Water-cooled wall pipe climbing robot

Abstract

The present application relates to a water-cooled wall pipe climbing robot. The robot includes a first adsorption device, a first moving device and a second moving device. The first adsorption device is used to be adsorbed on the pipe wall of the water-cooled wall. The first adsorption device is arranged on the first moving device. The first moving device is used to drive the first adsorption device to move a first preset distance along a first direction. The first direction is perpendicular to the plane where the water-cooled wall is located. The first moving device is arranged on the second moving device. The second moving device is used to drive the first moving device and the first adsorption device to move a second preset distance along a second direction. The second direction is perpendicular to the first direction and perpendicular to the direction in which the water-cooled wall extends. The first moving device is also used to drive the first adsorption device to move a first preset distance in the opposite direction of the first direction. The robot can drive the detection device to move on the surface of the water-cooled wall, which improves the convenience of water-cooled wall detection and improves the stability of lateral movement between water-cooled wall tube rows.

Description

Technical Field

[0001] The present application relates to the field of detection technology, and in particular to a water-cooled wall pipeline climbing robot. Background Art

[0002] The water-cooled wall is an important component of the boiler body. When the boiler is running, the water-cooled wall heating surface has problems such as thermal deformation, high-temperature corrosion, and ash and coking. After long-term operation, the aging problem will become more and more prominent, and the safety will decrease. Therefore, regular maintenance of the boiler water-cooled wall has always been an important task of boiler maintenance.

[0003] The inspection of the water-cooled wall heating surface is a high-risk environment operation, with a large inspection area, long inspection time, and high requirements for maintenance personnel. It is an urgent problem to design a machine device that can move freely and reliably on the surface of the water-cooled wall to improve the convenience of water-cooled wall inspection. Summary of the invention

[0004] Based on this, it is necessary to provide a water-cooled wall pipe climbing robot to solve the problem of how to achieve the lateral movement of the robot between the water-cooled wall tube rows.

[0005] A water-cooled wall pipe climbing robot comprises a first adsorption device, a first moving device and a second moving device. The first adsorption device is used to be adsorbed on the pipe wall of the water-cooled wall. The first adsorption device is arranged on the first moving device. The first moving device is used to drive the first adsorption device to move a first preset distance along a first direction. The first direction is perpendicular to the plane where the water-cooled wall is located. The first moving device is arranged on the second moving device. The second moving device is used to drive the first moving device and the first adsorption device to move a second preset distance along a second direction. The second direction is perpendicular to the first direction and perpendicular to the direction in which the water-cooled wall extends. The first moving device is also used to drive the first adsorption device to move the first preset distance in the opposite direction of the first direction.

[0006] In one embodiment, the first moving device includes a first telescopic device. The first telescopic device includes a first fixed member and a first telescopic member. One end of the first telescopic member is connected to the first fixed member. The other end of the first telescopic member is connected to the first adsorption device, and the first telescopic member is used to extend the first preset distance along the first direction. The first fixed member is connected to the second moving device.

[0007] In one embodiment, the first moving device further comprises a first supporting frame, and one end of the first telescopic member away from the first fixing member and the first adsorption device are respectively arranged on the first supporting frame.

[0008] In one embodiment, the second mobile device further includes a second support frame, a second telescopic device and a third telescopic device. The first fixed member is arranged on the second support frame. The second telescopic device includes a second fixed member and a second telescopic member. The second fixed member is arranged on the second support frame. One end of the second telescopic member is connected to the second fixed member. The second telescopic member is used to telescope the second predetermined distance along the second direction. The third telescopic device includes a third fixed member and a third telescopic member. The third fixed member is arranged at one end of the second telescopic member away from the second fixed member. One end of the third telescopic member is connected to the third fixed member. The third telescopic member is used to telescope the third predetermined distance along the first direction.

[0009] In one embodiment, the third telescopic device comprises a second adsorption component. The second adsorption component is arranged at an end of the third telescopic member away from the third fixing member.

[0010] In one embodiment, the first adsorption device comprises a permanent magnet, and the permanent magnet is disposed on the first moving device.

[0011] In one embodiment, the first adsorption device further comprises a first rolling element. The first rolling element is arranged at an end of the permanent magnet away from the first moving device.

