CN215513931U - Wall-climbing robot - Google Patents
Wall-climbing robot Download PDFInfo
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- CN215513931U CN215513931U CN202122488595.8U CN202122488595U CN215513931U CN 215513931 U CN215513931 U CN 215513931U CN 202122488595 U CN202122488595 U CN 202122488595U CN 215513931 U CN215513931 U CN 215513931U
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Abstract
The utility model provides a wall-climbing robot which comprises an inner frame, an outer frame, a wheel assembly, a rotary translation device and an adsorption device, wherein the inner frame is connected with the outer frame through a lifting device, the wheel assembly is connected with the inner frame, the rotary translation device and the adsorption device are both connected with the outer frame, the lifting device drives the inner frame to move, the inner frame drives the wheel assembly to move towards or away from a water-cooled wall, the inner frame, the outer frame and the wheel assembly respectively comprise a front part and a rear part, the rotary translation device is arranged between the front part and the rear part of the outer frame, and the rotary translation device drives the robot to rotate and translate. The gripping force between the robot and the water wall pipeline is increased by arranging the adsorption device, so that the robot is good in safety and strong in stability; the robot can realize the autonomous translation function by the aid of the rotary translation device, detection efficiency is improved, the robot is suitable for different water-cooled wall working conditions, and the application range is wider.
Description
Technical Field
The utility model relates to the field of special robots, in particular to a wall-climbing robot.
Background
The water wall is an important part in the boiler, and the abrasion of the water wall of the boiler is emphasized because many tubes are abraded seriously due to high working load in the operation process of the boiler. In order to ensure the normal operation of the boiler, the water wall needs to be regularly detected, but the traditional detection mode has low efficiency and high danger. With the development of the robot technology, the robot technology is more mature, and the robot is adopted to periodically detect the water wall. Wall-climbing robots used in the prior art are mainly classified into crawler-type wall-climbing robots and wheel-type wall-climbing robots.
For example, a patent with publication number CN109878591A in the prior art discloses a wall-climbing robot, which includes a robot main body, a plurality of adsorption devices and a traveling device, wherein the robot main body includes a plurality of first main body portions, the plurality of first main body portions are arranged at intervals along the width or length direction of the robot main body, two adjacent first main body portions are hinged to each other through a hinge, each first main body portion is provided with a traveling device, the bottom of each first main body portion is provided with the adsorption device, the adsorption device is used for adsorbing a working surface, and the traveling device is used for driving the robot main body to travel along the working surface. Still running gear sets up to the track among the prior art, leads to the robot whole comparatively heavy, turns to slowly, and efficiency is lower, influences the use.
A prior art patent publication No. CN 113184073 a discloses a wheeled wall-climbing robot, a first adsorption device, a first moving device, and a second moving device. The first adsorption device is used for adsorbing the tube wall of the water wall. The first suction device is disposed at the first moving device. The first moving device is used for driving the first absorbing device to move a first preset distance along a first direction. The first direction is perpendicular to the plane of the water wall. The first mobile device is arranged on the second mobile device. The second moving device is used for driving the first moving device and the first absorbing device to move a second preset distance along a second direction. The second direction is perpendicular to the first direction and perpendicular to the direction in which the waterwalls extend. The first moving device is further used for driving the first absorbing device to move a first preset distance along the reverse direction of the first direction. This prior art drives the robot through wheel subassembly and crawls on the water-cooling wall, but the robot is limited to water-cooling wall pipeline grip, easily leads to the robot to drop from the water-cooling wall, and the security performance is low, and can't realize the rotational translation of robot on the water-cooling wall.
SUMMERY OF THE UTILITY MODEL
In view of this, the present invention provides a wall-climbing robot to solve the problem that the water-cooled wall-climbing robot in the prior art cannot realize rotational translation.
