Wall-climbing robot and tubular air preheater detection device

Abstract

The invention provides a wall-climbing robot and a tubular air preheater detection device. The wall-climbing robot comprises a base and a clamping assembly. The base provides basic support for the wall-climbing robot; each clamping assembly comprises a driving part, a swinging part and a clamping part, the swinging part can drive the clamping part to swing relative to the base, the two clamping assemblies are distributed on the base at intervals, and when the swinging part of one clamping assembly is in a static state, the driving part of the clamping assembly can drive the base to rotate around the first output shaft of the clamping assembly. The wall-climbing robot can stably move on the wall surface, and the problem that in the prior art, the flexibility is poor when the wall-climbing robot climbs on the wall surface of the tubular air preheater in the same direction is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of tubular air preheater detection devices, and in particular to a wall-climbing robot and a tubular air preheater detection device. Background Art

[0002] Tubular air preheater is a common heat exchange device in industrial boilers, heating furnaces and other thermal equipment. Its main function is to use the hot exhaust gas from flue gas or fuel combustion to preheat the cold air or gas entering the furnace, thereby improving combustion efficiency, reducing energy consumption and emissions. Tubular air preheater is usually composed of multiple parallel metal tubes, which are placed in the flue gas channel. Cold air or gas flows through the tube, while hot flue gas flows through the outside of the tube, and heat exchange is carried out through the tube wall. The material and design of the tube must be able to withstand high temperature and corrosion to ensure the long-term stable operation of the equipment.

[0003] Maintenance and cleaning of tubular air preheaters are essential to keep them running efficiently, because dust and pollutants in the flue gas are easily deposited outside the tubes, forming dust accumulation and reducing heat exchange efficiency. Regular inspection is necessary to ensure the cleanliness and sealing of the tube wall and avoid thermal efficiency reduction and flue gas leakage caused by tube wall damage. Usually, the detection device for detecting tubular air preheaters is installed on a wall-climbing robot, and the wall-climbing robot drives the detection device to crawl on the wall of the tubular air preheater to realize the detection of the tubular air preheater by the detection device.

[0004] The wall-climbing robot in the prior art usually crawls on the wall surface of the tubular air preheater in the same direction, and its flexibility is poor. Summary of the invention

[0005] The present invention provides a wall-climbing robot and a tubular air preheater detection device, so as to solve the problem that the wall-climbing robot in the prior art usually moves on the wall surface in one direction and has poor flexibility.

[0006] The present invention provides a wall-climbing robot, which comprises: a base; a clamping assembly, the clamping assembly comprising a driving part, a swinging part and a clamping part, the driving part comprising a first main body part and a first output shaft connected to each other, the first output shaft being rotatably arranged on the first main body part; the swinging part comprises a first end and a second end arranged oppositely along an extending direction, the first end of the swinging part being fixedly arranged on the first output shaft, and the driving part drives the swinging part to swing around the first end through the first output shaft; the clamping part comprises a connecting end and a clamping end arranged oppositely, the connecting end and the clamping end being parallel to the axial direction of the first output shaft, the clamping part being arranged at the second end of the swinging part, and the clamping end being used to clamp a component to be clamped; when the clamping end is in a clamping state, the swinging part is in a stationary state, and the driving part drives the base to rotate around the first output shaft; when the clamping end is in a loosened state, the driving part drives the swinging part to drive the clamping part to swing around the first output shaft;

[0007] There are two clamping assemblies, which are spaced apart and distributed on the base, and the two clamping ends face the same side of the base.

[0008] Further, the connecting end is rotatably arranged at the second end of the swinging part, and the rotation axis of the connecting end is parallel to the swing axis of the swinging part.

[0009] Furthermore, the wall-climbing robot also includes a transmission assembly, which is arranged between the first end of the swinging part and the connecting end of the clamping part, and the clamping part and the swinging part rotate synchronously through the transmission assembly.

[0010] Furthermore, the transmission assembly includes: a first pulley, fixedly disposed on the first end of the swinging part, the first pulley and the first output shaft being coaxial; a second pulley, fixedly sleeved on the outer periphery of the connecting end; and a transmission belt, sleeved on the outer peripheries of the first pulley and the second pulley.

[0011] Furthermore, the base includes: a frame, a first main body portion is arranged on the frame, and a first output shaft rotates relative to the frame; a support shaft, arranged on the frame and coaxial with the first output shaft, the first end of the swinging portion is rotatably mounted on the support shaft, and the first pulley is rotatably mounted on the support shaft.

