CN221099646U

CN221099646U - Water-cooled wall climbing robot

Info

Publication number: CN221099646U
Application number: CN202322849801.2U
Authority: CN
Inventors: 张冲先; 李宁; 程国玉; 杨建邦; 易元胜; 郭新刚; 郑准备; 李梦阳; 管永贺
Original assignee: Northwest Electric Power Test And Research Institute Of China Datang Group Science And Technology Research Institute Co ltd; Shanxi Datang International Shentou Power Generation Co ltd
Current assignee: Northwest Electric Power Test And Research Institute Of China Datang Group Science And Technology Research Institute Co ltd; Shanxi Datang International Shentou Power Generation Co ltd
Priority date: 2023-10-24
Filing date: 2023-10-24
Publication date: 2024-06-07
Anticipated expiration: 2033-10-24

Abstract

The utility model discloses a water-cooled wall climbing robot which comprises a robot shell, a transmission assembly and a thickness measuring assembly, wherein the transmission assembly is arranged on two sides of the robot shell, the robot shell moves through the transmission assembly, the thickness measuring assembly is arranged on the back surface of the robot shell, a driving motor is arranged in the robot shell, an output shaft of the driving motor is fixed with a gear a, and a gear b is arranged on the right side of the gear a. The water-cooled wall climbing robot has the functions of remote control, man-machine combination inspection, wall surface cleaning, wall surface thickness measurement, video real-time acquisition and transmission, advancing, retreating, turning and the like, is provided with a temperature and humidity sensor and an obstacle avoidance sensor, is additionally provided with a safe hoisting device, can replace personnel to remove wall surface floating ash and rust in high-altitude operation, detects the wall thickness, and collects and processes detection data in real time; the water-cooled wall inspection work can be more efficiently and safely completed.

Description

Water-cooled wall climbing robot

Technical Field

The utility model relates to the field of robots, in particular to a water-cooled wall climbing robot.

Background

At present, the inspection mode of the water-cooled wall of the thermal power plant for defects and leakage points is mainly manually visual, and the defects and leakage points are observed through a telescope in a manhole or manually inspected by building a scaffold in a boiler; the existing inspection mode has the defects of low precision, low efficiency and high cost, and workers build a platform in the furnace to have poor inspection safety, high risk and high working strength; with the increase of the capacity of the unit, the structural complexity is increased, the inspection area is increased, the manual inspection difficulty is increased, and the danger is also increased; for high-efficient, safe completion water-cooling wall inspection work, design a water-cooling wall climbing robot.

Disclosure of utility model

The utility model aims to provide a water-cooled wall climbing robot which aims to solve the defects in the background technology.

In order to achieve the above purpose, the water-cooled wall climbing robot comprises a robot shell, a transmission assembly and a thickness measuring assembly, wherein the transmission assembly is arranged on two sides of the robot shell, the robot shell moves through the transmission assembly, the thickness measuring assembly is arranged on the back surface of the robot shell, a driving motor is arranged in the robot shell, an output shaft of the driving motor is fixed with a gear a, a gear b is arranged on the right side of the gear a, the gear a is in meshed connection with the gear b, and a bent plate chain is arranged on one side, far away from the gear b, of the gear a;

The robot shell is formed by splicing a front face, a front lamp holder, side plates, a rear plate, a reinforcing column, a longitudinal reinforcing block and a welding bottom plate, and vision sensors, an illuminating lamp, a gyroscope, an accelerometer, an encoder, a controller and a driving motor are arranged at the front part, the rear part and the top part of the robot shell;

the transmission assembly comprises a gear c, an encapsulated magnet, a driving shaft, a side seal plate mounting column, a driving sprocket, a bearing, a bent plate chain, a driven sprocket and a driven shaft, wherein the bent plate chain is meshed with the outer side of the driving sprocket, the encapsulated magnet is mounted on the bent plate chain, the driving shaft is fixed on a side plate, the side seal plate is mounted on the outer side of the transmission assembly, and the tensioning shaft and the tensioning bearing are both mounted on the side plate;

