CN219257558U

CN219257558U - Wall climbing robot for detecting and maintaining water-cooled wall of power plant boiler

Info

Publication number: CN219257558U
Application number: CN202320277453.3U
Authority: CN
Inventors: 郭永录; 韩孝军; 张爱民; 隋洪波
Original assignee: Beijing Huiyan Zhongke Technology Development Co ltd
Current assignee: Beijing Huiyan Zhongke Technology Development Co ltd
Priority date: 2023-02-22
Filing date: 2023-02-22
Publication date: 2023-06-27
Anticipated expiration: 2033-02-22

Abstract

The utility model relates to the technical field of robots, in particular to a wall climbing robot for detecting and maintaining a water-cooled wall of a power plant boiler, which comprises a vehicle body, wherein the front end and the rear end of the vehicle body are respectively and rotatably connected with a hollow rotating shaft, the middle part of the hollow rotating shaft is communicated with the inside of the vehicle body through a communication hole, the two ends of the hollow rotating shaft are respectively and fixedly connected with a first magnetic wheel, one side, far away from the vehicle body, of the first magnetic wheel is fixedly connected with a telescopic cylinder, the telescopic cylinder is communicated with the end part of the hollow rotating shaft, and the other end of the telescopic cylinder is rotatably connected with a second magnetic wheel; the middle part of the two hollow rotating shafts is in transmission connection with a driving part, the driving part is fixedly connected with one side of the vehicle body, the other side of the vehicle body is fixedly connected with a detection part, the top of the vehicle body is fixedly connected with an air pressure adjusting part, and the air pressure adjusting part is communicated with the vehicle body. The utility model can achieve the purpose of changing the size of the magnetic wheel to improve the applicability of the device.

Description

Wall climbing robot for detecting and maintaining water-cooled wall of power plant boiler

Technical Field

The utility model relates to the technical field of robots, in particular to a wall climbing robot for detecting, maintaining and climbing a water-cooled wall of a power plant boiler.

Background

With the continuous development of robotics, many people cannot adapt to the environment and cannot perform tasks, and special robots are required to perform the tasks. For example, in the traditional method for overhauling the water-cooled wall of the boiler, a scaffold is firstly required to be erected in a large area in a limited space in the boiler, or a hanging basket is utilized to carry out manual spot inspection on a high-risk area of the water-cooled wall, so that the working environment is quite bad, and the difficulty is high, the progress is slow and the cost is high during overhauling. And the boiler water wall overhauls belongs to the operation overhauls in limited space high places, the risk degree is quite high, and once the high-altitude falling event occurs, serious consequences can be caused for the parties and enterprises.

At present, the magnetic wheel type wall climbing robot can replace manual work to overhaul the water cooling wall, so that the risk is greatly reduced, the magnetic wheel size of the existing magnetic wheel type wall climbing robot cannot be adjusted, the pipe diameters of water cooling pipes on different water cooling walls are different, and the applicability of the existing magnetic wheel type wall climbing robot is low.

Disclosure of Invention

The utility model aims to provide a wall climbing robot for detecting and maintaining a water-cooled wall of a power plant boiler, so as to solve the problems and achieve the purpose of changing the size of a magnetic wheel to improve the applicability of the device.

In order to achieve the above object, the present utility model provides the following solutions:

the utility model provides a power plant boiler water-cooled wall detects maintenance wall climbing robot, includes the automobile body, both ends are rotated respectively and are connected with the cavity pivot around the automobile body, cavity pivot middle part pass through the intercommunicating pore with inside the automobile body communicates, the intercommunicating pore is seted up on the cavity pivot lateral wall, the both ends of cavity pivot have first magnetic wheel fixedly connected respectively, first magnetic wheel keep away from automobile body one side rigid coupling has a telescopic cylinder, the telescopic cylinder with the tip intercommunication of cavity pivot, the other end rotation of telescopic cylinder is connected with the second magnetic wheel;

the middle part of the two hollow rotating shafts is in transmission connection with a driving part, the driving part is fixedly connected with one side of the vehicle body, the other side of the vehicle body is fixedly connected with a detection part, the top of the vehicle body is fixedly connected with an air pressure adjusting part, and the air pressure adjusting part is communicated with the vehicle body.