In order to achieve the purpose, the technical scheme of the utility model is realized as follows:
the utility model provides a wall climbing robot, includes internal frame, outer frame, wheel subassembly, rotary translation device and adsorption equipment, the internal frame passes through elevating gear with outer frame and links to each other, the wheel subassembly with interior frame attach, rotary translation device and adsorption equipment all with outer frame attach, elevating gear drives the internal frame removes, the internal frame drives the wheel subassembly removes to the direction that is close or keeps away from the water-cooling wall, two parts around internal frame, outer frame, the wheel subassembly all include, rotary translation device sets up between the front and back two parts of outer frame, by rotary translation device drives the rotary translation of robot. The gripping force between the robot and the water wall pipeline is increased by arranging the adsorption device, so that the robot is good in safety and strong in stability; the robot can realize the autonomous translation function by the aid of the rotary translation device, detection efficiency is improved, the robot is suitable for different water-cooled wall working conditions, and the application range is wider.
Further, the adsorption device comprises a first adsorption device and a second adsorption device, the first adsorption device is set as a spring negative pressure adsorption device, and the second adsorption device is set as an electromagnetic adsorption device.
Furthermore, the first adsorption device comprises a push rod and an adsorption block, one end of the push rod is connected with the outer frame, the other end of the push rod is connected with the adsorption block, the push rod is of a telescopic structure, and the adsorption block is driven by the push rod to adsorb and grasp or separate from the pipeline.
Further, the adsorption block comprises a supporting seat and a rubber block arranged in the supporting seat, and the shape of one side of the rubber block, which is in contact with the pipeline, is arc-shaped.
Furthermore, the second adsorption device comprises an electromagnet and a bottom plate, the bottom plate is connected with the outer framework, and the electromagnet is arranged on the bottom plate.
Furthermore, the lifting device comprises a second driving device and a sliding rail, the second driving device is connected with the inner frame, the sliding rail is connected with the outer frame, and the second driving device drives the inner frame to move towards or away from the water-cooled wall along the sliding rail.
Further, the wheel assembly comprises a wheel frame, a sliding block, a driving frame and a wheel hub, the wheel hub is connected with the inner frame through the wheel frame, the sliding block is connected with the inner frame, and when the second driving device drives the inner frame to move in the direction far away from or close to the water-cooling wall surface, the sliding block moves along the sliding rail.
Furthermore, the wheel assembly further comprises a self-adaptive device, the self-adaptive device comprises a connecting plate, a first elastic connecting piece and a pin shaft, the connecting plate is arranged at a position, close to the inner frame, of the wheel frame, the connecting plate is connected with the wheel frame, the pin shaft penetrates through the connecting plate and is connected with the inner frame, the first elastic connecting piece is located on two sides of the connecting plate, the first elastic connecting piece is connected with the inner frame, and a gap exists between the inner frame and the wheel frame.
Furthermore, the front end and the rear end of the rotary translation device are connected with the outer frame.
Furthermore, the rotary translation device comprises a four-bar mechanism, a transmission structure, a rotary base and a third driving device, the four-bar mechanism is connected with the outer frame, the lower part of the four-bar mechanism is connected with the transmission structure, the transmission structure is connected with the third driving device, the third driving device drives the transmission structure to operate, and the four-bar mechanism drives the front outer frame and the rear outer frame to rotate and translate.
Compared with the prior art, the wall-climbing robot has the following advantages:
(1) the gripping force between the robot and the water wall pipeline is increased by arranging the adsorption device, so that the robot is good in safety and strong in stability; the robot can realize an autonomous translation function through the arrangement of the rotary translation device, the detection efficiency is improved, the robot is suitable for different water-cooled wall working conditions, and the application range is wider;
(2) the adsorption device is provided with permanent magnet and spring negative pressure double adsorption, and the electromagnetic adsorption device has certain obstacle crossing capability, good safety and strong stability; during normal running, the spring negative pressure double-suction type robot is not contacted with the wall surface, so that the moving of the robot is prevented from being influenced by increased friction force. When the robot reaches a specific position and needs to move horizontally, the special-shaped rubber block is placed to a position where the special-shaped rubber block can be in contact with a wall surface through the electric push rod, and the spring is compressed to increase friction force, so that sufficient friction force is ensured when the inner frame of the front vehicle body is lifted, and the robot is prevented from sliding downwards;
(3) the rotary translation device adopts a four-bar mechanism as an independent translation device, so that an autonomous translation function can be realized, and cross-pipeline detection is realized;
(4) set up wheel subassembly into self-adaptation structure for the better laminating pipeline of wall climbing robot, and in the course of walking, can be better strideed across when bumping barriers such as coking, adapt to the pipeline deformation condition of small-range.
