CN210476958U - Water-cooled wall inspection robot - Google Patents
Water-cooled wall inspection robot Download PDFInfo
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- CN210476958U CN210476958U CN201920989355.6U CN201920989355U CN210476958U CN 210476958 U CN210476958 U CN 210476958U CN 201920989355 U CN201920989355 U CN 201920989355U CN 210476958 U CN210476958 U CN 210476958U
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Abstract
The utility model discloses a water-cooling wall inspection robot, include: the water cooling wall detection device comprises a robot body, walking wheels and a detector, wherein the walking wheels are installed on the robot body and driven by a driving part to move on the surface of a water cooling wall, the detector is installed on the robot body and used for detecting the water cooling wall, and a profiling surface matched with the surface of the water cooling wall is arranged on the circumferential surface of each walking wheel. The utility model provides an among the prior art detection robot at the unstable technical problem of water-cooling wall surface removal in-process.
Description
Technical Field
The utility model relates to a robotechnology field especially relates to a water-cooling wall inspection robot.
Background
In the process of cooling industrial equipment, a frequently-adopted mode is water cooling, the cooling device has the characteristics of simple structure and low use cost, the most common structure is cooling by adopting a water cooling wall, a plurality of water cooling pipelines are arranged on the cooling wall, and cooling is completed through water circulation.
Can form the incrustation scale on the surface of water-cooling pipeline at the in-process of water-cooling, consequently need detect the water-cooling pipeline on the water-cooling wall, people adopt water-cooling robot to detect the water-cooling pipeline among the prior art, because there is the water-cooling pipeline in the water-cooling wall, the pipeline part on its surface is protruding form, its moving structure of detection robot among the prior art can't be with the fine laminating in water-cooling wall surface, consequently it removes unstablely in the work.
SUMMERY OF THE UTILITY MODEL
The utility model provides a water-cooling wall inspection robot has solved the unstable technical problem of in-process that inspection robot removed on the water-cooling wall surface among the prior art.
In order to solve the technical problem, the utility model provides a water-cooling wall inspection robot, shown inspection robot includes: the water cooling wall detection device comprises a robot body, walking wheels and a detector, wherein the walking wheels are installed on the robot body and driven by a driving part to move on the surface of a water cooling wall, the detector is installed on the robot body and used for detecting the water cooling wall, and a profiling surface matched with the surface of the water cooling wall is arranged on the circumferential surface of each walking wheel.
Preferably, in the above aspect, the profiling surface is a circular arc surface.
Preferably, in the above technical solution, the detector is a thickness gauge or a flaw detector.
Preferably, the walking wheels are telescopically arranged on the robot body.
Preferably, the robot body is provided with a guide wheel.
Preferably, the guide wheel is provided with a guide groove matched with the surface of the water wall.
Preferably, the robot body further comprises an elastic reset mechanism, and the detector is mounted on the elastic reset mechanism.
Preferably, the elastic reset mechanism is connected with the support, the robot body is provided with a slide rail, and the support is movably arranged on the slide rail and can be driven by the driving device to move along the slide rail.
Preferably, the detector comprises a detector body and an installation guide plate, an arc-shaped installation groove is formed in the installation guide plate, and the detector body is detachably connected with the installation guide plate through the arc-shaped installation groove.
Preferably, the arc-shaped mounting groove comprises a first arc-shaped groove and a second arc-shaped groove, and the second arc-shaped groove is located on the inner side of the first arc-shaped groove.
One or more technical solutions in the present application have at least one or more of the following technical effects:
the utility model provides a water-cooling wall inspection robot, shown inspection robot includes: the robot comprises a robot body, walking wheels and a detector, wherein the walking wheels are installed on the robot body and are driven by a driving part to move on the surface of a water-cooled wall, the detector is installed on the robot body and is used for detecting the water-cooled wall, a profiling surface matched with the surface of the water-cooled wall is arranged on the circumferential surface of each walking wheel, the profiling surface on the surface of each walking wheel can be closely matched with the outer surface of a water-cooled wall pipeline, the walking wheels can be prevented from moving when walking, meanwhile, walking wheels can be prevented from falling off from the water-cooled pipeline in the walking process, and the technical problem that the detection robot is unstable in the process of moving on the surface of the water-cooled wall in.
The above description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented according to the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more obvious and understandable, the following detailed description of the present invention is given.