The thickness measuring assembly comprises a rear camera, a camera mounting plate, a lifting screw motor, a lifting bracket, a probe mounting plate, an in-place detection plate, a screw nut, a screw guide seat, a probe outer frame, a first micro switch, an in-place mounting plate, a guide rail, a miniature universal ball, a second micro switch and a thickness measuring probe, wherein the thickness measuring assembly is mounted on a transverse moving screw motor through the lifting bracket, the transverse moving screw motor is fixed on the surface of an upper cover, the lifting screw motor is mounted on the lifting bracket, the screw nut is mounted on the lifting screw motor, a rear cover is covered on the outer side of the transverse moving screw motor, the screw guide seat is mounted on the lifting bracket, the probe outer frame is fixed on the screw nut, the thickness measuring assembly is protected on a robot shell through a probe protection ring, and a rear lamp is mounted on the outer side of the thickness measuring assembly.

Further, the robot shell is made of aluminum alloy materials, and the reinforcing columns and the longitudinal reinforcing blocks are combined together to form a shell reinforcing structure of the robot shell, and the reinforcing columns and the longitudinal reinforcing blocks are vertically distributed.

Further, the transmission assembly adopts a double-row chain and double-row magnet structure, and the driven sprocket is in synchronous engagement rotation with the driving sprocket through the bent plate chain, and the driving mode of the robot moving on the water-cooled wall surface is as follows: the motor is transmitted to a gear c through a gear a, and then the driving sprocket drives the bent plate chain and the driven sprocket to move; the recording mode of the robot mileage is as follows: the power of the driving motor is transmitted to a gear b from a gear a, and the gear b is directly connected with an encoder and used for recording the mileage of the robot.

Further, install handle b on the front face, install handle a on the upper cover, handle b is collapsible handle, installs the headlight on the front face, and the headlight uses four unification high-power wick, and the headlight back is equipped with heat abstractor, is equipped with the main cable support on the upper cover, installs the flexible broken line cable joint on the main cable support, and installs rings on the main cable support, covers spiro union temperature and humidity sensor, temperature and humidity sensor mount pad, aviation plug and cleans the motor simultaneously.

Further, the front end of the robot shell is provided with an obstacle avoidance sensor, and the obstacle avoidance sensor is fixed on the front face through an obstacle avoidance mounting plate.

Further, the upper cover is installed at the top of the robot shell, the upper cover is fixed on the upper cover, meanwhile, the front part of the upper cover is provided with the front part cradle head, the front part auxiliary magnet and the rear part auxiliary magnet are respectively arranged at the front part and the rear part of the bottom of the robot shell, and the cleaning brush is arranged at the front part of the bottom of the robot shell and driven by the cleaning motor.

Further, the lead screw guide holder is used for limiting a lead screw nut, the first micro switch and the second micro switch are respectively arranged on the in-place mounting plate and the probe mounting plate, the thickness measuring probe is arranged on the probe outer frame, and the probe mounting plate and the miniature universal ball are arranged below the thickness measuring probe.

Compared with the prior art, the utility model has the beneficial effects that: controlling the robot to turn left and right for 90 degrees, turning to 90 degrees again after reaching other positions, moving from top to bottom, and continuing thickness measurement; the whole route is S-shaped; the water-cooled wall climbing robot has the functions of remote control, man-machine combination inspection, wall cleaning, wall thickness measurement, video real-time acquisition and transmission, advancing, retreating, turning and the like, is provided with a temperature and humidity sensor and an obstacle avoidance sensor, is provided with a safe hoisting device, can replace personnel to work aloft to remove wall floating ash and rust, detect the wall thickness, and collect and process detection data in real time; the water-cooled wall inspection work can be more efficiently and safely completed.

Drawings

Fig. 1 is an overall external view of a robot according to the present utility model;

FIG. 2 is a diagram of a robot housing of the present utility model;

FIG. 3 is a cross-sectional view of a robotic transmission assembly of the present utility model;

FIG. 4 is a left side view of the robot of the present utility model;

FIG. 5 is a front view of the robot of the present utility model;

FIG. 6 is a rear view of the robot of the present utility model;

FIG. 7 is a view of a robotic thickness measurement assembly of the present utility model;

FIG. 8 is a bottom view of the robot of the present utility model;

FIG. 9 is a top view of the robot of the present utility model;

fig. 10 is a right side view of the robot of the present utility model.