Drawings
Fig. 1 is an axial view of a wall climbing robot according to an embodiment of the present invention;
FIG. 2 is an axial view of another perspective of the wall-climbing robot according to the embodiment of the present invention;
fig. 3 is a third perspective axial view of the wall-climbing robot according to the embodiment of the present invention;
FIG. 4 is a side view of a wall-climbing robot according to an embodiment of the present invention;
FIG. 5 is a schematic structural view of a wheel assembly and inner frame according to an embodiment of the present invention;
FIG. 6 is a schematic view of a first suction device according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a rotational translation device according to an embodiment of the present invention.
Description of reference numerals:
the inner frame 1, the outer frame 2, the vertical beams 21, the cross beams 22, the top beams 23, the side beams 24, the connecting beams 25, the wheel assemblies 3, the wheel frames 31, the first driving devices 32, the sliding blocks 33, the driving frames 34, the wheel hubs 35, the connecting plates 36, the first elastic connecting pieces 37, the pin shafts 38, the lifting devices 4, the second driving devices 41, the sliding rails 42, the rotary translation devices 5, the four-bar mechanisms 51, the transmission structures 52, the rotary bases 53, the third driving devices 54, the first adsorption devices 6, the second elastic connecting pieces 61, the rubber blocks 62, the supporting seats 63, the box bodies 64, the push rods 65, the fixing plates 66, the second adsorption devices 7, the electromagnets 71 and the bottom plates 72
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
As shown in fig. 1 to 7, the embodiment provides a wall climbing robot for water wall pipelines, including inner frame 1, outer frame 2, wheel assembly 3, rotary translation device 5 and adsorption device, inner frame 1 and outer frame 2 link to each other through elevating gear 4, wherein wheel assembly 3 is connected with inner frame 1, rotary translation device 5 and adsorption device all are connected with outer frame 2, elevating gear 4 drives inner frame 1 to move, inner frame 1 drives wheel assembly 3 to the direction that is close to or keeps away from the water wall and moves, rotary translation device 5 is installed at the position that the robot automobile body is close to the centre, it is rotatory to translate to the specific position to drive the robot automobile body by rotary translation device 5, realize the autonomic translation function of robot. The inner frame 1, the outer frame 2, the wheel assembly 3 and the adsorption device in the embodiment are all composed of a front part and a rear part, and the rotation and translation device 5 is arranged between the front part and the rear part of the outer frame 2. When the robot moves forwards or backwards along the extension direction of the pipeline, the inner frame 1 drives the wheel assemblies 3 to move towards the direction close to the pipeline, so that the wheel assemblies 3 are in contact with the pipeline, at the moment, the inner frame 1 and the wheel assemblies 3 are in a first working condition, and the robot can move forwards and backwards along the extension direction of the pipeline of the water wall; when the robot needs to be translated, the inner frame 1 drives the wheel assembly 3 to move in the direction away from the pipeline, so that the wheel assembly 3 is separated from the pipeline, the inner frame 1 and the wheel assembly 3 are located in the second working condition, and the robot can translate in the direction perpendicular to the cold wall pipeline extending direction and parallel to the water cooling wall surface.
According to the embodiment, the gripping force between the robot and the water wall pipeline is increased through the arrangement of the adsorption device, so that the safety is good, and the stability is strong; the robot can realize the autonomous translation function by the aid of the rotary translation device, detection efficiency is improved, the robot is suitable for different water-cooled wall working conditions, and the application range is wider.