Drawings
FIG. 1 is a front view of a water wall inspection robot according to an embodiment of the present invention;
FIG. 2 is a left side view of the water wall inspection robot according to the embodiment of the present invention;
FIG. 3 is a top view of the water wall inspection robot according to the embodiment of the present invention;
fig. 4 is a schematic view of the installation of the traveling wheels and the guide wheels in the embodiment of the present invention;
fig. 5 is an installation diagram of the detector in the embodiment of the present invention.
Description of reference numerals: 1. a robot body; 2. a traveling wheel; 4. an elastic reset mechanism; 5. a detector; 6. a guide wheel; 9. a slide rail; 10. a water cooled wall; 11. a support; 21. a first running wheel; 22. a second road wheel; 51. a detector body; 52. a first arc-shaped slot; 53. a second arc-shaped slot; 54. installing a guide plate; 61. a first guide wheel; 62. a second guide wheel.
Detailed Description
To make the objects, features and advantages of the present invention more obvious and understandable, the embodiments of the present invention are described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by the skilled in the art without creative work belong to the protection scope of the present invention.
The utility model discloses water-cooling wall inspection robot, as shown in fig. 1 to 5, this water-cooling wall inspection robot includes:
the robot comprises a robot body 1, walking wheels 2 and a detector 5, wherein the walking wheels 2 are installed on the robot body 1 and move on the surface of a water-cooled wall 10 under the driving of a driving part, the detector 5 is installed on the robot body 1 and used for detecting the water-cooled wall 10, and a profiling surface matched with the surface of the water-cooled wall is arranged on the circumferential surface of the walking wheels 2.
In this embodiment, the number of the traveling wheels 2 is two, which are respectively a first traveling wheel 21 and a second traveling wheel 22, the first traveling wheel 21 and the second traveling wheel 22 are respectively installed at two sides of the robot body 1, the second traveling wheel 22 and the first traveling wheel 21 can be installed at the robot body 1 through a rotating shaft, and the robot body 1 is provided with a driving part, the driving part can be connected with the driving part through a transmission mechanism by using a driving part such as a common motor or a servo motor, and the driving part outputs power through the transmission mechanism to drive the first traveling wheel 21 and the second traveling wheel 22 to rotate.
In addition, the detector in this embodiment is a thickness gauge, and is used for testing the thickness of the water-cooling pipeline, and in addition, the detector can also be a flaw detector, and is used for detecting the damaged part on the water-cooling pipeline.
In addition, the walking wheel 2 in this embodiment is telescopically arranged on the robot body 1, specifically, the distance between the first walking wheel 21 and the second walking wheel 22 can be adjusted, and it can be realized by a telescopic rotating shaft, and the distance between the first walking wheel 21 and the second walking wheel 22 can also be adjusted by any telescopic structure in the prior art, because the span between the first walking wheel 21 and the second walking wheel 22 can be adjusted, it can be used for adapting to different water-cooled walls, and its applicability is wider.
In order to make the operation more stable, the robot body 1 in the embodiment is provided with the guide wheels 6, specifically, the guide wheels 6 include a first guide wheel 61 and a second guide wheel 62, the first guide wheel 61 and the second guide wheel 62 are respectively arranged on the robot body 1 near the front end and the rear end, the first guide wheel 61 and the second guide wheel 62 are arranged in the middle of the robot body 1, and the first guide wheel 61 and the second guide wheel 62 are positioned on the same straight line, and play an auxiliary role for auxiliary positioning of the thickness gauge.
More specifically, the guide wheel 6 in this embodiment is provided with a guide groove which is matched with the surface of the water wall, the shape of the guide groove is consistent with that of the water-cooling pipe, and the upper surface of the water-cooling pipe is tightly matched with the guide groove when the guide wheel works, so that the whole structure works more stably.
In this embodiment, the robot body 1 further includes an elastic resetting mechanism 4, the detecting instrument 5 is installed on the elastic resetting mechanism 4, the lower end of the elastic resetting mechanism 4 is provided with a contact rotating wheel, the contact rotating wheel is in contact with the surface of the water-cooling pipe when in work, for example, a welding seam can exist when in welding because the outer surface of the water-cooling pipe is not completely flat, the welding seam can be protruded on the surface of the water-cooling pipe, if the thickness gauge is directly adopted to detect the position, the detection result is not accurate, therefore, the elastic resetting mechanism 4 is used for compensating the error caused by the existence of the welding seam and the like in the processing process of the water-cooling wall, particularly, the elastic resetting mechanism 4 can elastically move upwards when in work because of touching the protruded position such as the welding seam and the like, thereby driving the thickness gauge to move, and the moving distance is just the thickness of the protruded welding seam, therefore, errors are made up, detection precision is improved, and in addition, the elastic reset mechanism 4 has a flexible function, namely the elastic reset mechanism can ascend when meeting obstacles, so that the detector 5 is prevented from being damaged by collision.
