CN113086044A - Magnetic wheel type wall-climbing robot for detecting boiler water wall - Google Patents
Magnetic wheel type wall-climbing robot for detecting boiler water wall Download PDFInfo
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- CN113086044A CN113086044A CN202110451196.6A CN202110451196A CN113086044A CN 113086044 A CN113086044 A CN 113086044A CN 202110451196 A CN202110451196 A CN 202110451196A CN 113086044 A CN113086044 A CN 113086044A
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- wheel
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- transmission shaft
- climbing robot
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 26
- 230000005540 biological transmission Effects 0.000 claims abstract description 75
- 230000001360 synchronised effect Effects 0.000 claims abstract description 28
- 238000001514 detection method Methods 0.000 claims abstract description 26
- 230000009194 climbing Effects 0.000 claims abstract description 17
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 5
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 238000001816 cooling Methods 0.000 claims 1
- 238000012423 maintenance Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 239000002344 surface layer Substances 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005070 sampling Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Investigating Or Analyzing Materials By The Use Of Magnetic Means (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a magnetic wheel type wall climbing robot for detecting a water wall of a boiler, wherein a first transmission wheel is connected with a second transmission wheel through a first synchronous belt, the second transmission wheel is connected with a third transmission wheel through a second synchronous belt, the left end of a second transmission shaft is sequentially connected with a speed reducer and a stepping motor, a detection module is arranged on a right rack of the second transmission shaft, a battery pack is arranged on the right side of the detection module, the left end of the first transmission shaft is connected with a side magnetic wheel I, the right end of the first transmission shaft is sequentially connected with a middle magnetic wheel I and a side magnetic wheel II, a spring is sleeved on a connecting shaft between the side magnetic wheel I, the first transmission wheel, the middle magnetic wheel I and the side magnetic wheel II, and the right end of the third transmission shaft is connected with a middle magnetic wheel II. The device can adapt to different operation curved surfaces, and has the advantages of good obstacle crossing capability, high working efficiency and low cost.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a magnetic wheel type wall-climbing robot for detecting a boiler water wall.
Background
With the continuous development of the robot technology, in many cases, people cannot adapt to the environment and can not complete tasks, and special robots are needed to complete the tasks. For example, in the traditional boiler water wall maintenance method, a scaffold needs to be erected in a large area in a limited space inside a boiler, or a hanging basket is used for carrying out manual sampling inspection on a high-risk area of the water wall, so that the working environment is quite severe, the difficulty is high during maintenance, the progress is slow, and the cost is high. And the boiler water wall maintenance belongs to the high-altitude operation maintenance of a limited space, the risk degree is quite high, and once a high-altitude falling event occurs, serious consequences can be caused to parties and enterprises. Therefore, it is urgently needed to develop a magnetic wheel type wall-climbing robot for detecting a boiler water wall to solve the technical problems.
In view of the above, the present invention is particularly proposed.
Disclosure of Invention
The invention aims to provide a magnetic wheel type wall climbing robot for detecting a boiler water wall, which has the advantages of simple overall structure, coordination and compactness, light weight, stable operation, flexible posture adjustment, strong controllability, simplicity, easiness in operation, strong adsorbability and high reliability, can replace the traditional manual operation in detecting the defects of the weld surface layer, can adapt to different operation curved surfaces, has good obstacle crossing capability, high working efficiency and low cost, has wide application prospect, and is favorable for popularization and application.
In order to achieve the purpose, the magnetic wheel type wall climbing robot for detecting the water wall of the boiler comprises a frame, wherein a first transmission shaft, a second transmission shaft and a third transmission shaft are sequentially erected on the inner side of the frame from front to back, a first transmission wheel, a second transmission wheel and a third transmission wheel are fixedly connected to the first transmission shaft, the second transmission shaft and the third transmission shaft respectively, the first transmission wheel and the second transmission wheel are connected through a first synchronous belt, the second transmission wheel and the third transmission wheel are connected through a second synchronous belt, the left end of the second transmission shaft is sequentially connected with a speed reducer and a stepping motor, the stepping motor is driven by a control module, a detection module is installed on the frame on the right side of the second transmission shaft, a battery pack is arranged on the right side of the detection module, and a first side magnetic wheel is connected to the left end of the first transmission shaft, the right end of the third transmission shaft is connected with a middle magnetic wheel II in sequence, a spring is sleeved on a connecting shaft between the side magnetic wheel I, the first transmission wheel, the middle magnetic wheel I and the side magnetic wheel II, and the right end of the third transmission shaft is connected with the middle magnetic wheel II.
