Flexible cable parallel drive robot for boiler detection and maintenance

Abstract

The invention discloses a flexible cable parallel drive robot for boiler detection and maintenance. The flexible cable parallel drive robot for boiler detection and maintenance comprises a robot bodypart, a driving part and a control part. The robot body part is a frame with a polyhedral cube structure, and one or more mechanical arm modules are arranged on the frame. The front end of the mechanical arm is loaded with a work module, and a detecting face can be detected and maintained. A visual module is further arranged on the frame, robot motion process picture recording and trigger shootingcan be achieved, and the operation track of the robot is controlled through a plurality of sets of drivers. One end of a steel wire rope in each driver is connected with a driving module, and the other end of the steel wire rope in each driver passes through a pulley assembly to be connected with the robot in a boiler. The driving part is controlled by a control cabinet. According to the flexiblecable parallel drive robot, the barriers in the prior art are broken through, and the researched and developed flexible cable parallel drive robot is high in loading capacity and flexible to move, issupported and driven by a rope, moves as easily as walking on firm earth under various complex work conditions, and can reach the places human beings and existing robot cannot reach to complete special work.

Description

technical field [0001] The invention belongs to the technical field of boiler inspection and maintenance equipment, and in particular relates to a cable parallel driving robot for boiler inspection and maintenance. Background technique [0002] Thermal power generation plays a dominant role in my country's electricity supply. In the boiler, the pulverized coal is burned to release heat, which is transferred to the medium in the tube through the water-cooled wall tube, so that it is converted into superheated steam to drive the steam turbine to generate electricity. Since the operating coal type is poorer than the design coal type, high-temperature corrosion of the water wall of the boiler cannot be avoided. The high-temperature flame and flue gas scour the water wall tubes, and this corrosion will occur in boilers of any type, parameter, and capacity. Since the height of the water-cooled wall is generally 6-80m, scaffolding must be erected during maintenance. At present, ma...

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 flexible cable parallel drive robot for boiler inspection and maintenance, which overcomes the The barriers of the prior art, the flexible cable parallel drive robot of the present invention has strong load capacity, flexible movement, and is driven by rope support. It can reach places that humans and existing robots cannot reach in the boiler, and complete special operations.

Images