A boiler water-cooled wall cleaning and thickness measuring crossable wall-climbing robot

Abstract

The embodiment of the present application discloses a boiler inner water cooling wall cleaning and thickness measuring crossable wall climbing robot, which comprises a cleaning mechanism, a crossing mechanism, a fixing mechanism and a control terminal. The cleaning mechanism is connected above the crossing mechanism, the crossing mechanism comprises a torsion device, the fixing mechanism is connected below the crossing mechanism through the torsion device, the control terminal can control the crossing mechanism and the fixing mechanism to move along the boiler inner water cooling wall, and when obstacles are encountered, the fixing mechanism is controlled as a supporting point, meanwhile, the torsion motor acts to drive the crossing mechanism to cross to the other side of the obstacles, then the second magnetic attraction roller of the fixing mechanism loses magnetism, so that the fixing mechanism is swung to the other side by gravity, thereby realizing the crossing of the obstacles. By using the present application, the boiler water cooling wall can be actively cleaned, and when obstacles such as pipelines and protrusions protruding from the surface are encountered, the obstacles can be automatically crossed.

Description

Technical Field

[0001] This invention relates to an automated cleaning device, and more particularly to a wall-climbing robot for cleaning and measuring the thickness of water-cooled walls inside a boiler. Background Technology

[0002] Water-cooled walls are the main heat-receiving part of a boiler. They consist of several rows of steel pipes distributed around the boiler furnace to absorb the radiant heat from the high-temperature combustion products in the furnace. Therefore, they are very common in thermal power plants. However, in daily operation, due to various limitations, the piping of water-cooled walls is often quite complex. In addition, because the quality of coal used in the boiler is difficult to standardize, the water-cooled walls of the boiler are prone to corrosion or expansion and bulging.

[0003] Moreover, because water-cooled walls are the main heat dissipation devices, their area is often quite large and their height is generally six meters or even tens of meters. Therefore, during maintenance, workers often need to set up scaffolding or carry out cleaning and maintenance. Manual cleaning is not only time-consuming and inefficient, but also prone to production accidents.

[0004] Of course, to address the difficulties of manual cleaning, many automated cleaning robots have been introduced to the market. For example, the boiler water-cooled wall crawling robot disclosed in patent CN218021913U can achieve automated cleaning of water-cooled walls. However, in practice, it still has many insurmountable drawbacks, such as: ① Inability to overcome obstacles: Existing automated wall-climbing cleaning robots often attach to the water-cooled wall magnetically. This method is ineffective when dealing with complex surfaces or uneven surfaces caused by high-temperature corrosion and expansion. In such cases, the robot cannot continue cleaning, or manual handling is required to move it over obstacles to continue cleaning. ② Inability to adapt to curved or arc-shaped water-cooled walls: Existing automated wall-climbing cleaning robots primarily operate on flat walls. However, boiler water-cooled walls often have a certain curvature, making them unsuitable for cleaning curved water-cooled walls.

[0005] To address the aforementioned issues, the applicant designed a wall-climbing robot for cleaning and measuring the thickness of water-cooled walls inside a boiler. Summary of the Invention

[0006] To address the aforementioned technical problems, this invention provides a wall-climbing robot for cleaning and measuring the thickness of water-cooled walls inside a boiler, comprising: a cleaning mechanism, a climbing mechanism, a fixing mechanism, and a control terminal.

[0007] The cleaning mechanism is connected above the overturning mechanism. The overturning mechanism includes: a first center of gravity adjustment mechanism, a torsion device, and a plurality of first magnetic rollers of the first center of gravity adjustment mechanism. The torsion device is connected below the first center of gravity adjustment mechanism. The torsion device includes: a torsion motor and a flipping rod connected to the output shaft of the torsion motor via a universal joint.

[0008] The fixing mechanism is connected to the underside of the overturning mechanism via the torsion device. The fixing mechanism includes: a second center of gravity adjustment mechanism and a plurality of second magnetic rollers of the second adjustment mechanism. A detection device is provided below the second center of gravity adjustment mechanism.

[0009] The control terminal controls the first and second magnetic rollers to move along the water-cooled wall inside the boiler. When an obstacle is encountered, one of the first magnetic rollers is controlled to adhere to the water-cooled wall inside the boiler and serve as a support point. At the same time, the torsion motor is activated to drive the overturning mechanism to the other side of the obstacle. Then, the other first magnetic rollers are activated to adhere to the water-cooled wall inside the boiler, and the second magnetic roller of the fixing mechanism is demagnetized, so that the fixing mechanism swings to the other side of the obstacle by its own gravity and adheres to it, thus completing the overturning of the obstacle.