Further, the suction devices include a first suction device 6 and a second suction device 7, and the first suction device 6 is disposed at the front and rear ends of the robot vehicle body. The second suction device 7 is disposed on the side of the outer frame 2 near the duct, and the second suction device 7 is located between the two first suction devices 6. The first suction device 6 is provided as a spring negative pressure suction device and the second suction device 7 is provided as an electromagnetic suction device.
When the robot advances or retreats along the pipeline extending direction, and inner frame 1 and wheel subassembly 3 are in first operating mode, first adsorption equipment 6 contactless pipeline prevents to increase frictional force and influences the marcing of motor drive automobile body, and only second adsorption equipment 7 and pipeline contact for the robot provides the adsorption affinity all the time at the in-process electro-magnet that removes, avoids the robot to drop. When the robot is required to translate when a specific position is reached, the inner frame 1 and the wheel assemblies 3 are in the second working condition, the first adsorption device 6 moves to be in contact with the pipeline to be grasped, so that when the inner frame 1 and the wheel assemblies 3 are translated, the robot still has enough friction force with the pipeline, the vehicle body is prevented from sliding downwards during translation, and the safety of the robot is fully improved.
Specifically, first adsorption equipment 6 includes push rod 65 and adsorption block, and push rod 65 one end is connected with outer frame 2, and the other end and the adsorption block of push rod 65 are connected, and push rod 65 sets up to extending structure, and it grasps or breaks away from to drive adsorption block and pipeline absorption by push rod 65.
Further, the push rod 65 sets up to electric putter or cylinder, the absorption piece includes fixed plate 66, second elastic connector 61, the rubber block 62, supporting seat 63, box 64 and fixed plate 66, fixed plate 66 is connected with push rod 65, fixed plate 66 deviates from one side of push rod 65 and connects second elastic connector 61, box 64 is connected to the other end of second elastic connector 61, box 64 deviates from one side of second elastic connector 61 and connects supporting seat 63 and the opposite sex rubber block 62 of setting in supporting seat 63, wherein one side shape that rubber block 62 and pipeline contacted sets up to arc, with the shape fit of pipeline wall, increase the frictional force between the two.
Furthermore, the supporting seat 63 is made of rubber, and the supporting seat 63 and the rubber block 62 can be integrally formed, so that the number of parts is reduced. The second elastic connector 61 is provided as a spring, and the box 64 and the fixing plate 66 at the two ends of the spring support the spring to ensure the spring to be in a compressed state, so that the friction between the rubber block 62 and the pipeline is improved when the rubber block 62 contacts the pipeline.
In the normal running process, the special-shaped rubber block is controlled to rise by the electric push rod, does not contact with the wall surface, and prevents the increase of friction force to influence the running of the robot. When the robot reaches a specific position and needs to translate, the special-shaped rubber block is placed to a position where the special-shaped rubber block can be in contact with a wall surface through the electric push rod, and the compression spring increases friction force to ensure that when an inner frame of the vehicle body is lifted, the friction force is sufficient, so that the robot is prevented from sliding downwards.
In this embodiment, the outer frame 2 includes vertical beams 21, cross beams 22, top beams 23 and side beams 24, wherein the vertical beams 21 and the side beams 24 are perpendicular to the water-cooled wall surface, the cross beams 22 are located between the vertical beams 21 and the side beams 24, the vertical beams 21 are disposed at positions close to the front and rear ends of the robot body, the side beams 24 are disposed at positions close to the middle of the robot body, the cross beams 22 are connected with the vertical beams 21 and the side beams 24 at ends close to the water-cooled wall pipeline, the cross beams 22 are disposed in a structure parallel to the water-cooled wall surface, the top beams 23 are connected at the other ends of the vertical beams 21, the top beams 23 are parallel to the cross beams 22, and the top beams 23 extend in a protruding manner in a direction away from the side beams 24.
The first suction device 6 is arranged on the side of the vertical beam 21 away from the cross beam 22, and the top of the first suction device 6 is connected with the top beam 23, so that the first suction device 6 is connected with the outer frame 2, and meanwhile, the first suction device 6 does not interfere with the inner frame 1 and the lifting device 4.