Preferably, the telescopic cylinder comprises a cylinder body, one end of the cylinder body is fixedly connected with the side wall of the first magnetic wheel, the cylinder body is communicated with the end part of the hollow rotating shaft, a sliding plate is connected in a sliding manner in the cylinder body, one end of a sliding rod is fixedly connected with the middle part of one side of the sliding plate, far away from the vehicle body, of the sliding plate, the other end of the sliding rod is rotationally connected with the second magnetic wheel, and the side wall of the sliding rod is in sliding connection with the cylinder body;

the sliding rod is sleeved with an elastic part, and two ends of the elastic part are respectively abutted against the sliding plate and the inner wall of the cylinder body.

Preferably, the elastic part comprises a spring, the spring is sleeved on the outer side of the sliding rod, one end of the spring is abutted to the side wall of the sliding plate, and the other end of the spring is abutted to the inner wall of the cylinder.

Preferably, two ends of the synchronous connecting plate are sleeved outside one side, close to the second magnetic wheel, of the front sliding rod and the rear sliding rod, and the sliding rod is rotationally connected with the end part of the synchronous connecting plate and is clamped.

Preferably, the driving part comprises a stepping motor, a fixed end of the stepping motor is fixedly connected with the side wall of the vehicle body, a second synchronous wheel and a third synchronous wheel are fixedly connected with an output shaft of the stepping motor, the second synchronous wheel and the third synchronous wheel are respectively connected with a first synchronous wheel through synchronous belt transmission, and the first synchronous wheel is sleeved on the hollow rotating shaft and fixedly connected with the hollow rotating shaft.

Preferably, the air pressure adjusting part comprises a rectangular piston bin, the bottom of the rectangular piston bin is fixedly connected and communicated with the top of the vehicle body, one end of a screw rod is rotationally connected to the middle part of the inner side of the rectangular piston bin, the other end of the screw rod is rotationally connected with the bottom of the inner side of the vehicle body, a rectangular slide plate is externally connected with the screw rod in a threaded manner, the side wall of the rectangular slide plate is in butt joint with the inner wall of the rectangular piston bin and is slidably arranged, the top of the screw rod is in transmission connection with a second driving part, the fixed end of the second driving part is fixedly connected with the outer side wall of the rectangular piston bin, an electromagnetic valve is communicated with the side wall of the rectangular piston bin, and the electromagnetic valve is positioned below the rectangular slide plate.

Preferably, the second driving part comprises a first bevel gear, the first bevel gear is sleeved and fixedly connected to the top of the screw rod, the first bevel gear is connected with a second bevel gear in a meshed mode, the middle of the second bevel gear is connected with an output shaft of a driving motor in a shaft mode, and the fixed end of the driving motor is fixedly connected with the outer side wall of the rectangular piston bin.

Preferably, the detection part comprises a detection module, and one side of the detection module is fixedly connected with one side of the vehicle body.

The utility model has the following technical effects: when the water cooling wall is required to be detected, the vehicle body can be adsorbed on the water cooling wall through magnetic force through the first magnetic wheel and the second magnetic wheel, and then the detection part fixedly connected to one side of the vehicle body can be covered on the water cooling wall for detection.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a left side view of the structure of the present utility model;

wherein, 1, the car body; 2. a hollow rotating shaft; 3. a first synchronizing wheel; 4. a second synchronizing wheel; 5. a stepping motor; 6. a third synchronizing wheel; 7. a detection module; 8. a screw rod; 9. a communication hole; 10. a synchronous belt; 11. a first magnetic wheel; 12. a telescopic cylinder; 13. a slide plate; 14. a spring; 15. a slide rod; 16. a synchronous connecting plate; 17. a second magnetic wheel; 18. a driving motor; 19. a rectangular slide plate; 20. a first bevel gear; 21. a rectangular piston bin; 22. a second bevel gear; 23. a solenoid valve.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In order that the above-recited objects, features and advantages of the present utility model will become more readily apparent, a more particular description of the utility model will be rendered by reference to the appended drawings and appended detailed description.

Referring to fig. 1-2, the utility model provides a wall climbing robot for detecting, maintaining and repairing a water-cooled wall of a power plant boiler, which comprises a vehicle body 1, wherein the front end and the rear end of the vehicle body 1 are respectively and rotatably connected with a hollow rotating shaft 2, the middle part of the hollow rotating shaft 2 is communicated with the inside of the vehicle body 1 through a communication hole 9, the communication hole 9 is formed in the outer side wall of the hollow rotating shaft 2, the two ends of the hollow rotating shaft 2 are respectively and fixedly connected with a first magnetic wheel 11, one side, far away from the vehicle body 1, of the first magnetic wheel 11 is fixedly connected with a telescopic cylinder 12, the telescopic cylinder 12 is communicated with the end part of the hollow rotating shaft 2, and the other end of the telescopic cylinder 12 is rotatably connected with a second magnetic wheel 17;

the middle parts of the two hollow rotating shafts 2 are in transmission connection with a driving part, the driving part is fixedly connected with one side of the vehicle body 1, the other side of the vehicle body 1 is fixedly connected with a detection part, the top of the vehicle body 1 is fixedly connected with an air pressure adjusting part, and the air pressure adjusting part is communicated with the vehicle body 1.