[0012] In one embodiment, the first adsorption device further comprises an elastic component, one end of which is connected to the first moving device, and the other end of which is connected to the permanent magnet.

[0013] In one embodiment, the water-cooled wall pipe climbing robot further includes a wheel assembly. The wheel assembly is arranged on the first moving device.

[0014] In one embodiment, the wheel assembly includes a second elastic member, a power mechanism and a wheel. One end of the second elastic member is connected to the first moving device. The wheel is connected to an end of the second elastic member away from the first moving device. The power mechanism is arranged on the wheel hub of the wheel.

[0015] In the water-cooled wall pipe climbing robot provided in the embodiment of the present application, the first adsorption device is used to drive the first moving device and the second moving device to stick to the water-cooled wall to prevent falling. The first moving device can drive the first adsorption device to move in a direction perpendicular to the plane where the water-cooled wall is located. The second moving device is used to drive the first moving device and the first adsorption device to move a second preset distance in a second direction. The second direction is perpendicular to the first direction and perpendicular to the direction in which the water-cooled wall extends. The second moving device can drive the first moving device and the first adsorption device to move in a direction parallel to the plane where the water-cooled wall is located. The water-cooled wall pipe climbing robot realizes horizontal step-by-step movement between the water-cooled wall tube rows through the first adsorption device, the first moving device and the second moving device. The water-cooled wall pipe climbing robot can carry the detection device and drive the detection device to move on the surface of the water-cooled wall, thereby improving the convenience of water-cooled wall detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the conventional technology, the drawings required for use in the embodiments or the conventional technology descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 This is a schematic diagram of the structure of the water-cooled wall pipe climbing robot provided in one embodiment of the present application;

[0018] Figure 2 This is a schematic diagram of the structure of the water-cooled wall pipe climbing robot provided in one embodiment of the present application;

[0019] Figure 3 This is a schematic structural diagram of the first telescopic device, the second telescopic device, and the third telescopic device provided in one embodiment of the present application;

[0020] Figure 4 This is a schematic structural diagram of the second telescopic device and the third telescopic device provided in one embodiment of the present application;

[0021] Figure 5 This is a schematic structural diagram of the first adsorption device provided in one embodiment of the present application;

[0022] Figure 6 This is a schematic structural diagram of the wheel assembly provided in one embodiment of the present application.

[0023] Figure Number:

[0024] 10. Water-cooled wall pipe climbing robot; 100. Water-cooled wall; 101. Water-cooled wall plane; 20. First adsorption device; 30. First moving device; First direction a; 40. Second moving device; Second direction b; 310. First telescopic device; 311. First fixing member; 312. First telescopic member; 320. First support frame; 410. Second support frame; 420. Second telescopic device; 421. Second fixing member; 422. Second telescopic member retractable member; 423, first guide rail; 430, third retractable device; 431, third fixed member; 432, third retractable member; 433, second adsorption assembly; 441, electromagnet; 442, rubber block; 210, permanent magnet; 220, first rolling member; 230, elastic assembly; 231, second elastic member; 232, vertical axis; 233, connecting member; 50, wheel assembly; 510, power mechanism; 520, wheel; 530, second elastic member. DETAILED DESCRIPTION

[0025] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific implementation disclosed below.

[0026] The serial numbers for the components herein, such as "first", "second", etc., are only used to classify the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings). In the description of this application, it should be understood that the orientation or position relationship indicated by the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", etc. are based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to this application.

[0027] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0028] See also Figure 1 and Figure 2 The embodiment of the present application provides a water-cooled wall pipe climbing robot 10, comprising a first adsorption device 20, a first moving device 30 and a second moving device 40. The first adsorption device 20 is used to be adsorbed on the pipe wall of the water-cooled wall 100. The first adsorption device 20 is arranged on the first moving device 30. The first moving device 30 is used to drive the first adsorption device 20 to move a first preset distance along a first direction a. The first direction a is perpendicular to the plane 101 where the water-cooled wall 100 is located. The first moving device 30 is arranged on the second moving device 40. The second moving device 40 is used to drive the first moving device 30 and the first adsorption device 20 to move a second preset distance along a second direction b. The second direction b is perpendicular to the first direction a and perpendicular to the direction in which the water-cooled wall 100 extends. The first moving device 30 is also used to drive the first adsorption device 20 to move the first preset distance in the opposite direction of the first direction a.