Preferably, the cross beam 22 may be a square frame structure or a flat plate structure, and a flat plate may be connected to a side of the square frame type cross beam 22 facing the pipe.
The second adsorption equipment 7 is arranged on one side, facing the water-cooled wall, of the cross beam 22, the second adsorption equipment 7 comprises an electromagnet 71 and a bottom plate 72, the bottom plate 72 is connected with the cross beam 22 through connecting pieces such as bolts, the electromagnet 71 is arranged on one side, facing away from the cross beam 22, of the bottom plate 72, the electromagnet 71 is in pipeline contact with the water-cooled wall, and continuous adsorption force between the second adsorption equipment 7 and the pipeline is guaranteed. Save space, reduce the whole weight of robot, guarantee at the in-process of advancing, can have the electro-magnet to provide the adsorption affinity all the time, stabilize the robot on the water-cooling wall, prevent the landing.
In the present embodiment, the lifting device 4 is disposed on the side of the cross beam 22 facing away from the water wall, and the lifting device 4 includes a second driving device 41 and a slide rail 42, wherein the second driving device 41 is connected with the inner frame 1, the slide rail 42 is connected with the side beam 24 of the outer frame 2, and the slide rail 42 is a linear slide rail. The second driving device 41 drives the inner frame 1 to move towards or away from the water wall along the slide rail 42, and then drives the wheel assembly 3 to contact with or separate from the water wall pipeline. In the process that the second driving device 41 drives the inner frame 1 to move, the sliding rail 42 plays a role in limiting and guiding the inner frame 1, provides relative supporting force for the inner frame, and can provide a fulcrum at the same time, so that the situation of side turning cannot occur in the lifting process, and the stability and the position certainty of the whole mechanism are improved.
Preferably, the second driving device 41 is configured as a motor, an electric cylinder, an electric push rod or other driving devices capable of realizing driving.
In the present embodiment, the front and rear ends of the rotational-translational device 5 are connected to the side members 24 of the outer frame 2, whereby the front and rear outer frames of the robot vehicle body are integrally connected. Further, in order to ensure the flexibility of the operation of the rotational-translational device, a connection beam 25 is provided on the top of the side beam 24, and the rotational-translational device 5 is connected to the outer frame 2 through the connection beam 25.
Specifically, the rotational translation device 5 includes a four-bar linkage 51, a transmission structure 52, a rotating base 53 and a third driving device 54, the four-bar linkage 51 is configured as a parallelogram structure, so that the robot can be driven to rotate and translate the front and rear vehicle bodies, the four-bar linkage 51 is connected with the connecting beam 25 of the outer frame 2, the lower portion of the four-bar linkage 51 is connected with the transmission structure 52, the transmission structure 52 is connected with the third driving device 54, the transmission structure 52 is driven by the third driving device 54 to operate, and the transmission structure 52 drives the front and rear outer frames 2 to rotate and translate through the four-bar linkage 51.
Set up rotating base 53 between drive structure 52 and third drive arrangement 54, rotating base 53 plays the fixed effect of support to drive structure 52 on the one hand, and on the other hand rotating base 53 wraps up drive structure 52, plays the guard action to each spare part in drive structure 52, prevents that the foreign object from falling into the inside normal steady operation that influences drive structure 52 of drive structure 52.
Preferably, the transmission structure 52 is provided as a planetary gear train, ensuring the operating flexibility of the rototranslation device. The third driving device 54 is a dc gear motor or other driving mechanism, and the dc gear motor is disposed on one side of the rotating base 53 near the water wall pipe. The direct-current speed reduction motor is used for providing power and outputting torque to control the planetary gear train to rotate, so that the rotation angle of the parallel four-bar mechanism is controlled, the robot body is rotated to a specific position, and the fact that the robot body is parallel to the water-cooling wall surface all the time is guaranteed.