[0010] The cleaning mechanism includes: a swing bracket, a cleaning motor, a cleaning fan, an electromagnetic suction plate, and a swing motor;

[0011] The cleaning fan is located at the upper end of the swing bracket. The cleaning fan has several blades. The output shaft of the cleaning motor drives and connects to the cleaning fan. The electromagnetic suction plate is located at the front end of the cleaning fan. The swing motor can drive the swing bracket to swing.

[0012] The first center of gravity adjustment mechanism includes a first upper platform and a first lower platform. An electric telescopic rod is provided between the first upper platform and the first lower platform. A first connecting rod is provided on the periphery of the first upper platform. The first connecting rod is connected to the first lower platform through a second connecting rod.

[0013] The number of first connecting rods is three, and the three first connecting rods are set at 120° intervals.

[0014] The first link of the first center of gravity adjustment mechanism has a through hole at its end, and a connecting rope is threaded through the through hole. Magnetic buttons are provided at both ends of the connecting rope.

[0015] The second center of gravity adjustment mechanism includes a second upper platform and a second lower platform, an electric telescopic rod between the second upper platform and the second lower platform, a third connecting rod on the periphery of the second upper platform, and the third connecting rod being connected to the second lower platform via a fourth connecting rod.

[0016] The first and second magnetic rollers are equipped with a mobile motor for driving the rollers to rotate.

[0017] The ends of the first and third connecting rods are provided with roller clips for connecting the first and second magnetic rollers.

[0018] The detection device is a thickness gauge, and the thickness gauge has a probe at the front.

[0019] The roller clamp connected to the first connecting rod has a spherical knob at its tail end, and the end of the first connecting rod has a recess that can cooperate with the spherical knob, so that the roller clamp is rotatably installed at the end of the first connecting rod.

[0020] The roller clip connected to the end of the first connecting rod has a wing, and a magnetic button is provided on the wing. The back of the magnetic button is provided with a snap-fit ​​groove that can cooperate with the magnetic connecting rod. The first connecting rod is provided with a through hole, and a connecting rope is threaded through the through hole. The two ends of the connecting rope are connected to the magnetic button.

[0021] The overtaking mechanism and the fixing mechanism are also equipped with a tethering power supply.

[0022] Implementing the embodiments of the present invention has the following beneficial effects: ① It can automatically climb and clean the water-cooled wall. Driven by a walking motor, the device can automatically climb the water-cooled wall, clean it through a cleaning mechanism, and detect it through a detection device. ② It can overcome obstacles. The fixing mechanism and the flipping mechanism of the device can cross obstacles in stages. When encountering pipes or protrusions on the wall, it can directly overcome obstacles, avoiding dead corners that cannot be cleaned on the water-cooled wall or the need for manual movement of the cleaning device to an area without obstacles. ③ It can operate on curved or more complex wall surfaces. The flipping mechanism of this solution uses three first connecting rods set at a 120° angle to adhere to the wall surface. Therefore, compared with conventional cleaning devices, it can better adapt to the operation of water-cooled walls in boilers with a certain curvature. ④ The adsorption is more stable and reliable. The flipping mechanism and the fixing mechanism of this solution are each adsorbed onto the water-cooled wall inside the boiler by magnetic rollers and connected by a torsion device, so that they are mutually safe. In addition, the center of gravity of the flipping mechanism and the fixing mechanism can be adjusted by the first center of gravity adjustment mechanism and the second center adjustment mechanism, so that the center of gravity is closer to the wall surface, thereby making the adsorption more reliable. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the present invention;

[0024] Figure 2 This is a schematic diagram of the cleaning mechanism of the present invention;

[0025] Figure 3 This is a schematic diagram of the overturning mechanism and the first center of gravity adjustment mechanism of the present invention;

[0026] Figure 4 This is a partially enlarged view of the first connecting rod and the first magnetic roller of the present invention;

[0027] Figure 5 This is a schematic diagram of the fixing mechanism and the second center of gravity adjustment mechanism of the present invention;

[0028] Figure 6 This is a schematic block diagram of the control terminal of the present invention. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the accompanying drawings.