[0029] The embodiment of the present application provides a water-cooled wall pipe climbing robot 10 in which the first adsorption device 20 is used to drive the first moving device 30 and the second moving device 40 to stick to the water-cooled wall 100 to prevent falling. The first moving device 30 can drive the first adsorption device 20 to move in a direction perpendicular to the plane 101 where the water-cooled wall 100 is located. The second moving device 40 can drive the first moving device 30 and the first adsorption device 20 to move in a direction parallel to the plane 101 where the water-cooled wall 100 is located. The water-cooled wall pipe climbing robot 10 realizes the function of stepping on the surface of the water-cooled wall 100 through the first adsorption device 20, the first moving device 30 and the second moving device 40. The water-cooled wall pipe climbing robot 10 can carry a detection device and drive the detection device to move on the surface of the water-cooled wall 100, thereby improving the convenience of detecting the water-cooled wall 100.

[0030] The detection device includes a wall thickness detection device or an operation status detection device. The water-cooled wall pipeline climbing robot 10 can also carry maintenance equipment or camera equipment.

[0031] The first adsorption device 20 may be an electromagnetic adsorption device or a permanent magnetic adsorption device.

[0032] The second direction b may be a direction extending along the water-cooled wall 100 , or may be a direction extending perpendicular to the water-cooled wall 100 .

[0033] The water-cooled wall 100 includes a plurality of pipes arranged side by side. In one embodiment, the second direction b is perpendicular to the direction in which the water-cooled wall 100 extends and is perpendicular to the first direction a. The water-cooled wall pipe climbing robot 10 is used to achieve lateral movement between water-cooled wall pipe rows.

[0034] Please also see Figure 3 and Figure 4 In one embodiment, the second mobile device 40 further includes a second support frame 410, a second telescopic device 420 and a third telescopic device 430. The first fixing member 311 is disposed on the second support frame 410. The second telescopic device 420 includes a second fixing member 421 and a second telescopic member 422. The second fixing member 421 is disposed on the second support frame 410. One end of the second telescopic member 422 is connected to the second fixing member 421. The second telescopic member 422 is used to telescope the second predetermined distance along the second direction b. The third telescopic device 430 includes a third fixing member 431 and a third telescopic member 432. The third fixing member 431 is disposed at one end of the second telescopic member 422 away from the second fixing member 421. One end of the third telescopic member 432 is connected to the third fixing member 431. The third telescopic member 432 is used to telescope the third predetermined distance along the first direction a.

[0035] The shape of the second support frame 410 can be a regular shape such as a rectangle, a square or a circle, or a spliced ​​shape such as a wave or an ellipse.

[0036] The second support frame 410 is used to provide a support platform for the second telescopic device 420 and the third telescopic device 430. The shape of the second support frame 410 can be a regular shape such as a rectangle, a square or a circle, or a spliced ​​shape such as a wave or an ellipse.

[0037] In one embodiment, the second support frame 410 is in a rectangular shape. A first guide rail 423 is disposed between two opposing support bodies of the rectangle. The first guide rail 423 extends along the first direction a. The second fixing member 421 is disposed at one end of the first guide rail 423. The second telescopic member 422 extends along the first guide rail 423.

[0038] The movement process of the water-cooled wall pipeline climbing robot 10 is as follows:

[0039] In the initial state, the first adsorption device 20 is attached to the surface of the water-cooled wall 100 ; the third telescopic device 430 is attached to and fixed to the surface of the water-cooled wall 100 . The second direction b is along the direction in which the water-cooled wall 100 extends.

[0040] In the first step, the first moving device 30 drives the first adsorption device 20 to move the first preset distance along the first direction a away from the water-cooled wall 100. The second telescopic device 420 drives the first moving device 30 and the first adsorption device 20 to move the second preset distance along the second direction b. The first moving device 30 drives the first adsorption device 20 to move the first preset distance toward the water-cooled wall 100 in the opposite direction of the first direction a, so that the first adsorption device 20 is again attached to and fixed on the surface of the water-cooled wall 100.