Reference numerals in the drawings: 1. a robot housing; 1-1, front face; 1-2, a front lamp holder; 1-3, side plates; 1-4, a rear plate; 1-5, reinforcing columns; 1-6, longitudinal reinforcement blocks; 1-7, welding a bottom plate; 2. a transmission assembly; 2-1, gear c;2-2, encapsulating the magnet; 2-3, a driving shaft; 2-4, mounting columns of side sealing plates; 2-5, a driving chain wheel; 2-6, a bearing; 2-7, bending plate chain; 2-8, driven sprocket; 2-9, driven shaft; 3. an upper cover; 4. a thickness measuring assembly; 4-1, a rear camera; 4-2, a camera mounting plate; 4-3, lifting the screw rod motor; 4-4, lifting the bracket; 4-5, a probe mounting plate; 4-6, an in-place detection plate; 4-7, a screw rod nut; 4-8, a screw rod guide seat; 4-9, a probe outer frame; 4-10, a first micro switch; 4-11, mounting plates in place; 4-12, a guide rail; 4-13, miniature universal balls; 4-14, a second micro switch; 4-15 parts of a thickness measuring probe; 5. a probe guard ring; 6. a side sealing plate; 7. a handle a; 8. a handle b; 9. a headlight; 10. an obstacle avoidance mounting plate; 11. an obstacle avoidance sensor; 12. a front cradle head; 13. a gear a; 14. a gear b; 15. a tensioning shaft; 16. tensioning a bearing; 17. a front auxiliary magnet; 18. cleaning a brush; 19. a rear auxiliary magnet; 20. a rear light; 21. a traversing screw motor; 22. a rear cover; 23. a main cable support; 24. a bendable cable joint; 25. a hanging ring; 26. a temperature and humidity sensor; 27. a temperature and humidity sensor mounting seat; 28. aviation plug; 29. an upper cover; 30. and (5) cleaning the motor.

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.

The first embodiment is as follows: referring to fig. 1-10, the present utility model provides a technical solution: the water-cooled wall climbing robot comprises a robot shell 1, a transmission assembly 2 and a thickness measuring assembly 4, wherein the transmission assembly 2 is arranged on two sides of the robot shell 1, the robot shell 1 moves through the transmission assembly 2, the thickness measuring assembly 4 is arranged on the back surface of the robot shell 1, a driving motor is arranged in the robot shell 1, an output shaft of the driving motor is fixed with a gear a13, a gear b14 is arranged on the right side of the gear a13, the gear a13 is in meshed connection with the gear b14, and a bent plate chain 2-7 is arranged on one side, far away from the gear b14, of the gear a 13;

The robot shell 1 is formed by splicing a front face 1-1, a front lamp holder 1-2, side plates 1-3, a rear plate 1-4, a reinforcing column 1-5, a longitudinal reinforcing block 1-6 and a welding bottom plate 1-7, and vision sensors, lighting lamps, gyroscopes, accelerometers, encoders, controllers and driving motors are arranged at the front, the rear and the top of the robot shell 1;

The transmission assembly 2 comprises a gear c2-1, an encapsulated magnet 2-2, a driving shaft 2-3, a side seal plate mounting column 2-4, a driving sprocket 2-5, a bearing 2-6, a bent plate chain 2-7, a driven sprocket 2-8 and a driven shaft 2-9, wherein the bent plate chain 2-7 is meshed with the outer side of the driving sprocket 2-5, the encapsulated magnet 2-2 is mounted on the bent plate chain 2-7, the driving shaft 2-3 is fixed on the side plate 1-3, the side seal plate 6 is mounted on the outer side of the transmission assembly 2, and the tensioning shaft 15 and the tensioning bearing 16 are both mounted on the side plate 1-3;