[0030] like Figure 1 As shown, a wall-climbing robot for cleaning and measuring the thickness of water-cooled walls inside a boiler includes: a cleaning mechanism 1, a climbing mechanism 2, a fixing mechanism 3, and a control terminal 4.

[0031] like Figure 2 As shown, the cleaning mechanism 1 is connected above the overturning mechanism 2 and includes: a swing bracket 11, a cleaning motor 12, a cleaning fan 13, an electromagnetic suction plate 14, and a swing motor 15. The cleaning fan 13 is located at the upper end of the swing bracket 11 and has several blades 131. The output shaft of the cleaning motor 12 drives the cleaning fan 13. The electromagnetic suction plate 14 is located at the front end of the cleaning fan 13. The swing motor 15 can drive the swing bracket 11 to swing.

[0032] The control terminal 4 can control the swing motor 15 to drive the swing bracket 11 to swing. The electromagnetic suction plate 14 can make the blades of the cleaning fan 13 stick tightly to the water-cooled wall inside the boiler. At the same time, the cleaning motor 12 is activated, driving the cleaning fan 13 to rotate, thereby realizing the cleaning of the water-cooled wall inside the boiler.

[0033] like Figure 3 As shown, the overtaking mechanism 2 includes: a first center of gravity adjustment mechanism 21, a torsion device 22, and a plurality of first magnetic rollers 23 on the first center of gravity adjustment mechanism 21. The torsion device 22 is connected below the first center of gravity adjustment mechanism 21 and is used to connect the overtaking mechanism 2 and the fixing mechanism 3.

[0034] Specifically, the torsion device 22 includes a torsion motor 221 and a universal joint 222 connected to the output shaft of the torsion motor. When the torsion motor 221 is running, torque can be transmitted to the overturning mechanism through the universal joint 222, thereby causing the overturning mechanism 2 to flip.

[0035] Please refer to Figure 3 The first center of gravity adjustment mechanism 21 includes: a first upper platform 211 and a first lower platform 212. An electric telescopic rod is provided between the first upper platform 211 and the first lower platform 212. A first connecting rod 213 is provided around the first upper platform 211. The first connecting rod 213 is connected to the first lower platform 212 through a second connecting rod 214.

[0036] Specifically, in this embodiment, there are three first connecting rods 213, which are spaced 120° apart. This allows the overturning mechanism 2 to be overturned using any one of the first connecting rods 213 as a fulcrum. The 120° angle not only makes it easier for the overturning mechanism 2 to be overturned, but also facilitates the climbing device to climb on the water-cooled wall inside the boiler, which has a certain curvature.

[0037] It should be particularly emphasized that the electric telescopic rod in the middle of the first center of gravity adjustment mechanism 21 can adjust the unfolded posture of the first connecting rod 213 and adjust the extension angle of the first connecting rod.

[0038] When flipping, the electric telescopic rod is in an extended state. At this time, the first connecting rod 213 retracts inward, and the flipping mechanism 2 is contracted as a whole with its center of gravity shifting outward. As a result, the torsion device 22 can more easily drive the flipping mechanism 2 to flip.

[0039] When the flipping is complete, the electric telescopic rod retracts and the first connecting rod 213 extends outward. At this time, the angle between the two first connecting rods 213 of the flipping mechanism 2 becomes larger, and the center of gravity moves inward and is closer to the water-cooled wall inside the boiler, so that it can be more firmly attached to the water-cooled wall inside the boiler after the flipping is completed.

[0040] Please combine Figure 3 , Figure 4 , Figure 5 The ends of the first connecting rod 213 and the third connecting rod 313 are provided with roller clips 6 for connecting the first magnetic roller 23 and the second magnetic roller 32. In this embodiment, the first magnetic roller 23 and the second magnetic roller are both arranged in pairs on both sides of the roller clips 6.

[0041] like Figure 4As shown, the roller clip 6 connected to the first connecting rod 213 has a spherical knob 61 at its tail end, and the end of the first connecting rod 213 has a recess 2131 that can cooperate with the spherical knob 61, thereby ensuring that the first connecting rod 213 can rotate when the first magnetic roller 23 is adsorbed on the water-cooled inner wall.