When the air conditioner is used, when the water-cooled wall is required to be detected, the car body 1 can be adsorbed on the water-cooled wall through the magnetic force by the first magnetic wheel 11 and the second magnetic wheel 17, then the detection part fixedly connected to one side of the car body 1 can be covered on the water-cooled wall for detection, as the water-cooled wall is composed of a plurality of steel pipes, the outer diameters of the steel pipes of different water-cooled walls are different, the air pressure of the inner wall of the car body 1 is regulated by the air pressure regulating part before the first magnetic wheel 11 is adsorbed on the water-cooled wall, air enters the hollow rotating shaft 2 through the communication hole 9 in the middle of the hollow rotating shaft 2, then the air pressure acts on the telescopic cylinder 12, the second magnetic wheel 17 is driven by the telescopic cylinder 12 to be far away from or close to the first magnetic wheel 11, the distance between the first magnetic wheel 11 and the second magnetic wheel 17 is further changed, the water-cooled pipe with different pipe diameters is further adapted, and then the driving part drives the first magnetic wheel 11 and the second magnetic wheel 17 at the end of the hollow rotating shaft 2 to rotate through the driving part, and the movement in the vertical direction of the water-cooled wall is realized.

In a further optimized scheme, the telescopic cylinder 12 comprises a cylinder body, one end of the cylinder body is fixedly connected with the side wall of the first magnetic wheel 11, the cylinder body is communicated with the end part of the hollow rotating shaft 2, a sliding plate 13 is connected in the cylinder body in a sliding manner, one end of a sliding rod 15 is fixedly connected to the middle part of one side of the sliding plate 13 away from the vehicle body 1, the other end of the sliding rod 15 is rotationally connected with the second magnetic wheel 17, and the side wall of the sliding rod 15 is in sliding connection with the cylinder body;

the slide rod 15 is sleeved with an elastic part, and two ends of the elastic part are respectively abutted against the slide plate 13 and the inner wall of the cylinder.

Further optimizing scheme, the elastic part includes spring 14, and spring 14 cover is established in the slide rod 15 outside, and spring 14's one end and slide 13 lateral wall butt, spring 14 other end and barrel inner wall butt.

When the air pressure adjusting device is used, air pressure in the vehicle body 1 is adjusted through the air pressure adjusting part, when the air pressure in the vehicle body 1 rises, air enters the hollow rotating shaft 2 through the communication hole 9, and because the end part of the hollow rotating shaft 2 is communicated with the cylinder body, the air enters the cylinder body to push the sliding plate 13 to horizontally slide along the inner wall of the cylinder body, the size of the sliding plate 13 is matched with the inner diameter of the cylinder body, and a sealing strip is further arranged between the outer wall of the sliding plate 13 and the inner wall of the cylinder body, so that air leakage is avoided.

When the sliding plate 13 horizontally slides in the direction away from the vehicle body 1, the sliding plate 13 is driven to move away from the sliding rod 15 on one side of the vehicle body 1, and then the second magnetic wheel 17 rotationally connected with the other end of the sliding rod 15 is pushed to be away from the first magnetic wheel 11, so that the sliding plate is suitable for steel pipes with larger pipe diameters.

The slide rod 15 is also sleeved with a spring 14, one end of the spring 14 is abutted with the side wall of the slide plate 13, and the other end of the spring 14 is abutted with the inner wall of the cylinder.

When the air pressure in the car body 1 is increased, the sliding plate 13 is pushed to move and squeeze the spring 14, so that the spring 14 is compressed, when the air pressure in the car body 1 is reduced, the spring 14 releases elasticity, the sliding plate 13 is pushed to return to the initial position, and at the moment, the second magnetic wheel 17 is close to the first magnetic wheel 11, so that the steel pipe with smaller pipe diameter is adapted.

In a further optimized scheme, two ends of a synchronous connecting plate 16 are sleeved outside one side, close to the second magnetic wheel 17, of the front sliding rod 15 and the rear sliding rod 15, and the sliding rods 15 are rotatably connected with the ends of the synchronous connecting plate 16 and are clamped.