Preferably, the first side magnetic wheel and the second side magnetic wheel are the same in structure and are formed by sequentially assembling a synchronous belt, a first synchronous belt wheel side plate, a radial magnetizing magnet, a second synchronous belt wheel side plate and a polished rod shaft sleeve.
Preferably, the first middle magnetic wheel and the second middle magnetic wheel are identical in structure and are formed by sequentially assembling a tire fixing piece, a first magnet fixing piece, a first axial magnetizing magnet, a hub, a second axial magnetizing magnet, a synchronous belt and a second magnet fixing piece.
Preferably, the frame is U-shaped, and is formed by connecting a plurality of steel bars horizontally arranged in the middle through steel plates vertically arranged on two sides by screws.
Preferably, the detection module comprises a thickness gauge and an encoder, and the encoder is a dual encoder.
Preferably, the stepping motor is fixed in the closed space on the left side of the frame.
The magnetic wheel type wall climbing robot for detecting the water wall of the boiler has the following beneficial effects.
1. The invention has the advantages of simple integral structure, coordination and compactness, light weight, stable operation, flexible posture adjustment, strong controllability, simplicity, easy operation, strong adsorptivity and high reliability, can replace the traditional manual operation in the detection of the defects of the surface layer of the welding seam, can adapt to different operation curved surfaces, has good obstacle crossing capability, high working efficiency and low cost, has wide application prospect and is beneficial to popularization and application.
2. According to the invention, the arrangement of the intermediate magnetic wheel can reduce the magnetic loss, the tire fixing piece of the intermediate magnetic wheel has a certain radian and can effectively adapt to different pipe diameters, and the magnetic induction lines collected by the axial magnetizing magnet I and the axial magnetizing magnet II are reduced, so that the magnetic loss is reduced. The invention adopts a driving structure that four magnetic wheels move simultaneously, so that the magnetic wheel type wall climbing robot works more conveniently, can better keep a stable posture, and further replaces manual automatic detection.
Drawings
FIG. 1 is a perspective view of a magnetic wheel type wall-climbing robot for boiler water wall detection according to the present invention;
FIG. 2 is a top view of a magnetic wheel type wall-climbing robot for boiler water wall detection according to the present invention;
FIG. 3 is a side view of a magnetic wheel type wall-climbing robot for boiler water wall detection provided by the invention;
fig. 4 is an exploded structural schematic view of a first side magnetic wheel (a second side magnetic wheel) of the magnetic wheel type wall-climbing robot for detecting the water wall of the boiler provided by the invention.
Fig. 5 is an exploded structural schematic view of a first (second) middle magnetic wheel of the magnetic wheel type wall-climbing robot for detecting the water wall of the boiler provided by the invention.
In the figure:
1. the magnetic wheel comprises a first side magnetic wheel 101, a synchronous belt 102, a first synchronous belt wheel side plate 103, a radial magnetizing magnet 104, a second synchronous belt wheel side plate 105, a polished rod shaft sleeve 2, a second side magnetic wheel 3, a first middle magnetic wheel 301, a tire fixing piece 302, a first magnet fixing piece 303, a first axial magnetizing magnet 304, a wheel hub 305, a second axial magnetizing magnet 306, a synchronous belt 307, a second magnet fixing piece 4, a second middle magnetic wheel 5, a stepping motor 6, a speed reducer 7, a rack 8, a detection module 9, a battery pack 10, a first synchronous belt 11, a second synchronous belt 12, a spring 13, a first transmission shaft 14, a second transmission shaft 15, a third transmission shaft 16, a first transmission wheel 17, a second transmission wheel 18 and a third transmission wheel.
Detailed Description
The present invention will be further described with reference to the following specific embodiments and accompanying drawings to assist in understanding the contents of the invention.
As shown in fig. 1-3, which are respectively a perspective view, a top view and a side view of a magnetic wheel type wall climbing robot for boiler water wall detection according to the present invention. The magnetic wheel type wall climbing robot for detecting the water wall of the boiler comprises a rack 7, wherein a first transmission shaft 13, a second transmission shaft 14 and a third transmission shaft 15 are sequentially erected on the inner side of the rack 7 from front to back, the first transmission shaft 13, the second transmission shaft 14 and the third transmission shaft 15 are respectively and fixedly connected with a first transmission wheel 16, a second transmission wheel 17 and a third transmission wheel 18, the first transmission wheel 16 is connected with the second transmission wheel 17 through a first synchronous belt 10, the second transmission wheel 17 is connected with the third transmission wheel 18 through a second synchronous belt 11, the left end of the second transmission shaft 14 is sequentially connected with a speed reducer 6 and a stepping motor 5, the stepping motor 5 is fixed in a left closed space of the rack 7 and driven by a control module, a detection module 8 is installed on the right rack 7 of the second transmission shaft 14, the detection module 8 comprises a thickness gauge and an encoder, the thickness gauge is used for measuring the thickness of materials and objects, knowing the thickness specification of the materials, the uniformity of each point and the corrosion and abrasion degree of the materials, and outputting the thickness specification and the abrasion degree in the form of electric signals. The encoder is a dual encoder. The detection module 8 has the greatest advantages that the detection module can be replaced by other detection modules at will, and the detection module is convenient to disassemble and simple in structure, so that the detection module is suitable for water-cooled wall detection under different conditions. The right side of detection module 8 is equipped with group battery 9, the left end of first transmission shaft 13 is connected with side magnetic wheel 1, and its right-hand member has connected gradually middle magnetic wheel 3 and side magnetic wheel two 2, the cover is equipped with spring 12 on the connecting axle between side magnetic wheel 1, first transmission wheel 16, middle magnetic wheel 3, the side magnetic wheel two 2, the right-hand member of third transmission shaft 15 is connected with middle magnetic wheel two 4.
As shown in fig. 4-5, the schematic diagrams are an exploded schematic diagram of a side magnetic wheel i (ii) and an exploded schematic diagram of a middle magnetic wheel i (ii) of the magnetic wheel type wall climbing robot for boiler water wall detection according to the present invention. The first side magnetic wheel 1 and the second side magnetic wheel 2 are identical in structure and are formed by sequentially assembling a synchronous belt 101, a synchronous belt wheel side plate one 102, a radial magnetizing magnet 103, a synchronous belt wheel side plate two 104 and a polished rod shaft sleeve 105. The first intermediate magnetic wheel 3 and the second intermediate magnetic wheel 4 have the same structure and are formed by sequentially assembling a tire fixing piece 301, a first magnet fixing piece 302, a first axial magnetizing magnet 303, a hub 304, a second axial magnetizing magnet 305, a synchronous belt 306 and a second magnet fixing piece 307. The frame 7 is U-shaped, and is formed by connecting a plurality of steel bars horizontally arranged in the middle of steel plates vertically arranged on two sides through screws.
The working principle of the invention is as follows:
after the electric connection receives the reset instruction, the stepping motor 5 rotates forwards, the stepping motor 5 drives the second transmission wheel 17 to rotate, the second transmission wheel 17 drives the first transmission shaft 13 and the second transmission shaft 14 to rotate through the first synchronous belt 10 and the second synchronous belt 11 respectively, and further drives the first side magnetic wheel 1, the second side magnetic wheel 2, the first middle magnetic wheel 3 and the second middle magnetic wheel 4 to rotate, so that the magnetic wheel type wall climbing robot moves forwards and backwards.
According to the invention, the arrangement of the intermediate magnetic wheel can reduce the magnetic loss, the tire fixing piece 301 of the intermediate magnetic wheel has a certain radian and can effectively adapt to different pipe diameters, and the magnetic induction lines converged by the first axial magnetizing magnet 303 and the second axial magnetizing magnet 305 are reduced, so that the magnetic loss is reduced. The telescopic side magnetic wheels I1 and the telescopic side magnetic wheels II 2 are arranged on the two sides of the magnetic wheel type wall climbing robot, so that the magnetic wheel type wall climbing robot can adapt to the work of different water wall pipe diameters, and the side magnetic wheels can be better fixed on the water wall to achieve the purposes of safe adsorption and stable movement.
The invention has the advantages of simple integral structure, coordination and compactness, light weight, stable operation, flexible posture adjustment, strong controllability, simplicity, easy operation, strong adsorptivity and high reliability, can replace the traditional manual operation in the detection of the defects of the surface layer of the welding seam, can adapt to different operation curved surfaces, has good obstacle crossing capability, high working efficiency and low cost, has wide application prospect and is beneficial to popularization and application.
The inventive concept is explained in detail herein using specific examples, which are given only to aid in understanding the core concepts of the invention. It should be understood that any obvious modifications, equivalents and other improvements made by those skilled in the art without departing from the spirit of the present invention are included in the scope of the present invention.
Claims (6)
1. A magnetic wheel type wall climbing robot for detecting a boiler water-cooling wall is characterized by comprising a frame, wherein a first transmission shaft, a second transmission shaft and a third transmission shaft are sequentially erected on the inner side of the frame from front to back, the first transmission shaft, the second transmission shaft and the third transmission shaft are respectively and fixedly connected with a first transmission wheel, a second transmission wheel and a third transmission wheel, the first transmission wheel is connected with the second transmission wheel through a first synchronous belt, the second transmission wheel is connected with the third transmission wheel through a second synchronous belt, the left end of the second transmission shaft is sequentially connected with a speed reducer and a stepping motor, the stepping motor is driven by a control module, a detection module is installed on the frame on the right side of the second transmission shaft, a battery pack is arranged on the right side of the detection module, the left end of the first transmission shaft is connected with a first side magnetic wheel, and the right end of the first middle magnetic wheel and a second side magnetic wheel, and a spring is sleeved on a connecting shaft among the first side magnetic wheel, the first transmission wheel, the first middle magnetic wheel and the second side magnetic wheel, and the right end of the third transmission shaft is connected with the second middle magnetic wheel.
2. The magnetic wheel type wall climbing robot for detecting the water wall of the boiler as claimed in claim 1, wherein the first side magnetic wheel and the second side magnetic wheel have the same structure and are formed by sequentially assembling a synchronous belt, a first synchronous belt wheel side plate, a radial magnetizing magnet, a second synchronous belt wheel side plate and a polished rod shaft sleeve.
3. The magnetic wheel type wall climbing robot for detecting the water wall of the boiler as claimed in claim 2, wherein the first intermediate magnetic wheel and the second intermediate magnetic wheel have the same structure and are formed by sequentially assembling a tire fixing member, a first magnet fixing member, a first axial magnetizing magnet, a hub, a second axial magnetizing magnet, a synchronous belt and a second magnet fixing member.
4. The magnetic wheel type wall climbing robot for detecting the water wall of the boiler as claimed in claim 3, wherein the rack is U-shaped and is formed by connecting steel plates vertically arranged at two sides through a plurality of steel bars horizontally arranged in the middle by screws.
5. The magnetic wheel type wall climbing robot for detecting the boiler water wall as claimed in claim 4, wherein the detection module comprises a thickness gauge and an encoder, and the encoder is a double encoder.
6. The magnetic wheel type wall climbing robot for detecting the boiler water wall as claimed in claim 5, wherein the stepping motor is fixed in the enclosed space on the left side of the rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110451196.6A CN113086044B (en) | 2021-04-26 | 2021-04-26 | Magnetic wheel type wall climbing robot for detecting boiler water-cooled wall |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110451196.6A CN113086044B (en) | 2021-04-26 | 2021-04-26 | Magnetic wheel type wall climbing robot for detecting boiler water-cooled wall |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113086044A true CN113086044A (en) | 2021-07-09 |
| CN113086044B CN113086044B (en) | 2024-08-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110451196.6A Active CN113086044B (en) | 2021-04-26 | 2021-04-26 | Magnetic wheel type wall climbing robot for detecting boiler water-cooled wall |
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| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114229434A (en) * | 2021-12-29 | 2022-03-25 | 国能(泉州)热电有限公司 | Device is put in to thermal power boiler inspection robot |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07323701A (en) * | 1994-05-31 | 1995-12-12 | Hitachi Metals Ltd | Magnetic wheel |
| US20100030378A1 (en) * | 2006-09-29 | 2010-02-04 | Samsung Heavy Ind. Co., Ltd. | Multi-function robot for moving on wall using indoor global positioning system |
| CN205186352U (en) * | 2015-12-18 | 2016-04-27 | 哈尔滨科能熔敷科技有限公司 | Magnetism adsorbs wall climbing robot |
| CN105835978A (en) * | 2016-05-30 | 2016-08-10 | 哈工大机器人集团有限公司 | Crawler-type magnetic-adsorption wall climbing robot |
| CN206782026U (en) * | 2017-05-10 | 2017-12-22 | 深圳市行知行机器人技术有限公司 | Hull cleans climbing robot |
| US20180181136A1 (en) * | 2016-12-23 | 2018-06-28 | Gecko Robotics, Inc. | Inspection robot |
| CN108372075A (en) * | 2018-05-25 | 2018-08-07 | 江苏省特种设备安全监督检验研究院 | A kind of coupling agent daubing device applied to band large-scale metal tank surface |
| US20190152544A1 (en) * | 2017-11-22 | 2019-05-23 | Ali Outa | Apparatus and related method for coating an irregular surface |
| CN110466639A (en) * | 2019-09-17 | 2019-11-19 | 衡昇科技有限公司 | A kind of climbing robot |
| CN215097921U (en) * | 2021-04-26 | 2021-12-10 | 彼合彼方机器人(天津)有限公司 | Magnetic wheel type wall-climbing robot for detecting boiler water wall |
-
2021
- 2021-04-26 CN CN202110451196.6A patent/CN113086044B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07323701A (en) * | 1994-05-31 | 1995-12-12 | Hitachi Metals Ltd | Magnetic wheel |
| US20100030378A1 (en) * | 2006-09-29 | 2010-02-04 | Samsung Heavy Ind. Co., Ltd. | Multi-function robot for moving on wall using indoor global positioning system |
| CN205186352U (en) * | 2015-12-18 | 2016-04-27 | 哈尔滨科能熔敷科技有限公司 | Magnetism adsorbs wall climbing robot |
| CN105835978A (en) * | 2016-05-30 | 2016-08-10 | 哈工大机器人集团有限公司 | Crawler-type magnetic-adsorption wall climbing robot |
| US20180181136A1 (en) * | 2016-12-23 | 2018-06-28 | Gecko Robotics, Inc. | Inspection robot |
| CN206782026U (en) * | 2017-05-10 | 2017-12-22 | 深圳市行知行机器人技术有限公司 | Hull cleans climbing robot |
| US20190152544A1 (en) * | 2017-11-22 | 2019-05-23 | Ali Outa | Apparatus and related method for coating an irregular surface |
| CN108372075A (en) * | 2018-05-25 | 2018-08-07 | 江苏省特种设备安全监督检验研究院 | A kind of coupling agent daubing device applied to band large-scale metal tank surface |
| CN110466639A (en) * | 2019-09-17 | 2019-11-19 | 衡昇科技有限公司 | A kind of climbing robot |
| CN215097921U (en) * | 2021-04-26 | 2021-12-10 | 彼合彼方机器人(天津)有限公司 | Magnetic wheel type wall-climbing robot for detecting boiler water wall |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114229434A (en) * | 2021-12-29 | 2022-03-25 | 国能(泉州)热电有限公司 | Device is put in to thermal power boiler inspection robot |
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| CN113086044B (en) | 2024-08-20 |
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