[0042] Please combine Figure 3 Figure 4 The roller clip 6 connected to the end of the first connecting rod 213 has a wing 2132. The wing 2132 is provided with a magnetic button 216. The back of the magnetic button 216 is provided with a snap-fit ​​groove 2161 that can cooperate with the first connecting rod. The first connecting rod is provided with a through hole. A connecting rope 215 is passed through the through hole. The two ends of the connecting rope 215 are connected to the magnetic button 216.

[0043] Furthermore, when the flipping mechanism 2 flips, the first magnetic roller on the first connecting rod 213 near the water-cooled wall inside the boiler is attracted to the water-cooled wall inside the boiler and cannot rotate. When the torsion motor 221 drives the first connecting rod 213 to rotate, the first connecting rod 213 is restricted by the connecting rope 215 and rotates along the connecting rope 215. At the same time, the magnetic button 216 attracts the first connecting rod 213 when it is energized, so that the first connecting rod 213 is engaged in the engaging groove 2161 when the rotation is completed.

[0044] like Figure 4 As shown, the fixing mechanism 3 is connected to the underside of the overturning mechanism 1 through the torsion device 22. The fixing mechanism 3 includes: a second center of gravity adjustment mechanism 31 and a second magnetic roller 32. The second magnetic roller 32 is connected to the second center of gravity adjustment mechanism 31 through a clip provided at the end of the third connecting rod 313. A detection device 33 is provided below the second center of gravity adjustment mechanism 31.

[0045] Please refer to Figure 5 The second center of gravity adjustment mechanism 31 includes: a second upper platform 311 and a second lower platform 312. An electric telescopic rod is provided between the second upper platform 311 and the second lower platform 312. A third connecting rod 313 is provided on the periphery of the second upper platform 311. The third connecting rod 313 is connected to the second lower platform 312 through a fourth connecting rod 314.

[0046] The second center of gravity adjustment mechanism 31 is similar in principle to the first center of gravity adjustment mechanism 21. It can adjust the extension and retraction state of the third link 313 by means of an electric telescopic rod, thereby adjusting the center of gravity position of the fixing mechanism 3.

[0047] like Figure 6As shown, the control terminal 4 controls the first magnetic roller 23 and the second magnetic roller 32 to move along the water-cooled wall inside the boiler. When encountering an obstacle, it controls one of the first magnetic rollers 23 to adhere to the water-cooled wall inside the boiler and use it as a support point. At the same time, the torsion motor 221 is activated to drive the overturning mechanism 2 to overturn to the other side of the obstacle. Then, the other first magnetic rollers 23 are activated to adhere to the water-cooled wall inside the boiler, and the second magnetic roller 32 of the fixing mechanism 3 is demagnetized, so that the fixing mechanism 3 swings to the other side of the obstacle by its own gravity and adheres to it, thus completing the overturning of the obstacle.

[0048] The control terminal 4 controls the electric telescopic rod connected to the overturning mechanism 2 and the fixing mechanism 3, thereby adjusting the unfolding angle of the first connecting rod 213 and the unfolding angle of the third connecting rod 313, so that the center of gravity of the fixing mechanism 3 and the overturning mechanism 2 is closer to the water-cooled wall inside the boiler.

[0049] Specifically, the overturning mechanism 2 and the fixing mechanism 3 are also equipped with tethering power supplies, thereby reducing the weight of the device while providing power to each mechanism.

[0050] It should be noted that the detection device 33 in this embodiment is a thickness gauge. The thickness gauge is equipped with a probe at the front end, which can detect the thickness of the water-cooled wall during the movement of the wall-climbing robot. Of course, the detection device 33 can be adjusted or added according to actual requirements, and the present invention is not limited thereto.

