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Water wall climbing robot by using ultrasonic rangefinder for positioning

A wall-climbing robot, ultrasonic technology, applied in the direction of using ultrasonic/sonic/infrasonic, re-radiation of sound, instruments, etc., can solve the problems of large area, inconvenient measurement, and scattered position of water-cooled wall tube thickness detection, and achieve automation High degree, compact and lightweight effect

Active Publication Date: 2016-04-06
HARBIN KENENG CLADDING TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The present invention is to solve the problem that the thickness detection area of ​​the water-cooled wall tube is large, the location is scattered, and the measurement is inconvenient, which brings great difficulties to the staff. Now it provides a water-cooled wall climbing robot positioned by an ultrasonic rangefinder

Method used

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  • Water wall climbing robot by using ultrasonic rangefinder for positioning
  • Water wall climbing robot by using ultrasonic rangefinder for positioning
  • Water wall climbing robot by using ultrasonic rangefinder for positioning

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specific Embodiment approach 1

[0022] Specific implementation mode 1: refer to Figure 1 to Figure 5 Specifically describe this embodiment, the water-cooled wall-climbing robot positioned by using an ultrasonic range finder described in this embodiment includes: an ultrasonic range finder, a connecting part and two wheel sets with a left-right symmetrical structure;

[0023] The connecting part includes: a shock-absorbing plate group, a shock-absorbing plate support frame 16 and a lead screw 21;

[0024] The shock-absorbing plate group is in the shape of a grid, and the shock-absorbing plate group can be stretched both laterally and longitudinally. The shock-absorbing plate support frame 16 includes two parts separated from each other, and the two ends of the shock-absorbing plate group are respectively connected to the shock-absorbing plate support frame The two parts of 16 are hinged, the lead screw 21 is used to drive the shock-absorbing plate group to perform telescopic movement, the two wheel groups ar...

specific Embodiment approach 2

[0036]Embodiment 2: This embodiment further describes the water-cooled wall-climbing robot positioned by using an ultrasonic range finder described in Embodiment 1. In this embodiment, it further includes: a front probe support 1, a probe sleeve 2 and the rear probe holder 3;

[0037] The rear probe bracket 3 is fixed on the synchronous belt slave wheel support frame 17, the front probe bracket 1 is fixed on the rear probe bracket 3, the probe sleeve 2 is fixed on the front probe bracket 1, and the probe sleeve 2 is used to support the ultrasonic thickness gauge. 20 probes.

specific Embodiment approach 3

[0038] Embodiment 3: This embodiment further describes the water-cooled wall-climbing robot positioned by the ultrasonic range finder described in Embodiment 1. In this embodiment, the synchronous belt main pulley 12 and the synchronous belt slave pulley 14 The cross-sections are all trapezoidal.

[0039] The synchronous belt main pulley 12 and the synchronous belt slave pulley 14 are the main components that drive the synchronous belt 4 to move. The sections of the synchronous belt main pulley 12 and the synchronous belt slave pulley 14 are trapezoidal; function, and can make the wall-climbing robot play the role of shock absorption when encountering obstacles in the process of crawling.

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Abstract

The invention belongs to the field of boiler water wall detecting and discloses a water wall climbing robot by using an ultrasonic rangefinder for positioning in order to solve the problems that a lot of difficulties caused due to the fact that an existing water wall pipe is large in thickness detection area, scattered in position, and not convenient to detect are brought to staff. According to the structure, synchronous belts, synchronous belt driving wheels, synchronous belt driven wheels and pressing wheel axles are provided; under the condition that the synchronous belt driving wheels rotate, and the synchronous belts simultaneously drive the synchronous belt driven wheels and pressing wheel axles to rotate. A plurality of magnets are inlaid on magnet brackets and adsorbed on the surface of a water wall through magnetic force, when the magnet brackets are clamped on water-cooled pipes, return springs tighten inwards to increase the force of the magnet brackets clamping the water-cooled pipes; accordingly, the grasping force of the robot climbing on the surface of the water wall is further increased, and the robot is prevented from falling down. The actual climbing height is measured by the ultrasonic rangefinder, and when the thickness measured by the ultrasonic rangefinder does not meet the standard, missing points can be positioned immediately and quickly.

Description

technical field [0001] The invention belongs to the field of boiler water-cooled wall detection, in particular to a water-cooled wall-climbing robot positioned by an ultrasonic range finder. Background technique [0002] The water-cooled wall in the power station boiler operates all the year round, especially when the working load is high, the amount of material fluidization is large. Under the scouring of the circulating material, the boiler water-cooled wall tube is very easy to be worn, especially at the anti-wear bend of the boiler and the smoke from the water-cooled wall. The pipes in many positions such as the mouth and the bottom of the screen superheater are very seriously worn. The power station staff need to accurately measure the wall thickness of the pipes and replace them in time to ensure the safe and stable operation of the boiler. , Inconvenient measurement brings great difficulties to the staff. In addition, when measuring the thickness of the water wall su...

Claims

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Application Information

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IPC IPC(8): B62D55/075B62D55/108B62D55/265G01S15/08G01B17/02
CPCB62D55/075B62D55/108B62D55/265G01B17/02G01S15/08
Inventor 马洪文王俊明杨晓东王坤严勤展乾朱丽华
Owner HARBIN KENENG CLADDING TECH
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