The thickness measuring assembly 4 comprises a rear camera 4-1, a camera mounting plate 4-2, a lifting screw motor 4-3, a lifting bracket 4-4, a probe mounting plate 4-5, an in-place detection plate 4-6, a screw nut 4-7, a screw guide seat 4-8, a probe outer frame 4-9, a first micro switch 4-10, an in-place mounting plate 4-11, a guide rail 4-12, a miniature universal ball 4-13, a second micro switch 4-14 and a thickness measuring probe 4-15, wherein the thickness measuring assembly 4 is mounted on a traversing screw motor 21 through the lifting bracket 4-4, the traversing screw motor 21 is fixed on the surface of an upper cover 29, the lifting screw motor 4-3 is mounted on the lifting bracket 4-4, the screw nut 4-7 is mounted on the lifting screw motor 4-3, a rear cover 22 is covered on the outer side of the traversing screw motor 21, the screw guide seat 4-8 is mounted on the lifting bracket 4-4, the probe outer frame 4-9 is fixed on the screw nut 4-7, the thickness measuring assembly 4 is protected on a robot shell 1 through a protective ring 5, and the outer side of the probe protective ring 4-20 is mounted on the outer side of the probe measuring assembly.

Working principle: the robot is assisted by manpower, after two handles are arranged on the water-cooled wall surface, the robot is controlled to move up and down along the water-cooled wall through a remote controller, and the front holder 12 is used for checking the environment of the water-cooled wall in real time, avoiding dangerous paths and identifying the defects of the water-cooled wall through human-computer combination; when the robot runs to a certain position, the movement is stopped, the central position of the water-cooled tube is identified through the rear camera 4-1, then the remote controller controls the lifting screw motor 4-3 to drive the thickness measuring probe 4-15 to descend, the thickness of the water-cooled tube at the position is measured after the position is in place, and feedback data is implemented; after the thickness measurement of the water-cooled tubes at the position is finished, the lifting screw rod motor 4-3 is controlled to lift away from the thickness measuring probe 4-15, then the transverse moving screw rod motor 21 is controlled to drive the thickness measuring assembly 4 to move transversely, the central position of the adjacent water-cooled tubes is identified through the rear camera 4-1, and then the adjacent water-cooled tubes are controlled to move in the same way to measure the thickness of the adjacent water-cooled tubes; after the thickness measurement of each adjacent water-cooled tube is finished, lifting the thickness measurement probe, and controlling the robot to continue moving through the remote controller to continue thickness measurement at the next position; repeating the process until the wall surface fixed point is reached from bottom to top, controlling the robot to turn left and right for 90 degrees, turning for 90 degrees again after reaching other positions, moving from top to bottom, and continuing to measure thickness; the whole route is S-shaped; the water-cooled wall climbing robot has the functions of remote control, man-machine combination inspection, wall cleaning, wall thickness measurement, video real-time acquisition and transmission, advancing, retreating, turning and the like, is provided with a temperature and humidity sensor 26 and an obstacle avoidance sensor 11, is provided with a safe hoisting device, can replace personnel to clean wall floating ash and rust in high-altitude operation, detects the wall thickness, and collects and processes detection data in real time;

The wall climbing robot has the advantages of small volume, light weight, convenient transportation, throwing and inspection, and suitability for various complex water-cooled wall environments; carrying various sensors and high-definition video transmission, and acquiring and detecting the internal condition of the water-cooled wall in real time; the side seal plates 6 are arranged on the outer side of the transmission assembly 2, so that the side seal plates play a role in protecting, preventing accidents caused by contact between hands and transmission parts in the working process of workers, and also play a role in beautifying the appearance.

The second embodiment is as follows: the present embodiment is further limited to the first embodiment, in which the robot housing 1 is made of an aluminum alloy material, and the reinforcement columns 1-5 and the longitudinal reinforcement blocks 1-6 are combined together to form a housing reinforcement structure of the robot housing 1, and the reinforcement columns 1-5 and the longitudinal reinforcement blocks 1-6 are vertically distributed.

As shown in fig. 2: the reinforcing columns 1-5 and the longitudinal reinforcing blocks 1-6 are combined together to form a shell reinforcing structure of the robot shell 1, and convenience in installation is effectively improved on the basis of ensuring strength.

