically arranged with third steering engine, altogether
It is same to be placed in the shell of shank part " L " type；
It is additionally provided with light compensating lamp and holder on the shell of the robot body, is provided with video camera on holder, the camera shooting
Machine is around support rod in 360 ° of rotation camera shootings；
Flexible mechanical arm is additionally provided on robot body, operational module is carried in flexible mechanical arm front end；
The magnetic is light-duty big magnetic force magnetic foot enough, and magnetic is disconnected in any unusual condition enough using power-off absorption type electromagnet
When electric, will not fall off wall surface there is a situation where robot；Robot is in moving process, six pedipulator alternating movements,
It lifts the moment of leg, magnet is powered, and magnetic does not have adsorption capacity enough at this time；
The electric control part of the climbing robot uses circuit board, which is arranged in the inner walls of robot body
Between the first steering engine.
It the purpose of this utility model and solves its technical problem also following technical scheme can be used to further realize.
A kind of bionic 6-leg formula boiler of power plant water-cooling wall Measuring error climbing robot above-mentioned, wherein described climbs wall
There are 6 pedipulators in robot body two sides, and every side is arranged 3；The light compensating lamp has 4, is symmetricly set on robot body
Top surface；The holder and video camera has 2, is symmetricly set on robot body top surface.
A kind of bionic 6-leg formula boiler of power plant water-cooling wall Measuring error climbing robot above-mentioned, wherein the leg root
Reinforced shaft is additionally provided on part.
A kind of bionic 6-leg formula boiler of power plant water-cooling wall Measuring error climbing robot above-mentioned, wherein the flexibility
It is to be detachably arranged between mechanical arm and robot body, the flexibility of big load or side crops industry is replaced according to the demand of different operating conditions
Mechanical arm；The operational module is ultrasonic probe or water-cooling wall welder or water-cooling wall cutter device or other operations dress
It sets, is detachably to be arranged between operational module and flexible mechanical arm；
The ultrasonic probe is used to detect the thickness of boiler water wall pipeline.
A kind of bionic 6-leg formula boiler of power plant water-cooling wall Measuring error climbing robot above-mentioned, wherein further include ultrasound
Slag device, ultrasonic positioning system, las er-guidance system, Magnetic Flux Leakage Testing Instrument are struck in wave vibration, and the vibration of ultrasonic wave strikes slag dress
It sets and is equipped on flexible mechanical arm front end, as one kind of operational module, clear up fouling in boiler internal for robot；Described
Ultrasonic positioning system is set in the shell of robot body, the position for positioning robot；The las er-guidance system
System is set on video camera, keeps straight line walking for auxiliary robot；The Magnetic Flux Leakage Testing Instrument is set to robot body
On.
A kind of bionic 6-leg formula boiler of power plant water-cooling wall Measuring error climbing robot above-mentioned, wherein the wall-climbing device
People also passes through safety rope and connect with external workstation.
A kind of bionic 6-leg formula boiler of power plant water-cooling wall Measuring error climbing robot above-mentioned, wherein the wall-climbing device
2 magnetic foots are carried on every pedipulator of people, load is 10kg to single magnetic enough, and complete machine load reaches 120kg；Every pedipulator provides
Adsorption capacity reach 20kg；
First steering engine, the second steering engine, third steering engine are all made of pure metal gear reduction box, torque 100kg/
Cm, velocity of rotation are 0.1s/60 °, and the movement speed of the climbing robot reaches 12m/min.
A kind of bionic 6-leg formula boiler of power plant water-cooling wall Measuring error climbing robot above-mentioned, wherein be used for boiler water
The detection and maintenance of cold wall.
A kind of bionic 6-leg formula boiler of power plant water-cooling wall Measuring error climbing robot above-mentioned, wherein the wall-climbing device
People, which is able to achieve the obstacle detouring of vertical walls and can reach upper boiler, crosses heat shielding.
