Hexapod bionic power plant boiler water wall inspection and maintenance climbing wall robot

Abstract

The invention relates to a hexapod bionic power plant boiler water wall inspection and maintenance climbing wall robot comprising a robot body and a plurality of mechanical legs arranged on both sidesof the body, ach mechanical leg consists of three large torque steering gears, thighs, calves, leg root parts, and magnetic feet, and an elastic adaptive device is arranged between the leg root partsand the magnetic foot. Each joint of the mechanical leg is pivotally connected and can rotate freely. The angle of each steering gear is controlled by gait algorithm, and hexapod insects are imitatedto walk, so that the robot can walk flexibly. A light supplement lamp, a camera and a flexible manipulator are arrange on that robot body, and the front end of the flexible manipulator can be equipped with an ultrasonic thickness measuring probe, a water wall welding device and a water wall cutting device, which are use for detecting and repairing the water wall of a boiler. The magnetic feet adopts the electromagnetism that cut off electricity to absorb type, can avoid dropping off the robot caused by the abnormal power cut. The invention has the advantages of strong load capacity, flexiblemovement, strong wall adaptability, almost complete coverage and no dead angle inside the boiler, and good application prospect.

Description

technical field [0001] The invention relates to the technical field of robot automatic detection and maintenance, in particular to a hexapod bionic type power plant boiler water wall detection and maintenance wall-climbing robot. Background technique [0002] Since Nippon Steel Corporation developed the first magnetic wheeled wall-climbing robot in 1988, the wall-climbing robot industry has developed rapidly. Japan's Hitachi has developed an 8-legged magnetic-footed wall-climbing robot, which relies on the adsorption force provided by the magnetic feet to adsorb on the wall. However, due to the complicated footwork control of the robot, the movement flexibility is not good, and the suction force is provided by electromagnets. There are potential safety hazards caused by unexpected power outages, so there is no promotion. [0003] Thermal power generation plays a dominant role in my country's electricity supply. In the boiler, the pulverized coal is burned to release heat, ...

AI Technical Summary

Problems solved by technology

[0006] In order to solve the problems of complex structure, poor versatility, complex control, low flexibility, and high cost existing in existing wall-climbing robots, the present invention provides a hexapod bionic type power plant boiler water-cooled wall inspection and maintenance wall-climbing robot, Overcoming the barriers of existing technologies, the developed inspection and maintenance wall-climbing robot has strong load capacity, flexible movement, and strong wall adaptability. It can almost achieve full coverage inside the boiler without dead ends, and has a good application prospect.

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