[0041] In the second step, the third telescopic member 432 is telescoped a third predetermined distance away from the water-cooled wall 100 along the first direction a. The second telescopic device 420 drives the third telescopic device to move the second preset distance along the second direction b. The third telescopic member 432 is telescoped a third predetermined distance toward the water-cooled wall 100 in the opposite direction of the first direction a, so that the third telescopic device 430 is attached to and fixed on the surface of the water-cooled wall 100.

[0042] Through the above steps, the water-cooled wall pipe climbing robot 10 can achieve the function of step-by-step movement on the surface of the water-cooled wall 100 .

[0043] The second moving device 40 or the third moving device may be an electric telescopic rod or an electric cylinder, etc. When the second moving device 40 or the third moving device is an electric cylinder, the second fixing member 421 or the third fixing member 431 is a cylinder body.

[0044] In the first step, the second telescopic member 422 remains in position, and the second fixing member 421 moves the second predetermined distance along the second direction b. In the second step, the second fixing member 421 remains in position, and the second telescopic member 422 moves the second predetermined distance along the second direction b.

[0045] In the first step, the third telescopic member 432 moves the third predetermined distance away from the water-cooled wall 100 along the second direction b. In the second step, the third telescopic member 432 moves the third predetermined distance toward the water-cooled wall 100 in the opposite direction of the second direction b.

[0046] If the water-cooled wall pipe climbing robot 10 walks along the second direction b on the surface of the water-cooled wall 100 by alternately running the first step and the second step.

[0047] If the water-cooled wall pipe climbing robot 10 is controlled to walk in the opposite direction of the second direction b, then in the first step, the position of the second fixing member 421 remains unchanged, and the second telescopic member 422 moves the second predetermined distance in the opposite direction of the second direction b. In the second step, the position of the second telescopic member 422 remains unchanged, and the second fixing member 421 moves the second predetermined distance in the opposite direction of the second direction b.

[0048] The telescopic lengths of the second moving device 40 and the third moving device may be the same or different.

[0049] In one embodiment, the telescopic lengths of the second moving device 40 and the third moving device are different. The telescopic length of the second moving device 40 is greater than the telescopic length of the third moving device, so as to ensure the climbing speed of the water-cooled wall pipe climbing robot 10. The telescopic length of the third moving device should not be too long, so as to avoid the third moving device having too large a movement range, a long telescopic time, and a reduced travel speed. The telescopic length of the third moving device only needs to ensure that it can cross adjacent pipe walls.

[0050] In one embodiment, the telescopic length of the second moving device 40 is 150 mm. The telescopic length of the third moving device is 30 mm.

[0051] In one embodiment, the first moving device 30 includes a first telescopic device 310. The first telescopic device 310 includes a first fixing member 311 and a first telescopic member 312. One end of the first telescopic member 312 is connected to the first fixing member 311. The other end of the first telescopic member 312 is connected to the first adsorption device 20, and the first telescopic member 312 is used to extend the first preset distance along the first direction a. The first fixing member 311 is connected to the second moving device 40.

[0052] The first telescopic device 310 may be an electric telescopic rod or an electric cylinder, etc. When the first moving device 30 is an electric cylinder, the first fixing member 311 is a cylinder body.

[0053] In one embodiment, the water-cooled wall pipe climbing robot 10 further includes a wheel assembly 50 . The wheel assembly 50 is disposed on the first moving device 30 .

[0054] The movement process of the water-cooled wall pipeline climbing robot 10 is as follows:

[0055] In the initial state, the first adsorption device 20 and the wheel assembly 50 are attached to the surface of the water-cooled wall 100 ; the third telescopic device 430 is attached to and fixed to the surface of the water-cooled wall 100 .

[0056] In the first step, the position of the first fixing member 311 remains unchanged, the first telescopic member 312 shrinks the first predetermined distance along the first direction a, and the first moving device 30 drives the first adsorption device 20 and the wheel assembly 50 to move the first predetermined distance away from the water-cooled wall 100 along the first direction a. The second fixing member 421 of the second telescopic device 420 drives the first moving device 30 and the first adsorption device 20 to move the second predetermined distance along the second direction b. The first telescopic member 312 shrinks the first predetermined distance along the first direction a, and drives the first adsorption device 20 and the wheel assembly 50 to move the first predetermined distance toward the water-cooled wall 100 in the opposite direction of the first direction a, so that the first adsorption device 20 and the wheel assembly 50 are again attached to and fixed on the surface of the water-cooled wall 100.