In the present embodiment, the wheel assemblies 3 include a wheel frame 31, a first driving device 32, a slider 33, a driving frame 34 and wheel hubs 35, each wheel assembly 3 includes two wheel hubs 35, the wheel hubs 35 are connected with the inner frame 1 through the wheel frame 31, the slider 33 is disposed between the two wheel hubs 35, the slider 33 is connected with the inner frame 1, when the second driving device 41 of the lifting device 4 drives the inner frame 1 to move in a direction away from or close to the water-cooled wall surface, the slider 33 moves along the sliding rail 42, and the cooperation between the slider 33 and the sliding rail 42 plays a role in limiting and guiding the movement of the inner frame 1 and the wheel assemblies 3, so as to prevent the wheel assemblies 3 and the water-cooled wall pipeline from being obliquely displaced.
Further, wheel hub 35 adopts the rubber wheel, and the rubber wheel provides the friction for the robot walking, and wheel hub 35 sets up to recess type structure with the contact surface of water-cooled wall pipeline, and with the shape fit of pipeline, guarantee that wheel hub and pipeline laminating are inseparable when crawling along pipeline extending direction. Preferably, the outer hub is spaced about 15mm from the lowest point of the inner side of the wheel, the diameter of the outer hub is about 130mm, and the distance between the two sides of the hub 35 is 51mm, so that the structure is just suitable for the structure of the water cooling pipe wall.
Further, the first driving device 32 and the sliding block 33 are arranged between the two hubs 35, and the two hubs 35 are driven by the first driving device 32 to move along the extending direction of the water wall pipeline. Preferably, the first drive means 32 is provided as a motor. A driving frame 34 is arranged on one side of the first driving device 32 close to the inner frame 1, the driving frame 34 protects the first driving device 32, and the end part of the driving frame 34 is connected with the wheel frame 31.
In this embodiment, the wheel assembly 3 is configured as an adaptive wheel assembly, the adaptive device includes a connection plate 36, a first elastic connection member 37, and a pin 38, the connection plate 36 is disposed at a position of the wheel frame 31 close to the inner frame 1, the connection plate 36 is connected to the wheel frame 31, and the pin 38 passes through the connection plate 36 and is connected to the inner frame 1, so that the wheel frame 31 and the hub 35 can rotate relative to the inner frame 1, and it is ensured that the hub 35 can better span when encountering obstacles such as coking during traveling, and is adapted to a small-amplitude pipeline deformation condition.
Further, the first elastic connecting members 37 are located on both sides of the connecting plate 36, the first elastic connecting members 37 are connected with the inner frame 1, and a gap exists between the first elastic connecting members 37 and the wheel frame 31, so that the rubber wheel has certain adaptability to the deformed pipeline.
As part of the embodiments of the present invention, there is also provided a wall-climbing robot control method, including:
(1) and a straight mode comprising a forward mode and a backward mode.
The remote controller sends an advancing signal, the first adsorption device is kept disconnected from the water wall pipeline and is not in contact with the water wall pipeline, the motor of the wheel assembly 3 is controlled to rotate forwards to drive the wall climbing robot to advance along the water wall pipeline, and similarly, a retreating signal is sent to control the motor of the wheel assembly 3 to rotate backwards to enable the wall climbing robot to retreat along the water wall pipeline.
(2) Translation mode
When the wall climbing robot reaches a specified position or needs to translate when reaching a high point of a water-cooled wall, the remote controller sends a translation signal, the lifting device 4 controls the second driving device 41 to jack the inner frame 1 in a direction away from the water-cooled wall, and the inner frame 1 and the outer frame 2 are separated in a sliding mode to enable the wheel assembly 3 to be away from the wall;
meanwhile, the push rod 65 of the first adsorption device 6 drives the adsorption block to move towards the direction close to the water-cooled wall surface and to be adsorbed and tightly clamped with the water-cooled wall pipeline;
the third driving device 54 provides power to output torque and controls the transmission structure 52 to rotate, so that the rotation angle of the parallelogram linkage 51 is controlled, the robot body is translated to a specific position, and the body and the water-cooled wall surface are always kept parallel.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the utility model as defined in the appended claims.