And a third specific embodiment: the first embodiment is further defined in the first embodiment, the transmission assembly 2 adopts a double-row chain and double-row magnet structure, and the driven sprocket 2-8 is synchronously meshed with the driving sprocket 2-5 for rotation via the bent plate chain 2-7, and the driving mode of the robot moving on the water-cooled wall surface is as follows: the motor is transmitted to a gear c2-1 through a gear a13, and then the driving sprocket 2-5 drives the bent plate chain 2-7 and the driven sprocket 2-8 to move; the recording mode of the robot mileage is as follows: the power of the driving motor is transmitted to a gear b14 by a gear a13, and the gear b14 is directly connected with an encoder and used for recording the mileage of the robot.

As shown in fig. 1: the robot has smaller body size, and the robot is adsorbed on the wall surface to work through the crawler-type magnetic attraction structure; the transmission component 2 adopts a double-row chain and double-row magnet structure on one side, so that the adsorption force is ensured to be large enough, and the robot is not easy to fall off on the pipe wall;

As shown in fig. 4: the robot moves on the water-cooled wall surface according to the S shape, and the inner encoder is driven by the gear b14, so that the position of the robot on the water-cooled wall surface can be calculated, and the robot is positioned; the thickness measurement data is combined with the robot positioning function, the thickness measurement data of each position can be displayed on a remote controller interface through simulating the pipe wall, the pipe walls with different thicknesses at different positions can be further distinguished in color, the data visualization processing is realized, and the inspection operation function of the water-cooled wall climbing robot is finally completed;

The specific embodiment IV is as follows: this embodiment is further limited by the first embodiment, the front face 1-1 is provided with a handle b8, the upper cover 29 is provided with a handle a7, the handle b8 is a foldable handle, the front face 1-1 is provided with a headlight 9, the headlight 9 is a four-in-one high-power lamp wick, the back of the headlight 9 is provided with a heat dissipation device, the upper cover 29 is provided with a main cable support 23, the main cable support 23 is provided with a bendable cable joint 24, the main cable support 23 is provided with a hanging ring 25, and the upper cover 29 is simultaneously connected with a temperature and humidity sensor 26, a temperature and humidity sensor mounting seat 27, an aviation plug 28 and a cleaning motor 30 in a screwed manner.

One end of the main cable enters the robot from the main cable, and the other end of the main cable is connected with an automatic winding and unwinding device; the main cable support 23 is higher than other parts of the robot in vertical height, and is matched with the bendable cable joint 24, so that no matter what angle the robot is rotated to move when crawling on the water-cooled wall surface, the main cable cannot interfere with other parts of the robot, and accidents are caused; in addition, the hanging ring 25 is installed on the main cable support 23, the main cable is a steel wire rope cable, and the steel wire rope is tied on the hanging ring 25, so that the hanging ring plays a role in preventing falling and protecting when the robot walks accidentally and falls off from the water-cooled wall surface.

The headlight 9 uses four-in-one high-power lampwick for illuminating the rear area during the running thickness measuring function; the probe protection rings 5 arranged on the upper side and the lower side are mainly used for preventing the probe thickness measuring assembly from colliding with other parts of the water cooling wall when the robot moves, so as to play a role in protecting, and also can be used for placing the robot at the initial position, so as to play a role in assisting the handle.

As shown in fig. 3: the bent plate chain 2-7 is provided with an encapsulated magnet 2-2, and the encapsulated magnet 2-2 is provided with the following purposes: the magnet and the water-cooled wall surface are prevented from being directly contacted to cause abrasion to the adsorption magnet, and the iron filings are excessively adhered to the magnet to cause the adsorption force to be reduced, so that the permanent magnet is specially encapsulated, and the robot is prevented from sliding down and falling.

Fifth embodiment: the present embodiment is further limited to the first embodiment, and the front end of the robot housing 1 is provided with the obstacle avoidance sensor 11, and the obstacle avoidance sensor 11 is fixed on the front face 1-1 through the obstacle avoidance mounting plate 10.