A kind of bionic 6-leg formula boiler of power plant water-cooling wall Measuring error climbing robot above-mentioned, the diameter of the magnetic foot are
34mm。
The beneficial effects of the utility model are:
1, a plurality of pedipulator is arranged in robot body two sides in the utility model, and pedipulator is by thigh, shank, leg root, magnetic
Foot and three steering engine compositions, activity flexibly, can move freely.For magnetic enough using light-duty big magnetic force magnetic foot, single magnetic can be to mention
For the load of nearly 10kg, magnetic is power-off absorption type electromagnet enough, and in the moment of carry arm, magnet is powered, and magnetic does not adsorb at this time enough
Power, this state are convenient for control action, mitigate the load of steering engine, improve service life, while being also possible to prevent abnormal power-down and making
It falls off the case where avoiding at robot.
2, the utility model is based on bionics principle, is adopted using the mechanical structure of six sufficient insects by controlling 18 steering engines
With the gaits such as biped gait and fixed point turning, the control of hexapod robot is realized, realize flexibly walking.Hexapod robot are suitble to
The enterprising every trade of rugged, uneven landform is walked, such as boiler water wall surface, high voltage transmission line tower pylon.
3, the utility model carries the double holder high definition cameras in big visual angle simultaneously, and 360 ° of rotations may be implemented, can take
The abrasion of boiler water wall 0.5mm or so, visually observing before can replace completely, while result have trackability.
3, compared with wheeled, caterpillar mobile robot, the utility model has uniqueness in rugged road surface walking
Superior function.The Measuring error climbing robot load capacity of the utility model is strong, and flexibly, adaptive capability on wall surface is strong for movement,
Can be as though walking upon flat ground in boiler, reach the place that people is unable to reach, almost realizes that boiler internal all standing without dead angle, is completed special
Kind operation, application prospect are good.
4, the utility model due to load capacity it is strong, walking flexibly, it is safe and reliable, robot carries flexible mechanical arm, end
Ultrasonic probe is carried at mouthful may be implemented the ultrasonic thickness measurement at waterwall tube cracking position, and ultrasound can be realized by carrying energy converter
Slag is struck in wave vibration, when needing to cut and weld, it is only necessary to corresponding module is replaced, it is very easy to use.
The above description is merely an outline of the technical solution of the present invention, in order to better understand the skill of the utility model
Art means, and being implemented in accordance with the contents of the specification, and in order to allow the above and other purpose, feature of the utility model
It can be more clearly understood with advantage, special below to lift preferred embodiment, detailed description are as follows.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the schematic diagram of pedipulator after removing shank part；
Fig. 3 is the top view of the utility model；
Fig. 4 is the schematic diagram of water-cooling wall welder；
Fig. 5 is the schematic diagram of water-cooling wall cutter device；
Fig. 6 is the circuit diagram of the utility model；
Fig. 7 is PCB welding wiring diagram；
Fig. 8 is WiFi transmitting wiring diagram.
[element and symbol description]
1, the first steering engine 2, the second steering engine 3, third steering engine 4, thigh part
5, shank part 6, leg root element 7, magnetic the 8, first connecting shaft of foot
9, the second connecting shaft 10, third connecting shaft 11, elastic self-reacting device
12, the fourth connecting shaft 13, reinforced shaft 14, light compensating lamp 15, holder
16, video camera 17, support rod 18: flexible mechanical arm 19: operational module
20: circuit board 21: the shell 22 of robot body: spring 23: cutting torch
24: sensor 25: link block 26: las er-guidance system
27: ultrasonic positioning system 28: Magnetic Flux Leakage Testing Instrument
Specific embodiment
Further to illustrate that the utility model is the technical means and efficacy reaching predetermined goal of the invention and being taken, below
In conjunction with attached drawing and preferred embodiment, to according to the utility model proposes a kind of bionic 6-leg formula boiler of power plant water-cooling wall detect dimension
Climbing robot is repaired, specific embodiment, feature and its effect, detailed description is as follows.
The utility model provides a kind of climbing robot for being mainly used for boiler of power plant water-cooling wall Measuring error, including machine
Human body and a plurality of pedipulator for being set to robot body two sides, the quantity of pedipulator is unlimited, according to the condition of application operating condition
It can increase or reduce, a plurality of pedipulator can be symmetrical arranged in robot body two sides or asymmetry is arranged.