The arrangement is such that the slide rods 15 at the front and rear ends of the vehicle body 1 can be synchronously extended or retracted, thereby ensuring that the distance between the front and rear first magnetic wheels 11 and the distance between the front and rear second magnetic wheels 17 are kept consistent.

The sliding rod 15 is connected with the synchronous connecting plate 16 through a bearing, the inner ring of the bearing is fixed with the sliding rod 15, the outer ring of the bearing is fixedly connected with the synchronous connecting plate 16, and further the sliding rod 15 is rotationally connected with the end part of the synchronous connecting plate 16 and is clamped.

Further optimizing scheme, drive division includes step motor 5, step motor 5's stiff end and automobile body 1 lateral wall rigid coupling, and step motor 5's output shaft rigid coupling has second synchronizing wheel 4 and third synchronizing wheel 6, and second synchronizing wheel 4 and third synchronizing wheel 6 are connected with first synchronizing wheel 3 through the hold-in range 10 transmission respectively, and first synchronizing wheel 3 cover is established on cavity pivot 2 and the rigid coupling.

The second synchronizing wheel 4 and the third synchronizing wheel 6 are driven to rotate simultaneously through the stepping motor 5, the second synchronizing wheel 4 and the third synchronizing wheel 6 are coaxially arranged, the second synchronizing wheel 4 and the third synchronizing wheel 6 respectively drive the first synchronizing wheels 3 at the front end and the rear end of the vehicle body 1 to rotate through the synchronous belt 10, and then drive the hollow rotating shafts 2 at the front end and the rear end of the vehicle body 1 to rotate, and the movement of the vehicle body 1 on the water-cooled wall is realized through the first magnetic wheel 11 and the second magnetic wheel 17.

Further optimizing scheme, atmospheric pressure adjusting part includes rectangle piston storehouse 21, rectangle piston storehouse 21 bottom and automobile body 1 top rigid coupling and intercommunication, rectangle piston storehouse 21 inboard middle part rotates the one end that is connected with lead screw 8, the other end and the inboard bottom of automobile body 1 of lead screw 8 rotate to be connected, lead screw 8 external screw thread connection has rectangle slide 19, the lateral wall of rectangle slide 19 and the inner wall butt and the slip setting in rectangle piston storehouse 21, lead screw 8 top transmission is connected with second drive division, the stiff end and the rectangle piston storehouse 21 lateral wall rigid coupling of second drive division, the lateral wall intercommunication in rectangle piston storehouse 21 has solenoid valve 23, solenoid valve 23 is located rectangle slide 19 below.

Further optimizing scheme, the second drive part includes first bevel gear 20, and first bevel gear 20 cover is established and the rigid coupling is at the top of lead screw 8, and first bevel gear 20 meshing is connected with second bevel gear 22, and second bevel gear 22 middle part hub connection has the output shaft of driving motor 18, and the stiff end and the rectangular piston storehouse 21 lateral wall rigid coupling of driving motor 18.

When the electromagnetic valve is used, the rectangular sliding plate 19 is positioned at a position higher than the electromagnetic valve 23, the electromagnetic valve 23 is opened at the moment, the rectangular piston bin 21 and the vehicle body 1 are communicated with the outside, then the electromagnetic valve 23 is closed, the driving motor 18 drives the second bevel gear 22 to rotate so as to drive the first bevel gear 20 to rotate, the lead screw 8 is driven to rotate in the rectangular piston bin 21 and the vehicle body 1, the rectangular sliding plate 19 slides downwards in the rectangular piston bin 21 under the action of threads, the section of the rectangular piston bin 21 is rectangular and is matched with the shape of the rectangular sliding plate 19, the side wall of the rectangular sliding plate 19 slides with the inner wall of the rectangular piston bin 21 and contacts with the rectangular sliding plate 19, so that the rectangular sliding plate 19 only can slide in the rectangular piston bin 21 and cannot rotate, when the rectangular sliding plate 19 slides downwards, gas in the vehicle body 1 is extruded to move into the hollow rotating shaft 2, the second magnetic wheel 17 is further away from the first magnetic wheel 11, and when the electromagnetic valve 23 is closed, the effect of changing the distance between the first magnetic wheel 11 and the second magnetic wheel 17 can be realized through the sliding of the rectangular sliding plate 19 in the rectangular piston bin 21.

In a further optimized scheme, the detection part comprises a detection module 7, and one side of the detection module 7 is fixedly connected with one side of the vehicle body 1.