Finally, in this embodiment, the detector 5 includes a detector body 54 and an installation guide plate 51, an arc-shaped installation groove is provided on the installation guide plate 51, the detector body 54 is detachably connected with the installation guide plate 51 through the arc-shaped installation groove, more specifically, a fastener is provided on the detector body 54, the fastener passes through the arc-shaped installation groove to fasten the detector body 54 and the installation guide plate 51, and due to the arc-shaped installation groove, the multi-point measurement of the water cooling pipeline can be realized by manually adjusting the angle of the detector body 54.
In this embodiment, the arc mounting groove includes first arc wall 52 and second arc wall 53, and second arc wall 53 is located the inboard of first arc wall 52, and installation deflector 51 is the sector structure, and first arc wall 52 and second arc wall 53 set up along the radian direction of installation deflector 51, and the both ends of detector body 54 pass through the fastener with first arc wall 52 and second arc wall 53 respectively and are connected, and first arc wall 52 and second arc wall 53 can make the installation of detector body 54 more firm.
This embodiment water-cooling wall inspection robot is in work, place the surface at water-cooling wall 10 with robot body 1, its walking wheel 2 and water-cooling wall surface contact, it is more specific, the profiling face of walking wheel 2 and the water-cooling tube surface contact of water-cooling wall 10, in addition, leading wheel 6 also with the surface contact of water-cooling tube, drive unit drives robot body 1 and removes along water-cooling tube length direction on water-cooling wall 10 surface, carry out data detection for the water-cooling tube thickness or the impaired condition of water-cooling tube through the detector at the removal in-process, above-mentioned structure makes robot body 1 more steady when removing, make testing process more stable, the testing result is more accurate.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
The above description is only for the specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and all should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A water wall inspection robot, characterized in that, inspection robot includes: the water cooling wall detection device comprises a robot body, walking wheels and a detector, wherein the walking wheels are installed on the robot body and are driven by a driving part to move on the surface of a water cooling wall, the detector is installed on the robot body and is used for detecting the water cooling wall, and a profiling surface matched with the surface of the water cooling wall is arranged on the circumferential surface of the walking wheels.
2. The water-cooled wall detection robot of claim 1, wherein the contoured surface is a circular arc surface.
3. The water wall detection robot of claim 1 or 2, wherein the detector is a thickness gauge or a flaw detector.
4. The water wall detection robot of claim 1, wherein the road wheels are telescopically disposed on the robot body.
5. The water-cooled wall detection robot according to claim 1 or 4, wherein a guide wheel is arranged on the robot body.
6. The water-cooled wall detection robot according to claim 5, wherein a guide groove matched with the surface of the water-cooled wall is formed in the guide wheel.
7. The water-cooled wall detection robot of claim 1, wherein the robot body further comprises an elastic reset mechanism, and the detector is mounted on the elastic reset mechanism.
8. The water-cooled wall detection robot according to claim 7, wherein the elastic reset mechanism is connected with a support, a slide rail is arranged on the robot body, and the support is movably arranged on the slide rail and can be driven by a driving device to move along the slide rail.
9. The water-cooled wall detection robot according to claim 1 or 2, wherein the detector comprises a detector body and an installation guide plate, an arc-shaped installation groove is formed in the installation guide plate, and the detector body is detachably connected with the installation guide plate through the arc-shaped installation groove.
10. The water-cooled wall detection robot of claim 9, wherein the arc-shaped mounting groove comprises a first arc-shaped groove and a second arc-shaped groove, and the second arc-shaped groove is located on the inner side of the first arc-shaped groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920989355.6U CN210476958U (en) | 2019-06-28 | 2019-06-28 | Water-cooled wall inspection robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920989355.6U CN210476958U (en) | 2019-06-28 | 2019-06-28 | Water-cooled wall inspection robot |
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| CN210476958U true CN210476958U (en) | 2020-05-08 |
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| CN201920989355.6U Active CN210476958U (en) | 2019-06-28 | 2019-06-28 | Water-cooled wall inspection robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110181535A (en) * | 2019-06-28 | 2019-08-30 | 北京史河科技有限公司 | A kind of water-cooling wall detection robot |
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- 2019-06-28 CN CN201920989355.6U patent/CN210476958U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110181535A (en) * | 2019-06-28 | 2019-08-30 | 北京史河科技有限公司 | A kind of water-cooling wall detection robot |
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