[0057] In the second step, the third telescopic member 432 is telescoped a third predetermined distance away from the water-cooled wall 100 along the first direction a. The second telescopic device 420 drives the third telescopic device to move the second preset distance along the second direction b. The third telescopic member 432 is telescoped a third predetermined distance toward the water-cooled wall 100 in the opposite direction of the first direction a, so that the third telescopic device 430 is attached to and fixed on the surface of the water-cooled wall 100.

[0058] In one embodiment, the first moving device 30 further includes a first support frame 320. An end of the first telescopic member 312 away from the first fixing member 311 and the first adsorption device 20 are respectively disposed on the first support frame 320.

[0059] The first support frame 320 provides a mounting platform for the first adsorption device 20 and the wheel assembly 50 .

[0060] The shape of the first support frame 320 can be a regular shape such as a rectangle, a square or a circle, or a spliced ​​shape such as a wave or an ellipse.

[0061] In one embodiment, the first moving device 30 further includes a second guide rail extending along the second direction b. The second guide rail is fixedly disposed on the first frame. The first support frame 320 is provided with a sliding body. The sliding body is used to drive the first support frame 320 to move along the second guide rail.

[0062] See also Figure 4 In one embodiment, the third telescopic device 430 further includes a second adsorption component 433. The second adsorption component 433 is disposed at an end of the third telescopic member 432 away from the third fixing member 431.

[0063] In one embodiment, the second adsorption component 433 includes an electromagnet 441. The electromagnet 441 is disposed at one end of the third telescopic member 432 away from the third fixed member 431. The third telescopic member 432 moves toward the surface of the water-cooled wall 100 until the electromagnet 441 is attached to the surface of the water-cooled wall 100, and the electromagnet 441 is energized and adsorbed on the surface of the water-cooled wall 100. The third telescopic member 432 moves away from the surface of the water-cooled wall 100, and the electromagnet 441 is de-energized and does not have an adsorption function.

[0064] The electromagnet 441 is energized and adsorbed on the surface of the water-cooled wall 100 to provide support force to the second telescopic member 422 through the third telescopic device 430, so that the position of the second telescopic member 422 in the first step remains unchanged, and the position of the second fixing member 421 in the first step changes.

[0065] The shape of the electromagnet 441 can be a cuboid, a cube, a cylinder, etc.

[0066] In one embodiment, the surface of the electromagnet 441 close to the water-cooled wall 100 is arched, and the radius of the arched surface is the radius of the water-cooled wall 100, so that the surface of the electromagnet 441 fits the surface of the water-cooled wall 100, increasing the adsorption area and the adsorption force. There are one or more electromagnets 441. The arrangement of the multiple electromagnets 441 can be side by side or in a matrix.

[0067] In one embodiment, the second adsorption assembly 433 further includes a rubber block 442. The rubber block 442 is arranged side by side with the electromagnet 441. The rubber block 442 is used for buffering to reduce the impact on the water-cooled wall 100. There are one or more rubber blocks 442. The surface of the rubber block 442 close to the water-cooled wall 100 is arched, and the radius of the arched surface is the radius of the water-cooled wall 100, so that the surface of the rubber block 442 fits the surface of the water-cooled wall 100.

[0068] In one embodiment, there are a plurality of rubber blocks 442 , and the plurality of rubber blocks 442 are arranged around the electromagnet 441 .

[0069] Please also see Figure 5 In one embodiment, the first adsorption device 20 includes a permanent magnet 210. The permanent magnet 210 is disposed on the first moving device 30. The permanent magnet 210 is used to be adsorbed on the surface of the water-cooled wall 100 to prevent the water-cooled wall pipeline climbing robot 10 from falling off.

[0070] In one embodiment, the first adsorption device 20 further includes a first rolling member 220. The first rolling member 220 is disposed at one end of the permanent magnet 210 away from the first moving device 30. The first rolling member 220 includes a roller. The axis of the roller is parallel to the plane 101 where the water-cooled wall 100 is located. There are rollers around the permanent magnet.

