CN214622360U - Holding type crawling robot - Google Patents
Holding type crawling robot Download PDFInfo
- Publication number
- CN214622360U CN214622360U CN202120516574.XU CN202120516574U CN214622360U CN 214622360 U CN214622360 U CN 214622360U CN 202120516574 U CN202120516574 U CN 202120516574U CN 214622360 U CN214622360 U CN 214622360U
- Authority
- CN
- China
- Prior art keywords
- thickness measuring
- shell
- pipe
- measuring probe
- wall
- Prior art date
- 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.)
- Active
Links
Images
Landscapes
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
Abstract
The utility model relates to a hold formula robot of crawling for abrasionproof explosion-proof inspection. The thickness measuring host computer is fixed through epitheca and inferior valve, epitheca up end both sides set up the handle, handle overcoat spring passes the motor set casing and is connected from the driving wheel with the V type, terminal surface both sides are connected with two motor set casings under the inferior valve, the motor is embedded to the motor set casing, the terminal surface sets up separation blade, displacement sensor and V type action wheel down, an external navigation plug, another external camera and lamp cup, terminal surface intermediate position is connected with the thickness measuring shell under the inferior valve, the thickness measuring shell inner wall sets up the slide rail, built-in thickness measuring probe. During inspection, the pipe to be detected is held tightly by the V-shaped driven wheel and the V-shaped driving wheel, the robot is held on the pipe wall, the controller controls the robot to crawl, the pipe is inspected for the situations of thickness expansion, abrasion and corrosion, and the wall thickness of the pipe is measured. The utility model discloses the formula of embracing robot of crawling need not the couplant, need not polish, does not need artifical set up, and easy and simple to handle, inspection speed are fast, have improved the explosion-proof inspection efficiency of abrasionproof.
Description
Technical Field
The utility model belongs to the technical field of nondestructive inspection, in particular to an embrace formula robot of crawling that is used for four tubule abrasionproof explosion-proof inspections of boiler.
Background
The boiler is used as main equipment of one of three main machines of a thermal power plant, mainly comprises equipment such as a water-cooled wall, a superheater, a reheater, an economizer, a header and a steam-water connecting pipe, according to incomplete statistics, four-pipe explosion and leakage events of a heating surface of the boiler account for about 50% of unplanned shutdown events of a unit, and the explosion and leakage events of the heating surface of an individual thermal power plant even reach 65%. From the condition of four-tube leakage of a boiler heating surface, the times of unplanned shutdown maintenance are often more than those of a steam turbine and a generator, wherein the leakage accidents of pressure-bearing parts (an economizer, a water-cooled wall, a superheater and a reheater) (including an inner furnace outer tube and an outer furnace tube) account for about 70% of the boiler accidents, so that the abrasion-proof and explosion-proof work must be done on boiler body equipment to greatly reduce the boiler temporary maintenance times.
The common reasons for the leakage of the four tubes on the heating surface of the boiler mainly include the following aspects:
1) the heating surface is unreasonable in design and the expansion is limited.
2) The quality of the raw material of the heating surface is poor.
3) Foreign matters are blocked in the heating surface pipe, so that the steam and water flow is not smooth.
4) The expansion of the heated surface pipe is blocked, so that the welded junction of the pipeline has crack leakage after the pipeline runs for a period of time.
5) Improper operation control of the boiler leads to over-limit of wall temperature of the heating surface and deposition of oxide skin.
Therefore, the four-tube abrasion-proof and explosion-proof inspection is mainly used for inspecting the conditions of abrasion, corrosion, scratch, bulge, deformation (including creep deformation), oxidation, surface crack and the like of the four tubes. The inspection means is 'seeing, measuring, touching, preventing and measuring', but because the inspection scene needs to be built the shelf first, the personnel climb the shelf again and inspect, the inspection efficiency is low.
SUMMERY OF THE UTILITY MODEL
In order to overcome the deficiencies in the prior art, the utility model provides an it is easy and simple to handle, inspection speed is fast be used for four tubule abrasionproof explosion-proof inspection's of boiler formula of embracing robot of crawling. The holding type crawling robot holds the pipeline to be detected tightly by using the V-shaped driving wheel and the V-shaped driven wheel, the robot is attached to the outer wall of the pipeline to crawl and check, the robot is operated by inserting an external controller, whether the pipe diameter expands thick or not and abrasion can be checked by using the displacement sensor, the thickness of the pipe wall can be checked by using the thickness measuring probe, and the corrosion pit condition of the outer surface of the pipe wall can be checked by using the camera. The method has the characteristics of no need of a coupling agent, no need of polishing, no need of manual frame building, simple and convenient operation and high inspection speed. The method has great significance for effectively reducing the unplanned shutdown times of the unit and improving the health level of equipment, and greatly improves the anti-abrasion and anti-explosion inspection efficiency.