An embodiment of the present invention is described in detail by taking Fig. 1 as an example, 6 pedipulators are shared in Fig. 1, symmetrically
In robot body two sides, every side is arranged 3 for setting, every pedipulator include the first steering engine 1, the second steering engine 2, third steering engine 3,
Thigh part 4, shank part 5, leg root element 6, magnetic foot 7, wherein the shell 21 of thigh part and robot body passes through first
Connecting shaft 8 is pivotally connected, and thigh part and shank part are pivotally connected by the second connecting shaft 9, and shank part is " L " type
Shell, shank part also with one end of leg root element by third connecting shaft 10 be pivotally connected, the other end of leg root element with
Magnetic passes through elastic self-reacting device 11 enough and connects, wherein magnetic is fixed on enough on elastic self-reacting device 11, elastic self-reacting device
It is connect by the fourth connecting shaft 12 with leg root element.Pedipulator can integrally be rotated around the first connecting shaft 8, and shank part can be around
The rotation of second connecting shaft 9, leg root element can be rotated around third connecting shaft 10, and elastic self-reacting device can be around the fourth connecting shaft
12 in 360 ° of rotations.
The elastic self-reacting device 11 further includes spring 22, and the upper end of spring is connect with the fourth connecting shaft 12, lower end
It is connect with elastic self-reacting device 11, magnetic is fixed on enough below elastic self-reacting device 11.
First steering engine 1 is set in the shell of robot body, and the second steering engine is vertically arranged with third steering engine, is placed on jointly
In the shell of shank part " L " type.Reinforced shaft 13 is additionally provided on the leg root element.
It is additionally provided with light compensating lamp 14 and holder 15 on the shell of robot body, video camera 16, light filling are provided on holder
Lamp quantity is unlimited, and Fig. 1 show 4, is symmetricly set on robot body top surface, and the quantity of holder and video camera is also unlimited, Fig. 1
2 are shown, is symmetrical arranged.The video camera can be around support rod 17 in 360 ° of rotation camera shootings.
Flexible mechanical arm 18 is additionally provided on robot body, it is detachable between the flexible mechanical arm 18 and robot body
Setting, the mechanical arm of big load or side crops industry can be replaced according to the demand of different operating conditions at any time.Carry work in flexible mechanical arm front end
Make module 19, which can be ultrasonic probe or water-cooling wall welder or water-cooling wall cutter device, can also be with
It is other apparatus for work, is detachably arranged between operational module 19 and flexible mechanical arm, is carrying out different inspections convenient for robot
Corresponding operational module is replaced when survey or maintenance activity.The ultrasonic probe can be used for detecting the thickness of boiler water wall pipeline
Degree, boiler down provide that each corresponding position needs to select 100 or so thickness measuring points, the pot of general 600mw at random when overhauling
Furnace needs reachable thousands of a points of ultrasonic thickness measurement in total, the abrasion journey of water-cooling wall pipeline is determined according to the pipe thickness measured
Degree, determines the pipeline life of water-cooling wall corresponding region, to decide whether to repair or replace.When requiring replacement, flexible
Mechanical arm carries water-cooling wall cutter device and cuts down damaged location, then replaces with water-cooling wall welder and weld new pipeline
It connects.In general, needing replacing pipeline when the wear-thickness for detecting boiler water wall pipeline is greater than 2mm.But the standard is simultaneously
It does not limit specifically, need to be selected according to actual working conditions.
Further, vibration of ultrasonic wave can also be installed on robot body additional and strike slag device, ultrasonic positioning system 27, laser
Guidance system 26, Magnetic Flux Leakage Testing Instrument 28 etc., vibration of ultrasonic wave, which strikes slag device, can be equipped on flexible mechanical arm front end, as Working mould
One kind of block 19 is detachable setting with flexible mechanical arm, can replace according to requirements.Vibration of ultrasonic wave strikes slag device and is used for
Robot clears up fouling in boiler internal, and ultrasonic positioning system 27 can be set fixed in being used in the shell of robot body
The position of position robot；Las er-guidance system may be disposed on video camera, keep straight line walking for auxiliary robot；Leakage field inspection
Surveying instrument may be disposed on robot body.