[0051] Of course, the above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable those skilled in the art to understand the content of the present invention and implement it accordingly. They should not be used to limit the scope of protection of the present invention. All modifications made according to the spirit and essence of the main technical solution of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A wall-climbing robot for cleaning and measuring the thickness of water-cooled walls inside a boiler, characterized in that, include: Cleaning mechanism (1), overturning mechanism (2), fixing mechanism (3) and control terminal (4); The cleaning mechanism (1) is connected above the overturning mechanism (2). The overturning mechanism (2) includes: a first center of gravity adjustment mechanism (21), a torsion device (22), and a plurality of first magnetic rollers (23) connected to the first center of gravity adjustment mechanism (21). The torsion device (22) includes: a torsion motor (221) and a universal joint (222). The universal joint (222) is connected to the output shaft of the torsion motor (221). The bottom of the first center of gravity adjustment mechanism is connected to the universal joint (222). The first center of gravity adjustment mechanism (21) includes: a first upper platform (211) and a first lower platform (212), an electric telescopic rod is provided between the first upper platform (211) and the first lower platform (212), a first connecting rod (213) is provided on the periphery of the first upper platform (211), and the first connecting rod (213) is connected to the first lower platform (212) through a second connecting rod (214); there are three first connecting rods (213), and the three first connecting rods (213) are spaced 120° apart; The fixing mechanism (3) is connected to the underside of the overturning mechanism (2) via the torsion device (22). The fixing mechanism (3) includes: a second center of gravity adjustment mechanism (31) and a plurality of second magnetic rollers (32) of the second center of gravity adjustment mechanism (31). A detection device (33) for detecting the water-cooled wall inside the boiler is provided below the second center of gravity adjustment mechanism (31). The control terminal (4) controls the first magnetic roller (23) and the second magnetic roller (32) to move along the water-cooled wall inside the boiler. When an obstacle is encountered, the control terminal controls one of the first magnetic rollers (23) and the second magnetic roller (32) to adhere to the water-cooled wall inside the boiler and serve as a support point. At the same time, the torsion motor (221) is activated to drive the overturning mechanism (2) to overturn to the other side of the obstacle. Then, the other first magnetic rollers (23) are activated to adhere to the water-cooled wall inside the boiler, and the second magnetic roller (32) of the fixing mechanism (3) is demagnetized, so that the fixing mechanism (3) swings to the other side of the obstacle by its own gravity and adheres to it, thus completing the overturning of the obstacle.

2. The wall-climbing robot for cleaning and measuring the thickness of water-cooled walls inside a boiler according to claim 1, characterized in that, The cleaning mechanism (1) includes: a swing bracket (11), a cleaning motor (12), a cleaning fan (13), an electromagnetic suction plate (14), and a swing motor (15). The cleaning fan (13) is located at the upper end of the swing bracket (11). The cleaning fan (13) has several blades (131). The output shaft of the cleaning motor (12) is connected to the cleaning fan (13). The electromagnetic suction plate (14) is located at the front end of the cleaning fan (13). The swing motor (15) can drive the swing bracket (11) to swing.

3. The wall-climbing robot for cleaning and measuring the thickness of water-cooled walls inside a boiler according to claim 1, characterized in that, The second center of gravity adjustment mechanism (31) includes: a second upper platform (311) and a second lower platform (312), an electric telescopic rod is provided between the second upper platform (311) and the second lower platform (312), a third connecting rod (313) is provided on the periphery of the second upper platform (311), and the third connecting rod (313) is connected to the second lower platform (312) through a fourth connecting rod (314).

4. The wall-climbing robot for cleaning and measuring the thickness of water-cooled walls inside a boiler according to claim 1, characterized in that, The first magnetic roller (23) and the second magnetic roller (32) are equipped with a mobile motor (5) for driving the roller to rotate.

5. A wall-climbing robot for cleaning and measuring the thickness of water-cooled walls inside a boiler, as described in claim 1, is characterized in that... The ends of the first link (213) and the third link (313) are provided with roller clips (6) for connecting the first magnetic roller (23) and the second magnetic roller (32).

6. A wall-climbing robot for cleaning and measuring the thickness of water-cooled walls inside a boiler, as described in claim 5, is characterized in that... The roller clip (6) connected to the first connecting rod (213) has a ball knob (61) at its tail end. The end of the first connecting rod (213) has a recess (2131) that can cooperate with the ball knob (61). Thus, the roller clip (6) is rotatably mounted on the end of the first connecting rod (213).

7. A wall-climbing robot for cleaning and measuring the thickness of water-cooled walls inside a boiler, as described in claim 5, is characterized in that... The roller clip (6) connected to the end of the first connecting rod (213) has a wing (2132), and a magnetic button (216) is provided on the wing (2132). The back of the magnetic button (216) is provided with a snap-fit ​​groove (2161) that can cooperate with the magnetic connecting rod. The first connecting rod has a through hole, and a connecting rope (215) is threaded through the through hole. The two ends of the connecting rope (215) are connected to the magnetic button (216).

8. A wall-climbing robot for cleaning and measuring the thickness of water-cooled walls inside a boiler, as described in claim 1, is characterized in that... The overtaking mechanism (2) and the fixing mechanism (3) are also equipped with a tethering power supply.

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