In order to solve the technical problem, the utility model discloses the technical scheme who adopts is: a holding type crawling robot comprises a thickness measuring host machine and is characterized in that the thickness measuring host machine is fixed through an upper shell and a lower shell, handles are arranged on two sides of the upper end face of the upper shell, springs are sleeved outside the handles, penetrate through a motor fixing shell and are connected with a V-shaped driven wheel;
two sides of the lower end face of the lower shell are respectively connected with two motor fixing shells, and a motor is arranged in each motor fixing shell;
the motor fixing shell is externally provided with an aerial plug, a camera for shooting the corrosion condition of the surface to be detected and a lamp cup for supplementing light to the camera;
wherein, the lower end surface of the motor fixing shell is provided with a baffle plate, a displacement sensor and a V-shaped driving wheel;
the middle position of the lower end face of the lower shell is connected with a thickness measuring shell, and a sliding rail is arranged on the inner wall of the thickness measuring shell;
the thickness measuring shell is internally provided with a thickness measuring probe, and a tension spring for assisting the resilience of the thickness measuring probe is arranged between the thickness measuring probe and the thickness measuring shell;
the thickness measuring device comprises a thickness measuring probe, a probe support, an auxiliary wheel and a control system, wherein the front end of the thickness measuring probe is fixedly provided with the probe support for ensuring that a 1mm gap is reserved between the thickness measuring probe and the wall of a measured pipe;
when checking, the handle is pulled, the distance between the V-shaped driven wheel and the V-shaped driving wheel is enlarged by utilizing the elasticity of the spring, the pipe to be detected is placed in the middle, the spring rebounds, the pipe to be detected is tightly embraced by the V-shaped driven wheel and the V-shaped driving wheel, the embracing type crawling robot is embraced on the pipe wall, the robot can be controlled to crawl on the pipe wall through the aerial insertion external controller, the camera is operated to shoot the surface corrosion condition of the wall of the pipe to be detected, and the thickness measuring probe is controlled to measure the wall thickness value of the pipe wall.
The displacement sensor gives the pipe diameter variation through measuring the displacement between the separation blade and the displacement sensor, and whether the pipe diameter variation is thick or worn.
Wherein the V-shaped driven wheel can rotate 180 degrees horizontally.
Wherein, the camera can manual angle regulation.
And the thickness measuring probe vertically moves along the slide rail.
The thickness measuring probe is provided with magnetic force and can be adsorbed on the wall of the measured pipe to be checked.
The maximum distance between the thickness measuring probe and the wall of the measured pipe is 4mm, so that the insulating coating paint does not need to be polished and can be directly measured.
By adopting the technical scheme, the utility model discloses the beneficial effect who obtains is:
the utility model discloses hold formula robot of crawling utilizes initiative V type wheel and driven V type wheel to be embraced tightly by the measuring pipe, and the robot is attached to the inspection of crawling at the pipeline outer wall, utilizes displacement sensor can check whether the pipe diameter expands thick, wearing and tearing, utilizes the thickness measurement probe can check the pipe wall thickness, utilizes the camera can look over the pipe wall surface corrosion pit condition.
To sum up, the utility model discloses a hold formula robot of crawling has and need not the couplant, need not polish, does not need artifical set up, characteristics easy and simple to handle, inspection speed are fast have improved the explosion-proof detection efficiency of abrasionproof greatly, the artifical inspection of fungible.
The present invention will be described in detail with reference to the accompanying drawings.
Drawings
Fig. 1 is a structural diagram (half section right side down) of the clasping type crawling robot of the present invention.
In the figure: 1-handle, 2-spring, 3-upper shell, 4-lower shell, 5-motor fixing shell, 6-aerial insertion, 7-baffle, 8-displacement sensor, 9-V type driven wheel, 10-thickness measuring host, 11-camera, 12-lamp cup, 13-motor, 14-V type driving wheel, 15-thickness measuring shell, 16-thickness measuring probe, 17-probe bracket, 18-slide rail and 19-tension spring.