Ultrasonic probe described in the utility model, water-cooling wall welder, water-cooling wall cutter device, vibration of ultrasonic wave strike
The prior art can be used in slag device, ultrasonic positioning system, las er-guidance system, Magnetic Flux Leakage Testing Instrument etc., by the prior art plus
It can be realized the function mounted in the corresponding position of robot described in the utility model, and the purpose of the utility model is to provide
A kind of load capacity is strong, and flexibly, the strong climbing robot of adaptive capability on wall surface is particularly suitable for the climbing of boiler water wall for movement
Environment.
Robot described in the utility model also passes through safety rope and connect with work station.
Further, 2 magnetic foots can be carried on every pedipulator of robot, magnetic is enough using light-duty big magnetic force magnetic foot, each
Magnetic can provide the load of 10kg completely, and the robot complete machine of six pedipulators includes 18 steering engines, and 12 magnetic foots, complete machine loads reachable
120kg.Magnetic is enough using power-off absorption type electromagnet, it is ensured that in the power-off of any unusual condition, robot will not occur
Fall off wall surface the case where.The adsorption capacity of each pedipulator is up to 20kg, in moving process, six pedipulator alternating movements,
It lifts the moment of leg, magnet is powered, and magnetic foot at this time without adsorption capacity, be convenient for control action, mitigate the load of steering engine, mention by this state
High service life.The diameter of single magnetic foot can be 34mm, adapt to the climbing environment of boiler water wall, can be in boiler water wall
It flexibly climbs and turns on face.But the diameter of magnetic foot is not limited to 34mm, can increased or decrease magnetic foot according to practical application operating condition
Diameter.
The steering engine uses pure metal gear reduction box, and torque can achieve 100kg/cm, can be realized 0.1s/60 °
Velocity of rotation, the robot movement speed is up to 12m/min.
Climbing robot mechanical part uses high-strength light aluminium alloy, and the mechanical part refers to entire robot
Accessory, part, hardware components, i.e., the part in addition to circuit board.Joint (junction and shank of thigh and shank and leg root
Junction) it is all provided with flexible self-adaptive regulating, in the case where there is magnetic force, electromagnet can be guaranteed forever towards wall surface.
The climbing robot of the utility model can realize flexible turning action in tight turn radius, and due to using
Sufficient formula reptile fashion, then cooperate the visual guidance algorithm of gait algorithm and camera, robot energy in crawling process can be helped
Suitable foothold is enough selected, the situation of wall surface operating condition complexity is overcome, meanwhile, which may be implemented vertical walls and 90 °
The obstacle detouring of wall surface, additionally it is possible to reach the mistake heat shielding of upper boiler, carry out operation.
The robot of the utility model carries energy converter at the port of flexible mechanical arm simultaneously can realize ultrasonic wave
Slag is struck in vibration, when needing to cut and weld, needs replacing the flexible mechanical arm of big load.
The robot of the utility model carries the double holder high-definition cameras in big visual angle simultaneously, and 360 ° of rotations may be implemented, can
To take the abrasion of boiler water wall 0.5mm or so, visually observing before can replace completely, while result has and can chase after
Tracing back property.Cooperation video camera shooting has strong light LED light supplement lamp 14, which equally carries double holders, can cooperate video camera,
Illuminate shooting area.
The electric control part of the utility model uses circuit board 20, which can be set in robot body inner walls
Between the first steering engine, as shown in Figure 1.Circuit part includes: single-chip microcontroller, digital switch control circuit, communication board, WiFi figure
It passes, sucker and power supply.Power supply power supply is to single-chip microcontroller, and single-chip microcontroller is by digital switch control circuit, and communication board, it is outer that WiFi schemes biography etc.