The detection module 7 is fixedly connected with one side of the vehicle body 1 through bolts, the detection module 7 comprises a thickness gauge and an encoder, the thickness gauge is used for measuring the thickness of materials and objects, the thickness specification of the materials is known, the uniformity of each point and the corrosion and abrasion degree of the materials are outputted in the form of electric signals, the encoder is a double encoder, other detection instruments can be replaced according to actual detection requirements, and the detection module 7 is of the prior art and is not described in detail herein.

The thickness gauge of the present embodiment is preferably an OU1600 ultrasonic thickness gauge, and the encoder of the present embodiment is preferably an eCoder18 type encoder.

The sides of the first magnetic wheel 11 and the second magnetic wheel 17 are provided with slopes to adapt to arc-shaped steel pipes, the slopes of the sides of the first magnetic wheel 11 and the second magnetic wheel 17 are arranged oppositely so as to clamp the steel pipes between the two slopes, the slope of the side of the first magnetic wheel 11 is located on the side close to the car body 1, and the slope of the side of the second magnetic wheel 17 is located on the side far away from the car body 1.

It is worth noting that the rotating connection part of the vehicle body 1 and the hollow rotating shaft 2 is also provided with a sealing ring to prevent the gas in the vehicle body 1 from leaking, the output shaft of the stepping motor 5 penetrates through the side wall of the vehicle body 1 and is connected in a rotating way, and the rotating connection part of the output shaft of the stepping motor 5 and the side wall of the vehicle body 1 is also provided with the sealing ring.

The working process of the utility model is as follows: when the water-cooled wall is required to be detected, the car body 1 can be adsorbed on the water-cooled wall through the magnetic force by the first magnetic wheel 11 and the second magnetic wheel 17, so that the detection module 7 fixedly connected to one side of the car body 1 can be covered on a steel pipe of the water-cooled wall for detection, before the first magnetic wheel 11 is adsorbed on the water-cooled wall, the electromagnetic valve 23 is opened, the rectangular piston bin 21 and the car body 1 are communicated with the outside, then the electromagnetic valve 23 is closed, the driving motor 18 drives the second bevel gear 22 to rotate so as to drive the first bevel gear 20 to rotate, the lead screw 8 is driven to rotate in the rectangular piston bin 21 and the car body 1, the rectangular slide 19 slides downwards in the rectangular piston bin 21 under the action of the threads, gas in the car body 1 is extruded to move towards the hollow rotating shaft 2, the gas enters into the hollow rotating shaft 2 through the communication hole 9, so that the gas enters the barrel to push the slide 13 to horizontally slide along the inner wall of the barrel, the slide rod 15 on one side of the slide 13 is driven, the slide rod 15 on the other end of the slide rod 15 is further pushed to be rotatably connected with the second magnetic wheel 17 to be far away from the first magnetic wheel 11, and when the electromagnetic valve 23 is closed, the rectangular piston bin 19 slides in the rectangular piston bin 21, and the first magnetic wheel 17 is driven to slide in the rectangular piston bin 21. And then adapt to the water-cooled tube of different pipe diameters, drive second synchronizing wheel 4 and third synchronizing wheel 6 through step motor 5 and rotate simultaneously afterwards, second synchronizing wheel 4 and third synchronizing wheel 6 drive the first synchronizing wheel 3 at automobile body 1 front and back both ends respectively through hold-in range 10 again and rotate, and then drive the cavity pivot 2 at automobile body 1 front and back both ends and rotate, and then make cavity pivot 2 drive first magnetic wheel 11 rotation, through first magnetic wheel 11 and second magnetic wheel 17 in order to realize the removal of automobile body 1 on the water-cooled wall.

In the description of the present utility model, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present utility model, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present utility model.

The above embodiments are only illustrative of the preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model, and various modifications and improvements made by those skilled in the art to the technical solutions of the present utility model should fall within the protection scope defined by the claims of the present utility model without departing from the design spirit of the present utility model.

Claims

1. The utility model provides a boiler water-cooling wall detects maintenance wall climbing robot which characterized in that: the novel telescopic trolley comprises a trolley body (1), wherein the front end and the rear end of the trolley body (1) are respectively and rotatably connected with a hollow rotating shaft (2), the middle part of the hollow rotating shaft (2) is communicated with the inside of the trolley body (1) through a communication hole (9), the communication hole (9) is formed in the outer side wall of the hollow rotating shaft (2), the two ends of the hollow rotating shaft (2) are respectively and fixedly connected with a first magnetic wheel (11), one side, far away from the trolley body (1), of the first magnetic wheel (11) is fixedly connected with a telescopic cylinder (12), the telescopic cylinder (12) is communicated with the end part of the hollow rotating shaft (2), and the other end of the telescopic cylinder (12) is rotatably connected with a second magnetic wheel (17).