Detailed Description
In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the utility model discloses a formula of embracing robot of crawling, including thickness measurement host computer 10, thickness measurement host computer 10 is fixed through epitheca 3 and inferior valve 4, and epitheca 3 up end both sides set up handle 1, and handle 1 overcoat spring 2 passes motor set casing 5, is connected from driving wheel 9 with the V type. Two sides of the lower end surface of the lower shell 4 are respectively connected with two motor fixing shells 5, and a motor 13 is arranged in each motor fixing shell 5.
As shown in fig. 1, one external aviation plug 6 of the motor fixing shell 5, another external camera 11 for shooting the corrosion condition of the surface to be detected and a lamp cup 12 for supplementing light to the camera 11 are arranged, and a blocking piece 7, a displacement sensor 8 and a V-shaped driving wheel 14 are arranged on the lower end face of the motor fixing shell 5.
As shown in fig. 1, the lower end surface middle position of the lower shell 4 of the utility model is connected with the thickness measuring shell 15, and the inner wall of the thickness measuring shell 15 is provided with a slide rail 18.
As shown in fig. 1, a thickness measuring probe 16 is arranged in the thickness measuring casing 15, and a tension spring 19 for assisting the rebound of the thickness measuring probe 16 is arranged between the thickness measuring probe 16 and the thickness measuring casing 15.
As shown in figure 1, a probe bracket 17 for ensuring that a 1mm gap is reserved between the thickness measuring probe 16 and the wall of the measured pipe is fixed at the front end of the thickness measuring probe 16, the probe bracket 17 is provided with an auxiliary wheel, and the auxiliary thickness measuring probe 16 crawls on the wall of the measured pipe.
In one embodiment, the displacement sensor 8 gives the pipe diameter variation, whether the pipe diameter is thick or worn, by measuring the displacement between the baffle 7 and the displacement sensor 8.
In one embodiment, the V-shaped driven wheel 9 can rotate 180 degrees horizontally.
In one embodiment, the camera 11 may be manually adjustable in angle.
In one embodiment, the thickness probe 16 moves vertically along the slide rail 18.
In one embodiment, the thickness measuring probe 16 is provided with a magnetic force, so that the thickness measuring probe 16 can be adsorbed on the wall of the measured pipe for inspection.
In one embodiment, the thickness measuring probe 16 is at a maximum distance of 4mm from the wall of the pipe being measured, so that the insulation coating paint can be directly measured without polishing.
The utility model discloses an embodiment, when the inspection, pulling handle 1, utilize spring 2's elasticity to draw big V type from the distance between driving wheel 9 and V type action wheel 14, will be surveyed the pipe and arrange the centre in, spring 2 kick-backs, it is held tightly from driving wheel 9 and V type action wheel 14 by the V type to be surveyed the pipe, hold the formula and creep the robot and embrace on the pipe wall, through 6 external control wares of navigation plug, can control the robot and creep on the pipe wall, operation camera 11 shoots and is surveyed the pipe wall surface corrosion condition, control thickness measuring probe 16 measures pipe wall thickness value.
To sum up, the utility model discloses a hold formula robot of crawling has following advantage:
the operation is simple and convenient, the inspection speed is fast, the trouble that the inspector firstly puts up the rack and then inspects is solved, and the inspection efficiency is improved. The method has great significance for effectively reducing the unplanned shutdown times of the unit and improving the health level of equipment.
The present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (7)
1. A holding type crawling robot comprises a thickness measuring host (10) and is characterized in that the thickness measuring host (10) is fixed through an upper shell (3) and a lower shell (4), handles (1) are arranged on two sides of the upper end face of the upper shell (3), springs (2) are sleeved outside the handles (1), penetrate through a motor fixing shell (5), and are connected with a V-shaped driven wheel (9);
two sides of the lower end face of the lower shell (4) are respectively connected with two motor fixing shells (5), and a motor (13) is arranged in each motor fixing shell (5);
the motor fixing shell (5) is externally provided with an aerial plug (6), and the other external aerial plug is externally provided with a camera (11) for shooting the corrosion condition of the surface to be detected and a lamp cup (12) for supplementing light to the camera (11);
wherein, the lower end surface of the motor fixing shell (5) is provided with a baffle plate (7), a displacement sensor (8) and a V-shaped driving wheel (14);
the middle position of the lower end face of the lower shell (4) is connected with a thickness measuring shell (15), and a sliding rail (18) is arranged on the inner wall of the thickness measuring shell (15);
the thickness measuring shell (15) is internally provided with a thickness measuring probe (16), and a tension spring (19) for assisting the resilience of the thickness measuring probe (16) is arranged between the thickness measuring probe (16) and the thickness measuring shell (15);
the thickness measuring device comprises a thickness measuring probe (16), a probe support (17) used for ensuring that a 1mm gap is reserved between the thickness measuring probe (16) and the wall of a measured pipe, wherein the probe support (17) is provided with auxiliary wheels, and the auxiliary thickness measuring probe (16) crawls on the wall of the measured pipe.
