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Wall-climbing robot used for measuring thickness of coating of water wall of boiler through mathematical modeling

A wall-climbing robot and mathematical modeling technology, which is applied in the field of wall-climbing robots, can solve the problems of large area, inconvenient measurement, and scattered position of water-cooled wall tube thickness detection, and achieves the effect of high degree of automation, small size and light weight.

Active Publication Date: 2016-06-08
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 detection of the thickness 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 wall-climbing robot that uses mathematical modeling to measure the thickness of the cladding layer of the boiler water-cooled wall

Method used

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  • Wall-climbing robot used for measuring thickness of coating of water wall of boiler through mathematical modeling
  • Wall-climbing robot used for measuring thickness of coating of water wall of boiler through mathematical modeling
  • Wall-climbing robot used for measuring thickness of coating of water wall of boiler through mathematical modeling

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specific Embodiment approach 1

[0020] Specific implementation mode one: refer to Figure 1 to Figure 3 This embodiment is described in detail. The wall-climbing robot that uses mathematical modeling to measure the thickness of the cladding layer of the boiler water wall described in this embodiment includes: a wireless transmission circuit 1, a host computer, a connecting part, and two left-right symmetrical structures. Round Group;

[0021] The connection part includes: a shock absorber group, a shock absorber support frame and a lead screw 8;

[0022] The shock-absorbing sheet group is in the shape of a grid, and the shock-absorbing sheet group can be stretched horizontally and vertically. The shock-absorbing sheet support frame includes two parts separated from each other. The two parts are hinged, the lead screw 8 is used to drive the shock absorber group to perform telescopic movement, and the two wheel groups are respectively fixed on the two parts of the shock absorber support frame;

[0023] Each ...

specific Embodiment approach 2

[0038] Specific embodiment two: this embodiment is a further description of the wall-climbing robot that uses mathematical modeling to measure the thickness of the boiler water wall cladding layer described in specific embodiment one. In this embodiment, it also includes: a front probe bracket 1 , probe sleeve 2 and rear probe bracket 3;

[0039] The rear probe bracket 3 is fixed on the secondary wheel support frame 7, 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 9. probe.

specific Embodiment approach 3

[0040] Specific embodiment three: This embodiment is a further description of the wall-climbing robot that uses mathematical modeling to measure the thickness of the boiler water wall cladding layer described in specific embodiment one. In this embodiment, the main wheel 18 and the slave wheel 6 The cross section is trapezoidal.

[0041] The master wheel 18 and the driven wheel 6 are the main components driving the movement of the transmission chain 12, and the sections of the master wheel 18 and the driven wheel 6 are trapezoidal; When the robot encounters obstacles in the process of crawling, it acts as a shock absorber.

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Abstract

The invention discloses a wall-climbing robot used for measuring the thickness of a coating of a water wall of a boiler through mathematical modeling, and belongs to the field of detection of the water wall of the boiler. The problems that according to thickness detection of a water wall tube, the area is large, positions are dispersed, measurement is inconvenient, and great difficulty is brought to workers are solved. In the structure of a transmission chain, a main wheel, a secondary wheel and a pressing wheel shaft, under the condition that the main wheel rotates, the secondary wheel and the pressing wheel shaft are simultaneously driven to simultaneously rotate through the transmission chain, and the running function of the robot is realized. The transmission chain is tensioned by a pressing wheel, a driven shaft and a driving shaft together. Wireless data interaction between a wireless transmission circuit I and a wireless transmission circuit II is realized, a detected thickness signal is collected, movement of the wall-climbing robot is controlled remotely, and a worker does not need to enter a hearth to control the robot, so that the workload of the worker is reduced, and the personal safety is also guaranteed.

Description

technical field [0001] The invention belongs to the field of detection of boiler water cooling walls, in particular to a wall-climbing robot which uses mathematical modeling to measure the cladding layer thickness of boiler water cooling walls. Background technique [0002] The water-cooled wall in the power plant boiler runs all the year round, especially when the workload is high, and the material fluidization volume is large. Under the scouring of circulating materials, the boiler water-cooled wall tube is very easy to be worn, especially at the anti-wear bend of the boiler, and the water-cooled wall emits smoke The pipes in many places, such as the mouth and the bottom of the panel superheater, are severely 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. However, the thickness of the water-cooled wall pipes has a large area and scattered locations. , I...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D55/075B62D55/108B62D55/265G01B17/02
CPCB62D55/075B62D55/108B62D55/265G01B17/025
Inventor 杨晓东马洪文王俊明王坤严勤展乾朱丽华
Owner HARBIN KENENG CLADDING TECH
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