Enclose the control that circuit completes robot.Single-chip microcontroller controls the corner size of steering engine by output PWM waveform, to control machine
The gait of people, at the same single-chip microcontroller by control digital switch circuit on-off reach control robot magnetic foot electromagnet absorption with
Release.The electric control part also includes host computer, which is connect by UART or RS232 interface with single-chip microcontroller, is exported
Control instruction makes single-chip microcontroller work.The circuit diagram of the utility model as shown in fig. 6, PCB welding wiring diagram as shown in fig. 7,
It is as shown in Figure 8 that WiFi emits wiring diagram.
The above descriptions are merely preferred embodiments of the present invention, not makees in any form to the utility model
Limitation, any person skilled in the art do not departing within the scope of technical solutions of the utility model, all without departing from this
The content of utility model technical solution, it is made by the above technical examples according to the technical essence of the present invention any simply to repair
Change, equivalent variations and modification, is still within the scope of the technical solutions of the present invention.
Claims (9)
1. a kind of bionic 6-leg formula boiler of power plant water-cooling wall Measuring error climbing robot, it is characterised in that including robot body
And it is set to a plurality of pedipulator of robot body two sides, a plurality of pedipulator is symmetrically or non-symmetrically set in robot body two sides
It sets；
Every pedipulator includes the first steering engine (1), the second steering engine (2), third steering engine (3), thigh part (4), shank part
(5), leg root element (6), magnetic foot (7), wherein the shell (21) of thigh part (4) and robot body passes through the first connecting shaft
(8) it is pivotally connected, thigh part (4) and shank part (5) are pivotally connected by the second connecting shaft (9), and shank part (5) is one
The shell of a " L " type, shank part (5) are also pivotally connected with one end of leg root element (6) by third connecting shaft (10), leg root
The other end of part passes through elastic self-reacting device (11) with magnetic foot (7) and connect, wherein magnetic foot (7) is fixed on elastic adaptive
On device (11), elastic self-reacting device is connect by the fourth connecting shaft (12) with leg root element；Pedipulator integrally can be around first
Connecting shaft (8) rotation, shank part can be rotated around the second connecting shaft (9), and leg root element can be rotated around third connecting shaft (10), bullet
Property self-reacting device can around the fourth connecting shaft (12) in 360 ° rotation；
First steering engine (1) is set in the shell (21) of robot body, and the second steering engine is vertically arranged with third steering engine,
It is placed in the shell of shank part " L " type jointly；
It is additionally provided with light compensating lamp (14) and holder (15) on the shell of the robot body, is provided with video camera on holder
(16), the video camera (16) is around support rod (17) in 360 ° of rotation camera shootings；
It is additionally provided on robot body flexible mechanical arm (18), operational module (19) are carried in flexible mechanical arm front end；
The magnetic is light-duty big magnetic force magnetic foot enough, and magnetic is enough using power-off absorption type electromagnet；Robot is in moving process, and six
Pedipulator alternating movement, in the moment of lift leg, magnet is powered, and magnetic does not have adsorption capacity enough at this time；
The electric control part of the climbing robot uses circuit board (20), which is arranged in the shell of robot body
Between inner wall and the first steering engine.
2. a kind of bionic 6-leg formula boiler of power plant water-cooling wall Measuring error climbing robot as described in claim 1, feature
It is that the wall-climbing device human body two sides there are 6 pedipulators, every side is arranged 3；The light compensating lamp has 4, symmetrically sets
It sets in robot body top surface；The holder and video camera has 2, is symmetricly set on robot body top surface.
3. a kind of bionic 6-leg formula boiler of power plant water-cooling wall Measuring error climbing robot as described in claim 1, feature
It is to be additionally provided with reinforced shaft (13) on the leg root element (6).
4. a kind of bionic 6-leg formula boiler of power plant water-cooling wall Measuring error climbing robot as described in claim 1, feature
It is that between the flexible mechanical arm (18) and robot body be detachably to be arranged, is replaced according to the demand of different operating conditions big
The flexible mechanical arm of load or side crops industry；The operational module (19) is ultrasonic probe or water-cooling wall welder or water cooling
Wall cutter device or other apparatus for work are detachably to be arranged between operational module (19) and flexible mechanical arm (18)；
The ultrasonic probe is used to detect the thickness of boiler water wall pipeline.