Specific embodiment six: the present embodiment is further limited to the first embodiment, in which the upper cover 3 is mounted on the top of the robot housing 1, the upper cover 3 is fixed on the upper cover 29, the front holder 12 is mounted on the front portion of the upper cover 3, the front auxiliary magnet 17 and the rear auxiliary magnet 19 are mounted on the front and rear portions of the bottom of the robot housing 1, the cleaning brush 18 is mounted on the front portion of the bottom of the robot housing 1, and the cleaning brush 18 is driven by the cleaning motor 30.

The front auxiliary magnet 17 and the rear auxiliary magnet 19 are respectively arranged at the front and the rear of the bottom of the robot shell 1, so that the adsorption force of the robot body relative to the water-cooled wall surface is enhanced, and particularly, the robot is prevented from warping when the robot surmount an obstacle; the cleaning brush 18 is arranged in front of the bottom of the robot shell 1, the cleaning brush 18 is driven by the cleaning motor 30 and is controlled independently, and when the robot moves on the water-cooled wall surface, the cleaning brush 18 cleans floating ash and rust on the water-cooled wall surface through rotary motion.

As shown in fig. 1: the upper cover 3 plays a role in protecting internal components, and meanwhile, the appearance is specially designed, so that the whole robot looks elegant and attractive; the front cradle head 12 is arranged in front of the upper cover 3, can pitch 0-90 degrees and rotate around 360 degrees, and provides a good visual field environment for the robot when walking on the water-cooled wall surface.

Seventh embodiment: the present embodiment is further limited in the first embodiment, the lead screw guide seat 4-8 is used for limiting the lead screw nut 4-7, the first micro switch 4-10 and the second micro switch 4-14 are respectively installed on the in-place mounting plate 4-11 and the probe mounting plate 4-5, the thickness measuring probe 4-15 is installed on the probe outer frame 4-9, and the probe mounting plate 4-5 and the micro universal ball 4-13 are installed below the thickness measuring probe 4-15.

A probe mounting plate 4-5 and a miniature universal ball 4-13 are arranged below the thickness measuring probe 4-15; the main function is to protect the probe and prevent the probe from being damaged due to direct adsorption of the probe and the pipe wall; the in-place detection plate 4-6 is used for detecting the in-place detection when the thickness measuring assembly 4 moves transversely.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a water-cooled wall climbing robot, includes robot housing (1), drive assembly (2) and thickness measurement subassembly (4), its characterized in that: the two sides of the robot shell (1) are provided with transmission components (2), the robot shell (1) moves through the transmission components (2), meanwhile, the back of the robot shell (1) is provided with a thickness measuring component (4), a driving motor is arranged in the robot shell (1), an output shaft of the driving motor is fixed with a gear a (13), meanwhile, the right side of the gear a (13) is provided with a gear b (14), the gear a (13) is in meshed connection with the gear b (14), and one side, far away from the gear b (14), of the gear a (13) is provided with a bent plate chain (2-7);

The robot shell (1) is formed by splicing a front face (1-1), a front lamp holder (1-2), side plates (1-3), a rear plate (1-4), a reinforcing column (1-5), a longitudinal reinforcing block (1-6) and a welding bottom plate (1-7), and vision sensors, lighting lamps, gyroscopes, accelerometers, encoders, a controller and a driving motor are arranged at the front part, the rear part and the top of the robot shell (1);

The transmission assembly (2) comprises a gear c (2-1), an encapsulated magnet (2-2), a driving shaft (2-3), a side seal plate mounting column (2-4), a driving sprocket (2-5), a bearing (2-6), a bent plate chain (2-7), a driven sprocket (2-8) and a driven shaft (2-9), wherein the bent plate chain (2-7) is meshed with the outer side of the driving sprocket (2-5), the encapsulated magnet (2-2) is mounted on the bent plate chain (2-7), the driving shaft (2-3) is fixed on the side plate (1-3), the side seal plate (6) is mounted on the outer side of the transmission assembly (2), and the tensioning shaft (15) and the tensioning bearing (16) are mounted on the side plate (1-3);