[0071] In one embodiment, the first adsorption device 20 further includes an elastic component 230. One end of the elastic component 230 is connected to the first moving device 30. The other end of the elastic component 230 is connected to the permanent magnet 210. The elastic component 230 is used to make the permanent magnet 210 rise or fall along the pipe wall by contraction.

[0072] The elastic component 230 includes a vertical shaft 232, a first elastic member 231 and a connecting member 233. The vertical shaft 232 is connected to the second support frame 410. A slide rail is arranged on the side wall of the vertical shaft 232. A slider is arranged on the surface of the permanent magnet 210. The slider is used to drive the permanent magnet 210 to move along the slide rail. The connecting member 233 is used to be fixed to one end of the vertical shaft 232 away from the slide rail. The connecting member 233 is used to connect multiple vertical shafts 232. The first elastic member 231 is connected between the permanent magnet 210 and the connecting member 233.

[0073] When there is an obstacle on the water-cooled wall 100, the roller drives the permanent magnet 210 to move along the second direction b. The slider moves close to the connecting member 233, and the first elastic member 231 is compressed.

[0074] The water-cooled wall pipe climbing robot 10 achieves obstacle climbing through the elastic component 230 to prevent the permanent magnet from directly colliding with obstacles such as coking on the pipe.

[0075] The first elastic member 231 includes a spring, a sponge or other elastic bodies.

[0076] Please also see Figure 6 In one embodiment, the wheel assembly 50 includes a second elastic member 530, a power mechanism 510 and a wheel 520. One end of the second elastic member 530 is connected to the first moving device 30. The wheel 520 is connected to one end of the second elastic member 530 away from the first moving device 30. The power mechanism 510 is disposed at the hub of the wheel 520.

[0077] The second elastic member 530 is used to drive the wheel 520 and the power mechanism 510 to move along the second direction b. The contact surface between the wheel 520 and the water-cooled wall 100 includes a groove structure or an arc structure. The surface of the wheel 520 is in contact with the surface of the water-cooled wall 100. The power mechanism 510 is used to provide power for the wheel 520. The wheel 520 is used to move along the length direction of the water-cooled wall 100.

[0078] The second elastic member 530 includes a spring, a sponge or other elastic bodies, etc. The power mechanism 510 includes a motor.

[0079] The wheel 520 consists of two parts: an outer rubber wheel and an inner wheel hub. The rubber wheel provides friction for the robot to walk, and the inner wheel hub is made of aluminum alloy, which can ensure both light weight and hardness of the wheel 520, so that the deformation is small.

[0080] In one embodiment, there are two second elastic members 530. The two second elastic members 530 are arranged front and back to ensure that the wheel 520 can better cross obstacles such as coking during walking. There is a gap between the elastic component 230 and the wheel 520 frame of the wheel 520, so that the rubber wheel has a certain adaptability to the deformed pipe.

[0081] In one embodiment, the water-cooled wall pipe climbing robot 10 further includes a controller. The controller is connected to the first moving device 30, the second moving device 40, the third moving device and the power mechanism 510 respectively.

[0082] In a specific embodiment, the controller remote controller sends a forward signal to control the motor to rotate forward, driving the water-cooled wall pipe climbing robot 10 to move forward along the length direction of the pipe of the water-cooled wall 100. Similarly, the controller remote controller sends a backward signal to control the motor to rotate backward, so that the water-cooled wall pipe climbing robot 10 moves backward along the pipe of the water-cooled wall 100.

[0083] When the water-cooled wall pipe climbing robot 10 reaches a designated position or the water-cooled wall 100 reaches a high point, the controller sends a translation signal so that the water-cooled wall pipe climbing robot 10 implements the following steps:

[0084] In the first step, the 150 mm electric cylinder in the second moving device 40 is extended (or shortened) by a certain distance.

[0085] In the second step, the 30 mm electric cylinder in the second moving device 40 is extended, and the electromagnet 441 is energized, so that the electromagnet 441 fits against the pipe.

[0086] In the third step, the electric cylinder in the first moving device 30 contracts and lifts the outer frame so that the rubber wheel is separated from the pipe.