5. a kind of bionic 6-leg formula boiler of power plant water-cooling wall Measuring error climbing robot as described in claim 1, feature
It is to further include that vibration of ultrasonic wave strikes slag device, ultrasonic positioning system (27), las er-guidance system (26), Magnetic Flux Leakage Testing Instrument
(28), the vibration of ultrasonic wave strikes slag device and is equipped on flexible mechanical arm front end, as one kind of operational module, is used for machine
People clears up fouling in boiler internal；The ultrasonic positioning system (27) is set in the shell of robot body, for fixed
The position of position robot；The las er-guidance system (26) is set on video camera (16), keeps straight for auxiliary robot
Line walking；The Magnetic Flux Leakage Testing Instrument (28) is set on robot body.
6. a kind of bionic 6-leg formula boiler of power plant water-cooling wall Measuring error climbing robot as described in claim 1, feature
It is that the climbing robot also passes through safety rope and connect with external workstation.
7. a kind of bionic 6-leg formula boiler of power plant water-cooling wall Measuring error climbing robot as described in claim 1, feature
It is to carry 2 magnetic foots on every pedipulator of the climbing robot, load is 10kg to single magnetic enough, and complete machine load reaches 120kg；
The adsorption capacity that every pedipulator provides reaches 20kg；
First steering engine, the second steering engine, third steering engine are all made of pure metal gear reduction box, and torque 100kg/cm turns
Dynamic speed is 0.1s/60 °, and the movement speed of the climbing robot reaches 12m/min.
8. a kind of bionic 6-leg formula boiler of power plant water-cooling wall Measuring error climbing robot as described in claim 1, feature
It is that the climbing robot is able to achieve the obstacle detouring of vertical walls and can reach upper boiler and crosses heat shielding.
9. a kind of bionic 6-leg formula boiler of power plant water-cooling wall Measuring error climbing robot as described in claim 1, feature
The diameter for being the magnetic foot is 34mm.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131621A (en) * | 2018-09-04 | 2019-01-04 | 洛阳清展智能科技有限公司 | A kind of bionic 6-leg formula boiler of power plant water-cooling wall Measuring error climbing robot |
| CN110341824A (en) * | 2019-07-05 | 2019-10-18 | 广州供电局有限公司 | Climbing robot |
| CN110450879A (en) * | 2019-07-10 | 2019-11-15 | 北京交通大学 | A kind of polypody climbing robot based on Schatz mechanism |
| CN111422276A (en) * | 2020-04-20 | 2020-07-17 | 江苏警官学院 | Variable-rigidity self-adaptive gecko-like leg with active adhesion and desorption, robot and method |
| CN111781078A (en) * | 2020-07-13 | 2020-10-16 | 武汉轻工大学 | In-situ comprehensive test equipment for simulating high-altitude pipe climbing operation contact area |
| US20220072698A1 (en) * | 2018-11-05 | 2022-03-10 | Magswitch Technology Worldwide Pty Lt. | Magnetic base for robotic arm |
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| CN109131621A (en) * | 2018-09-04 | 2019-01-04 | 洛阳清展智能科技有限公司 | A kind of bionic 6-leg formula boiler of power plant water-cooling wall Measuring error climbing robot |
| US20220072698A1 (en) * | 2018-11-05 | 2022-03-10 | Magswitch Technology Worldwide Pty Lt. | Magnetic base for robotic arm |
| CN110341824A (en) * | 2019-07-05 | 2019-10-18 | 广州供电局有限公司 | Climbing robot |
| CN110450879A (en) * | 2019-07-10 | 2019-11-15 | 北京交通大学 | A kind of polypody climbing robot based on Schatz mechanism |
| CN111422276A (en) * | 2020-04-20 | 2020-07-17 | 江苏警官学院 | Variable-rigidity self-adaptive gecko-like leg with active adhesion and desorption, robot and method |
| CN111781078A (en) * | 2020-07-13 | 2020-10-16 | 武汉轻工大学 | In-situ comprehensive test equipment for simulating high-altitude pipe climbing operation contact area |
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