Claims (10)
1. The utility model provides a wall climbing robot, its characterized in that includes internal frame (1), outer frame (2), wheel subassembly (3), rotary translation device (5) and adsorption equipment, internal frame (1) links to each other through elevating gear (4) with outer frame (2), wheel subassembly (3) with internal frame (1) is connected, rotary translation device (5) and adsorption equipment all with outer frame (2) are connected, elevating gear (4) drive internal frame (1) removes, internal frame (1) drives wheel subassembly (3) removes to the direction that is close or keeps away from the water-cooling wall, internal frame (1), outer frame (2), wheel subassembly (3) all include two parts from beginning to end, rotary translation device (5) set up between two parts from beginning to end of outer frame (2).
2. A wall climbing robot according to claim 1, characterized in that the suction devices comprise a first suction device (6) and a second suction device (7), the first suction device (6) being arranged as a spring negative pressure suction device and the second suction device (7) being arranged as an electromagnetic suction device.
3. The wall-climbing robot as claimed in claim 2, wherein the first adsorption device (6) comprises a push rod (65) and an adsorption block, one end of the push rod (65) is connected with the outer frame (2), the other end of the push rod (65) is connected with the adsorption block, the push rod (65) is arranged in a telescopic structure, and the adsorption block is driven by the push rod (65) to be adsorbed and grasped or separated from the pipeline.
4. The wall-climbing robot as claimed in claim 3, wherein the suction block comprises a support base (63) and a rubber block (62) arranged in the support base (63), and one side of the rubber block (62) contacting with the pipeline is shaped as a circular arc.
5. A wall climbing robot according to claim 2, characterized in that the second suction device (7) comprises an electromagnet (71) and a base plate (72), the base plate (72) being connected to the outer frame (2), the electromagnet (71) being arranged on the base plate (72).
6. A wall climbing robot according to claim 1, characterized in that the lifting device (4) comprises a second driving device (41) and a sliding rail (42), the second driving device (41) is connected with the inner frame (1), the sliding rail (42) is connected with the outer frame (2), and the second driving device (41) drives the inner frame (1) to move along the sliding rail (42) towards or away from the water wall.
7. A wall climbing robot according to claim 6, characterized in that the wheel assembly (3) comprises a wheel frame (31), a slide (33), a drive frame (34) and a hub (35), the hub (35) being connected to the inner frame (1) via the wheel frame (31), the slide (33) being connected to the inner frame (1), the second drive means (41) moving the slide (33) along the slide (42) when driving the inner frame (1) to move in a direction away from or towards a water cooled wall surface.
8. A wall climbing robot according to claim 7, characterized in that the wheel assembly (3) further comprises an adaptive device comprising a connection plate (36), a first elastic connection member (37), a pin (38), wherein the connection plate (36) is arranged at the position of the wheel frame (31) close to the inner frame (1), the connection plate (36) is connected with the wheel frame (31), the pin (38) is connected with the inner frame (1) through the connection plate (36), the first elastic connection member (37) is positioned at two sides of the connection plate (36), the first elastic connection member (37) is connected with the inner frame (1), and a gap exists between the inner frame (1) and the wheel frame (31).
9. A wall-climbing robot according to claim 1, characterized in that the front and rear ends of the rotational translation device (5) are connected with the outer frame (2).
10. A wall-climbing robot according to claim 9, characterized in that the rotational translation device (5) comprises a four-bar linkage (51), a transmission structure (52), a rotational base (53) and a third driving device (54), the four-bar linkage (51) is connected with the outer frame (2), the lower part of the four-bar linkage (51) is connected with the transmission structure (52), the transmission structure (52) is connected with the third driving device (54), the transmission structure (52) is driven by the third driving device (54) to operate, and the four-bar linkage (51) drives the outer frame (2) to rotate and translate.
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| WO2024065946A1 (en) * | 2022-09-29 | 2024-04-04 | 江苏镌极特种设备有限公司 | Adaptive magnetic-attraction-type traveling wheel set |
| CN117864267A (en) * | 2024-03-08 | 2024-04-12 | 西安热工研究院有限公司 | Water-cooled wall pipe climbing mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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