The thickness measuring assembly (4) comprises a rear camera (4-1), a camera mounting plate (4-2), a lifting screw motor (4-3), a lifting bracket (4-4), a probe mounting plate (4-5), an in-place detection plate (4-6), a screw nut (4-7), a screw guide seat (4-8), a probe outer frame (4-9), a first micro switch (4-10), an in-place mounting plate (4-11), a guide rail (4-12), a miniature universal ball (4-13), a second micro switch (4-14) and a thickness measuring probe (4-15), the thickness measuring assembly (4) is mounted on a traversing screw motor (21) through the lifting bracket (4-4), the traversing screw motor (21) is fixed on the surface of the upper cover (29), the lifting screw motor (4-3) is mounted on the lifting bracket (4-4), the outer side of the lifting screw motor (4-3) is covered with a rear cover (22), the screw guide seat (4-8) is mounted on the lifting outer frame (4-3), the probe outer frame (4-7) is fixed on the screw nut (4-7), the thickness measuring assembly (4) is protected on the robot shell (1) through the probe protection ring (5), and a rear lamp (20) is arranged on the outer side of the thickness measuring assembly (4).

2. The water wall climbing robot according to claim 1, wherein: the robot shell (1) is made of aluminum alloy materials, and the reinforcement columns (1-5) and the longitudinal reinforcement blocks (1-6) are combined together to form a shell reinforcement structure of the robot shell (1), wherein the reinforcement columns (1-5) and the longitudinal reinforcement blocks (1-6) are vertically distributed.

3. The water wall climbing robot according to claim 1, wherein: the transmission assembly (2) adopts a double-row chain and double-row magnet structure, the driven sprocket (2-8) is synchronously meshed with the driving sprocket (2-5) to rotate through the bent plate chain (2-7), and the driving mode of the robot moving on the water-cooled wall surface is as follows: the motor is transmitted to a gear c (2-1) through a gear a (13), and then a driving chain wheel (2-5) drives a bent plate chain (2-7) and a driven chain wheel (2-8) to move; the recording mode of the robot mileage is as follows: the power of the driving motor is transmitted to a gear b (14) by a gear a (13), and the gear b (14) is directly connected with the encoder and is used for recording the mileage of the robot.

4. The water wall climbing robot according to claim 1, wherein: install handle b (8) on front face (1-1), install handle a (7) on upper cover (29), handle b (8) are collapsible handle, install headlight (9) on front face (1-1), headlight (9) use four unification high-power wicks, and headlight (9) back is equipped with heat abstractor, be equipped with main cable support (23) on upper cover (29), install flexible broken line cable joint (24) on main cable support (23), and install rings (25) on main cable support (23), spiro union temperature and humidity sensor (26), temperature and humidity sensor mount pad (27), aviation plug (28) and cleaning motor (30) on upper cover (29) simultaneously.

5. The water wall climbing robot according to claim 1, wherein: the front end of the robot shell (1) is provided with an obstacle avoidance sensor (11), and the obstacle avoidance sensor (11) is fixed on the front face (1-1) through an obstacle avoidance mounting plate (10).

6. The water wall climbing robot according to claim 1, wherein: the robot is characterized in that an upper cover (3) is arranged at the top of the robot shell (1), the upper cover (3) is fixed on an upper cover (29), a front holder (12) is arranged at the front part of the upper cover (3), a front auxiliary magnet (17) and a rear auxiliary magnet (19) are respectively arranged at the front and rear parts of the bottom of the robot shell (1), a cleaning brush (18) is arranged at the front part of the bottom of the robot shell (1), and the cleaning brush (18) is driven by a cleaning motor (30).

7. The water wall climbing robot according to claim 1, wherein: the screw rod guide seat (4-8) is used for limiting a screw rod nut (4-7), the first micro switch (4-10) and the second micro switch (4-14) are respectively arranged on the upper position mounting plate (4-11) and the probe mounting plate (4-5), the thickness measuring probe (4-15) is arranged on the probe outer frame (4-9), and the probe mounting plate (4-5) and the miniature universal ball (4-13) are arranged below the thickness measuring probe (4-15).