2. The embracing crawling robot according to claim 1, wherein the displacement sensor (8) measures the displacement between the barrier (7) and the displacement sensor (8) to give the pipe diameter variation, expansion or abrasion.
3. The band-type crawling robot according to claim 1, characterized in that said V-shaped driven wheel (9) can rotate 180 degrees horizontally.
4. The clasping crawling robot as claimed in claim 1, characterized in that the camera (11) can be adjusted manually.
5. The band-type crawling robot according to claim 1, wherein the thickness measuring probe (16) moves vertically along a slide rail (18).
6. The clasping type crawling robot of claim 1, wherein the thickness measuring probe (16) is provided with a magnetic force, so that the thickness measuring probe (16) can be adsorbed on the wall of a pipe to be measured for inspection.
7. The enclasping crawling robot according to claim 1, characterized in that the thickness measuring probe (16) is at a maximum distance of 4mm from the measured pipe wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120516574.XU CN214622360U (en) | 2021-03-12 | 2021-03-12 | Holding type crawling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120516574.XU CN214622360U (en) | 2021-03-12 | 2021-03-12 | Holding type crawling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214622360U true CN214622360U (en) | 2021-11-05 |
Family
ID=78394626
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120516574.XU Active CN214622360U (en) | 2021-03-12 | 2021-03-12 | Holding type crawling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214622360U (en) |
-
2021
- 2021-03-12 CN CN202120516574.XU patent/CN214622360U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102901748A (en) | Nondestructive testing device and method based on pipeline temperature field distribution | |
| CN214622360U (en) | Holding type crawling robot | |
| CN103047666B (en) | A kind of boiler convection heating surface blows method and the device of ash | |
| KR20200018900A (en) | Device and methodfor water wall tube inspection | |
| CN104101441B (en) | Real wall temperature testing system for high-temperature heating surface tube of thermal power unit and manufacturing process | |
| CN205859480U (en) | A kind of line with rubber integrity on-line monitoring system | |
| CN210135573U (en) | Wall temperature prediction device for high-temperature superheater of ultra-supercritical unit | |
| CN201674175U (en) | Cable protecting device for embedded turbine probe | |
| WO2024000981A1 (en) | Internal penetrating type weak magnetic detection probe and working method therefor | |
| CN109781742B (en) | Infrared detection device and method for composite gas cylinder defects | |
| CN109459097B (en) | Matrix distributed flow measuring device for online descaling and cold-hot state comparison | |
| CN208034689U (en) | A kind of power plant's detecting robot of pipe | |
| CN205644232U (en) | Probe unit is examined to fire | |
| CN205026309U (en) | Intraductal speculum probe unit of power plant boiler path | |
| CN214809856U (en) | SCR catalyst upper reaches flue gas velocity distribution measuring device | |
| CN209784259U (en) | Automatic wall-climbing far-field vortex and video detection system for water wall tube of power station boiler | |
| CN204831371U (en) | Explosion -proof visual appearance of abrasionproof | |
| CN206904949U (en) | A kind of detection means for boiler economizer leakage inline diagnosis | |
| CN105115888B (en) | A kind of water-cooling wall and its extent of corrosion monitoring arrangement | |
| CN211043240U (en) | Boiler heat exchanger pipe corrosion degree eddy current testing device | |
| CN209978959U (en) | Boiler abrasionproof explosion-proof inspection device | |
| CN205300864U (en) | Boiler afterbody flue air leakage coefficient's quick detecting system | |
| ES483658A1 (en) | Device for inspecting heat exchanger tubes. | |
| CN112050889A (en) | Data inspection system for camera shooting water meter data center | |
| CN206094139U (en) | Heat recovery heat exchanger |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |