CN113086044B - Magnetic wheel type wall climbing robot for detecting boiler water-cooled wall - Google Patents
Magnetic wheel type wall climbing robot for detecting boiler water-cooled wall Download PDFInfo
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- CN113086044B CN113086044B CN202110451196.6A CN202110451196A CN113086044B CN 113086044 B CN113086044 B CN 113086044B CN 202110451196 A CN202110451196 A CN 202110451196A CN 113086044 B CN113086044 B CN 113086044B
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- 230000009194 climbing Effects 0.000 title claims abstract description 26
- 230000001360 synchronised effect Effects 0.000 claims abstract description 26
- 238000001514 detection method Methods 0.000 claims abstract description 14
- 239000003638 chemical reducing agent Substances 0.000 claims abstract description 5
- 230000005540 biological transmission Effects 0.000 claims description 48
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 15
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 230000009286 beneficial effect Effects 0.000 description 4
- 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
- 238000003466 welding Methods 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 230000009977 dual 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
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
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- 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 boiler water-cooled wall, which is characterized in that a first driving wheel is connected with a second driving wheel through a first synchronous belt, the second driving wheel is connected with a third driving wheel through a second synchronous belt, the left end of the second driving shaft is sequentially connected with a speed reducer and a stepping motor, a detection module is arranged on a right side frame of the robot, a battery pack is arranged on the right side of the detection module, the left end of the first driving shaft is connected with a first side magnetic wheel, the right end of the first driving shaft is sequentially connected with a first middle magnetic wheel and a second side magnetic wheel, a spring is sleeved on a connecting shaft among the first driving wheel, the first middle magnetic wheel and the second side magnetic wheel, and the right end of the third driving shaft is connected with a second middle magnetic wheel.
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 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. Therefore, there is an urgent need to develop a magnetic wheel type wall climbing robot for detecting a water wall of a boiler to solve the above technical problems.
In view of this, the present invention has been made.
Disclosure of Invention
The invention aims to provide the magnetic wheel type wall climbing robot for detecting the water-cooled wall of the boiler, which has the advantages of simple and compact integral structure, light weight, stable operation, flexible posture adjustment, strong controllability, simplicity, easiness in operation, strong adsorptivity and high reliability, can replace the traditional manual operation in detecting the defects of the surface layer of a welding line, 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.
In order to achieve the above purpose, the magnetic wheel type wall climbing robot for detecting the boiler water-cooled wall comprises a frame, wherein a first transmission shaft, a second transmission shaft and a third transmission shaft are sequentially arranged 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 fixedly connected with a first transmission wheel respectively, the second transmission wheel and the third transmission wheel are connected with each other 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 arranged on the right side frame 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, the first transmission wheel, the middle magnetic wheel I and the side magnetic wheel II are connected with a spring in a sleeved mode on a connecting shaft between the side magnetic wheel II, and the third magnetic wheel II is connected with the right end of the middle magnetic wheel II.
Preferably, 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 pulley side plate, a radial magnetizing magnet, a second synchronous pulley side plate and a polish rod shaft sleeve.
Preferably, the first intermediate magnetic wheel and the second intermediate magnetic wheel have the same structure and are formed by sequentially assembling a tire fixing piece, a first magnet fixing piece, an axial magnetizing magnet I, a hub, a second axial magnetizing magnet II, a synchronous belt and a second magnet fixing piece.
Preferably, the frame is U-shaped, and is formed by connecting steel plates vertically arranged on two sides through a plurality of steel bars horizontally arranged in the middle through screws.
Preferably, the detection module comprises a thickness gauge and an encoder, and the encoder is a double encoder.
Preferably, the stepper motor is fixed in a closed space at the left side of the frame.
The magnetic wheel type wall climbing robot for detecting the water cooling wall of the boiler has the following beneficial effects.
1. The invention has the advantages of simple and compact integral structure, light weight, stable operation, flexible posture adjustment, strong controllability, simplicity, easy operation, strong adsorptivity and high reliability, can replace the traditional manual operation in detecting the defects of the surface layers of welding seams, can adapt to different operation curved surfaces, has good obstacle surmounting capability, high working efficiency and low cost, has wide application prospect and is beneficial to popularization and application.
2. The arrangement of the intermediate magnetic wheel can reduce magnetic force loss, and the tire fixing piece of the intermediate magnetic wheel has a certain radian, can effectively adapt to different pipe diameters, and reduces the magnetic induction lines of the first axial magnetizing magnet and the second axial magnetizing magnet, thereby reducing magnetic force loss. The two sides of the magnetic wheel type wall climbing robot are provided with the telescopic side magnetic wheel I and the side magnetic wheel II, so that the magnetic wheel type wall climbing robot can adapt to the work of different water wall pipelines, and the side magnetic wheels can be better fixed on the water wall to achieve the purposes of safe absorption and stable movement.
Drawings
FIG. 1 is a perspective view of a magnetic wheel type wall climbing robot for detecting a boiler water wall, which is provided by the invention;
FIG. 2 is a top view of a magnetic wheel type wall climbing robot for detecting a boiler water wall, provided by the invention;
FIG. 3 is a side view of a magnetic wheel type wall climbing robot for detecting a boiler water wall, provided by the invention;
Fig. 4 is an exploded schematic view of a side magnetic wheel one (two) of a magnetic wheel type wall climbing robot for detecting a boiler water wall.
Fig. 5 is a schematic diagram of an exploded structure of a first (second) intermediate magnetic wheel of a magnetic wheel type wall climbing robot for detecting a boiler water wall.
In the figure:
1. Side magnetic wheel one 101, synchronous belt 102, synchronous pulley side plate one 103, radial magnetizing magnet 104, synchronous pulley side plate two 105, polish rod sleeve 2, side magnetic wheel two 3, intermediate magnetic wheel one 301, tire fixing piece 302, magnet fixing piece one 303, axial magnetizing magnet one 304, hub 305, axial magnetizing magnet two 306, synchronous belt 307, magnet fixing piece two 4, intermediate magnetic wheel two 5, stepping motor 6, speed reducer 7, rack 8, detecting module 9, battery pack 10, first synchronous belt 11, second synchronous belt 12, spring 13, first transmission shaft 14, second transmission shaft 15, third transmission shaft 16, first transmission wheel 17, second transmission wheel 18, third transmission wheel.
Detailed Description
The invention will be further described with reference to specific examples and figures to aid in the understanding of the invention.
1-3, A perspective view, a top view and a side view of a magnetic wheel type wall climbing robot for detecting a boiler water wall are provided. The magnetic wheel type wall climbing robot for detecting the water-cooled wall of the boiler comprises a frame 7, wherein a first transmission shaft 13, a second transmission shaft 14 and a third transmission shaft 15 are sequentially arranged on the inner side of the frame 7 from front to back, a first transmission wheel 16, a second transmission wheel 17 and a third transmission wheel 18 are fixedly connected to the first transmission shaft 13, the second transmission shaft 14 and the third transmission shaft 15 respectively, the first transmission wheel 16 and the second transmission wheel 17 are connected through a first synchronous belt 10, the second transmission wheel 17 and the third transmission wheel 18 are connected 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 closed space on the left side of the frame 7 and driven by a control module, a detection module 8 is arranged on the right side frame 7 of the second transmission shaft 14, and the detection module 8 comprises a thickness gauge and an encoder, the thickness gauge is used for measuring materials and object thickness, and knowing thickness of the materials, uniformity and corrosion degree and abrasion degree of the materials of each point are connected through the second synchronous belt 11, and the output of electric signals. The encoder is a dual encoder. The detection module 8 has the greatest advantages of being capable of being replaced with other detection modules at will, convenient to detach and simple in structure, and 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 one 1, and its right-hand member has connected gradually middle magnetic wheel one 3 and side magnetic wheel two 2, the epaxial cover of connecting between side magnetic wheel one 1, first drive wheel 16, middle magnetic wheel one 3, side magnetic wheel two 2 is equipped with spring 12, 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 diagram of the exploded structure of the first (second) side magnetic wheel and the schematic diagram of the exploded structure of the first (second) middle magnetic wheel of the magnetic wheel type wall climbing robot for detecting the water-cooled wall of the boiler provided by the invention are respectively shown. The first side magnetic wheel 1 and the second side magnetic wheel 2 have the same structure and are formed by sequentially assembling a synchronous belt 101, a first synchronous pulley side plate 102, a radial magnetizing magnet 103, a second synchronous pulley side plate 104 and a polish 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, an 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 steel plates vertically arranged on two sides through a plurality of steel bars horizontally arranged in the middle through bolts.
The working principle of the invention is as follows:
After the invention receives a reset instruction, the stepping motor 5 rotates positively, the second driving wheel 17 is driven to rotate by the stepping motor 5, and the second driving wheel 17 drives the first driving shaft 13 and the second driving shaft 14 to rotate by the first synchronous belt 10 and the second synchronous belt 11 respectively, so that the side magnetic wheel I1, the side magnetic wheel II 2, the middle magnetic wheel I3 and the middle magnetic wheel II 4 are driven to rotate, and the magnetic wheel type wall climbing robot is driven to move forwards and backwards.
The arrangement of the intermediate magnetic wheel can reduce magnetic force loss, the tire fixing piece 301 of the intermediate magnetic wheel has a certain radian, and the magnetic force loss can be reduced by effectively adapting to the collection magnetic induction lines of the axial magnetizing magnet I303 and the axial magnetizing magnet II 305 with different pipe diameters. The two sides of the magnetic wheel type wall climbing robot are provided with the telescopic side magnetic wheel I and the side magnetic wheel II, so that the magnetic wheel type wall climbing robot can adapt to the work of different water wall pipelines, and the side magnetic wheels can be better fixed on the water wall to achieve the purposes of safe absorption and stable movement.
The invention has the advantages of simple and compact integral structure, light weight, stable operation, flexible posture adjustment, strong controllability, simplicity, easy operation, strong adsorptivity and high reliability, can replace the traditional manual operation in detecting the defects of the surface layers of welding seams, can adapt to different operation curved surfaces, has good obstacle surmounting capability, high working efficiency and low cost, has wide application prospect and is beneficial to popularization and application.
Specific examples are set forth herein to illustrate the invention in detail, and the description of the above examples is only for the purpose of aiding in understanding the core concept of the invention. It should be noted that any obvious modifications, equivalents, or other improvements to those skilled in the art without departing from the inventive concept are intended to be included in the scope of the present invention.
Claims (5)
1. The utility model provides a magnetic wheel formula wall climbing robot for boiler water-cooled wall detects, its characterized in that includes the frame, the frame inboard has set gradually first transmission shaft from front to back, second transmission shaft and third transmission shaft, first transmission shaft has first drive wheel to the rigid coupling respectively on second transmission shaft and the third transmission shaft, second drive wheel and third drive wheel, connect through first hold-in range between first drive wheel and the second drive wheel, connect through the second hold-in range between second drive wheel and the third drive wheel, the left end of second transmission shaft links to each other with speed reducer and step motor in proper order, step motor is driven by control module, install detection module in the right side frame of second transmission shaft, the right side of detection module is equipped with the group battery, the left end of first transmission shaft is connected with side magnetic wheel one, and its right-hand member has connected gradually intermediate magnetic wheel one and side magnetic wheel two, the right-hand member between first drive wheel, intermediate magnetic wheel one, the side magnetic wheel two is equipped with the spring on the connecting axle cover between the second magnetic wheel, the third drive wheel is connected with intermediate wheel, the intermediate wheel two, and two magnetic wheel axial direction fixed tire, and the tire is formed by intermediate wheel, and the tire is fixed with the tire is fixed in proper axial direction.
2. The magnetic wheel type wall climbing robot for detecting the water-cooled wall of the boiler according to 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 pulley side plate, a radial magnetizing magnet, a second synchronous pulley side plate and a polish rod shaft sleeve.
3. The magnetic wheel type wall climbing robot for detecting the water-cooled wall of the boiler according to claim 2, wherein the frame is U-shaped and is formed by connecting steel plates vertically arranged on two sides through a plurality of steel bars horizontally arranged in the middle by bolts.
4. A magnetic wheel type wall climbing robot for detecting a water cooled wall of a boiler according to claim 3, wherein the detection module comprises a thickness gauge and an encoder, and the encoder is a double encoder.
5. The magnetic wheel type wall climbing robot for detecting the water-cooled wall of a boiler according to claim 4, wherein the stepping motor is fixed in a closed space at the left side of the frame.
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 |
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| CN113086044A CN113086044A (en) | 2021-07-09 |
| CN113086044B true CN113086044B (en) | 2024-08-20 |
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| Application Number | Title | Priority Date | Filing Date |
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| 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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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114229434B (en) * | 2021-12-29 | 2024-08-09 | 国能(泉州)热电有限公司 | Thermal power boiler detection robot throwing device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07323701A (en) * | 1994-05-31 | 1995-12-12 | Hitachi Metals Ltd | Magnetic wheel |
| KR100812724B1 (en) * | 2006-09-29 | 2008-03-12 | 삼성중공업 주식회사 | 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 |
| PL3974823T3 (en) * | 2016-12-23 | 2024-07-15 | 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 |
| US11577794B2 (en) * | 2017-11-22 | 2023-02-14 | Sector Industries, Inc. | 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
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