The two hollow rotating shafts (2) are connected with a driving part in a transmission manner, the driving part is fixedly connected with one side of the vehicle body (1), a detection part is fixedly connected with the other side of the vehicle body (1), an air pressure adjusting part is fixedly connected with the top of the vehicle body (1), and the air pressure adjusting part is communicated with the vehicle body (1).

2. The power plant boiler water wall detection and maintenance wall climbing robot according to claim 1, wherein: the telescopic cylinder (12) comprises a cylinder body, one end of the cylinder body is fixedly connected with the side wall of the first magnetic wheel (11), the cylinder body is communicated with the end part of the hollow rotating shaft (2), a sliding plate (13) is connected in a sliding manner in the cylinder body, one end of a sliding rod (15) is fixedly connected in the middle of one side of the sliding plate (13) away from the vehicle body (1), the other end of the sliding rod (15) is rotationally connected with the second magnetic wheel (17), and the side wall of the sliding rod (15) is in sliding connection with the cylinder body;

the sliding rod (15) is sleeved with an elastic part, and two ends of the elastic part are respectively abutted against the sliding plate (13) and the inner wall of the cylinder body.

3. The power plant boiler water wall detection and maintenance wall climbing robot according to claim 2, wherein: the elastic part comprises a spring (14), the spring (14) is sleeved on the outer side of the sliding rod (15), one end of the spring (14) is abutted to the side wall of the sliding plate (13), and the other end of the spring (14) is abutted to the inner wall of the cylinder body.

4. A power plant boiler water wall inspection maintenance climbing robot according to claim 3, wherein: two ends of a synchronous connecting plate (16) are sleeved outside one side, close to the second magnetic wheel (17), of the front sliding rod (15) and the rear sliding rod (15), and the sliding rod (15) is rotatably connected with the end part of the synchronous connecting plate (16) and is clamped.

5. The power plant boiler water wall detection and maintenance wall climbing robot according to claim 1, wherein: the driving part comprises a stepping motor (5), the fixed end of the stepping motor (5) is fixedly connected with the side wall of the vehicle body (1), a second synchronizing wheel (4) and a third synchronizing wheel (6) are fixedly connected with an output shaft of the stepping motor (5), the second synchronizing wheel (4) and the third synchronizing wheel (6) are respectively connected with a first synchronizing wheel (3) through a synchronous belt (10) in a transmission mode, and the first synchronizing wheel (3) is sleeved on the hollow rotating shaft (2) and fixedly connected with the hollow rotating shaft.

6. The power plant boiler water wall detection and maintenance wall climbing robot according to claim 1, wherein: the air pressure adjusting part comprises a rectangular piston bin (21), the bottom of the rectangular piston bin (21) is fixedly connected and communicated with the top of the vehicle body (1), one end of a screw rod (8) is rotationally connected to the middle of the inner side of the rectangular piston bin (21), the other end of the screw rod (8) is rotationally connected with the bottom of the inner side of the vehicle body (1), a rectangular slide plate (19) is externally threaded to the screw rod (8), the side wall of the rectangular slide plate (19) is in butt and sliding arrangement with the inner wall of the rectangular piston bin (21), a second driving part is connected to the top of the screw rod (8) in a transmission manner, the fixed end of the second driving part is fixedly connected with the outer side wall of the rectangular piston bin (21), an electromagnetic valve (23) is communicated with the side wall of the rectangular piston bin (21), and the electromagnetic valve (23) is located below the rectangular slide plate (19).

7. The power plant boiler water wall inspection maintenance climbing robot of claim 6, wherein: the second driving part comprises a first bevel gear (20), the first bevel gear (20) is sleeved and fixedly connected to the top of the screw rod (8), the first bevel gear (20) is connected with a second bevel gear (22) in a meshed mode, the middle of the second bevel gear (22) is connected with an output shaft of the driving motor (18) in a shaft mode, and the fixed end of the driving motor (18) is fixedly connected with the outer side wall of the rectangular piston bin (21).

8. The power plant boiler water wall detection and maintenance wall climbing robot according to claim 1, wherein: the detection part comprises a detection module (7), and one side of the detection module (7) is fixedly connected with one side of the vehicle body (1).