[0087] In the fourth step, the 150 mm electric cylinder in the second moving device 40 contracts (or extends) to the same length as in the first step.

[0088] In the fifth step, the electric cylinder in the first moving device 30 is extended to lower the outer frame so that the rubber wheel fits the pipe.

[0089] In the sixth step, the electromagnet 441 in the second moving device 40 is powered off, and the 30 mm electric cylinder contracts, so that the electromagnet 441 is separated from the pipeline.

[0090] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0091] The above-described embodiments only express several implementation methods of the present application, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present application, which all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the attached claims.

Claims

1. A water-cooled wall pipe climbing robot, characterized in that: include: A first adsorption device, used for adsorbing on the tube wall of the water-cooled wall; a first moving device, wherein the first adsorption device is arranged on the first moving device, and the first moving device is used to drive the first adsorption device to move a first preset distance along a first direction, wherein the first direction is perpendicular to the plane where the water-cooled wall is located; the first moving device comprises a first telescopic device; the first telescopic device comprises a first fixing member and a first telescopic member, wherein one end of the first telescopic member is connected to the first fixing member, and the other end of the first telescopic member is connected to the first adsorption device; a second moving device, wherein the first moving device is arranged on the second moving device, the second moving device is used to drive the first moving device and the first adsorption device to move a second preset distance along a second direction, the second direction is perpendicular to the first direction and perpendicular to the direction in which the water-cooled wall extends, and the first moving device is also used to drive the first adsorption device to move the first preset distance in the opposite direction of the first direction; a wheel assembly, disposed on the first moving device; The wheel assembly comprises: a second elastic member, one end of which is connected to the first moving device; a wheel connected to one end of the second elastic member away from the first moving device; a power mechanism arranged on the wheel hub; and a contact surface between the wheel and the water-cooled wall comprises a groove structure or an arc structure. The second mobile device comprises: a second supporting frame, wherein the first fixing member is disposed on the second supporting frame; A second telescopic device comprises a second fixing member and a second telescopic member, wherein the second fixing member is disposed on the second support frame, one end of the second telescopic member is connected to the second fixing member, and the second telescopic member is used to telescope a second predetermined distance along the second direction; A third telescopic device, comprising a third fixing member and a third telescopic member, wherein the third fixing member is arranged at one end of the second telescopic member away from the second fixing member, one end of the third telescopic member is connected to the third fixing member, and the third telescopic member is used to telescope a third predetermined distance along the first direction; The third telescopic device further comprises a second adsorption component, and the second adsorption component is arranged at an end of the third telescopic member away from the third fixing member.

2. The water-cooled wall pipe climbing robot according to claim 1, characterized in that: The first telescopic member is used to telescope the first preset distance along the first direction, and the first fixing member is connected to the second moving device.

3. The water-cooled wall pipe climbing robot according to claim 2, characterized in that: The first mobile device also includes: A first supporting frame, an end of the first telescopic member away from the first fixing member and the first adsorption device are respectively arranged on the first supporting frame.

4. The water-cooled wall pipe climbing robot according to claim 1, characterized in that: The third telescopic device comprises: The second adsorption component is arranged at an end of the third telescopic component away from the third fixing component.

5. The water-cooled wall pipe climbing robot according to claim 1, characterized in that: The first adsorption device comprises: A permanent magnet is arranged on the first moving device.

6. The water-cooled wall pipe climbing robot according to claim 5, characterized in that: The first adsorption device also includes: The first rolling element is arranged at an end of the permanent magnet away from the first moving device.

7. The water-cooled wall pipe climbing robot according to claim 5, characterized in that: The first adsorption device also includes: An elastic component, one end of which is connected to the first moving device, and the other end of which is connected to the permanent magnet.

8. The water-cooled wall pipe climbing robot according to claim 7, characterized in that: The second elastic member includes a spring.

9. The water-cooled wall pipe climbing robot according to claim 1, characterized in that: The second adsorption component also includes a rubber block.

10. The water-cooled wall pipe climbing robot according to claim 6, characterized in that: The first rolling element comprises a roller, and the axis of the roller is parallel to the plane where the water-cooled wall is located.

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