[0012] Furthermore, the swinging part includes a first swinging plate, a second swinging plate and a connecting plate, the first end of the first swinging plate is provided with a first through hole, and the first through hole is coaxial with the first output shaft; the second swinging plate and the first swinging plate are relatively spaced apart along the extension direction of the support shaft, the first swinging plate and the second swinging plate are respectively connected to the connecting plate, the first end of the second swinging plate is provided with a second through hole, and the second through hole is coaxial with the first through hole; the wall-climbing robot also includes: a first bearing, which is sleeved on the support shaft and located in the first through hole, the inner ring of the first bearing is fixedly set on the support shaft, and the outer ring of the first bearing is fixedly set on the first swinging plate; the second bearing, which is sleeved on the support shaft and located in the second through hole, the inner ring of the second bearing is fixedly set on the support shaft, and the outer ring of the second bearing is fixedly set on the second swinging plate.

[0013] Furthermore, a third through hole is provided at the second end of the first swing plate, and the axis of the third through hole is parallel to the axis of the first through hole. A fourth through hole is provided at the second end of the second swing plate, and the fourth through hole is coaxial with the third through hole. The wall-climbing robot also includes: a third bearing, which is arranged in the third through hole, and the outer ring of the third bearing is fixedly arranged on the first swing plate; a fourth bearing, which is arranged in the fourth through hole, and the outer ring of the fourth bearing is fixedly arranged on the second swing plate; wherein the third bearing and the fourth bearing are respectively sleeved on the outer periphery of the connecting end of the clamping part, and the inner ring of the third bearing and the inner ring of the fourth bearing are both fixedly arranged on the connecting end.

[0014] Furthermore, along the direction from the clamping end to the swinging portion, the distance between the clamping end and the swinging portion is adjustable.

[0015] Furthermore, the clamping part includes: a clamping member, which is located on one side of the extension direction of the swinging part; a rotating member, which is rotatably arranged on the second end of the swinging part; a sliding member, which is movably arranged on the rotating member along the axial direction of the rotating member, and one end of the sliding member is located on the same side of the extension direction of the swinging part as the clamping member and is fixedly connected to the clamping member; a driving member, which is arranged on the swinging part, and the driving member is drivingly connected to the sliding member so that the sliding member moves relative to the rotating member.

[0016] Furthermore, the tubular air preheater detection device includes: an air pressure detection unit, which is arranged on the swinging part of the wall-climbing robot, and the air pressure detection unit is used to detect the air tightness of the tubular air preheater.

[0017] By applying the technical solution of the present invention, two clamping assemblies are defined as a first clamping assembly and a second clamping assembly. When the wall-climbing robot is in a stationary state, the clamping ends of the first clamping assembly and the second clamping assembly are both in a clamping state.

[0018] By applying the technical solution of the present invention, through the cooperation of two clamping assemblies consisting of a driving part, a swinging part and a clamping part, when the clamping end of the first clamping assembly is in a clamping state and the clamping end of the second clamping assembly is in a loose state, the following three working states can be achieved:

[0019] 1. The driving part of the first clamping assembly is in a stationary state, and the base is in a stationary state. The driving part of the second clamping assembly drives the second clamping assembly to swing alone. After the second clamping assembly swings to the target position, the clamping end of the second clamping assembly clamps the component to be clamped;

[0020] 2. The driving part of the first clamping assembly works and drives the base to swing, and the base drives the second clamping assembly to swing synchronously, and the driving part of the second clamping assembly does not work. After the second clamping assembly swings to the target position, the clamping end of the second clamping assembly clamps the component to be clamped;

[0021] 3. The driving part of the first clamping assembly works and drives the base to swing, and the base then drives the second clamping assembly to swing. At the same time, the driving part of the second clamping assembly works, so that the second clamping assembly swings relative to the base at the same time. After the second clamping assembly swings to the target position, the clamping end of the second clamping assembly clamps the part to be clamped.

[0022] The above three different working states can realize the multi-directional movement of the wall-climbing robot on the wall, making the wall-climbing robot more flexible and adaptable.

[0023] Traditional wall-climbing robots can only move in one direction and their movement will be limited when facing complex wall surfaces. Compared with traditional technical solutions, the wall-climbing robot of this solution can move more freely on complex wall surfaces and reach the target position more quickly through the cooperation of two clamping components. At the same time, the wall-climbing robot of this solution does not require too many independent drive control units, which simplifies the control mechanism and enhances the adaptability, operability and movement flexibility of the wall-climbing robot in complex wall environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0025] Figure 1 A schematic diagram of the structure of a tubular air preheater detection device provided by an embodiment of the present invention is shown;

[0026] Figure 2 A partial structural schematic diagram of a tubular air preheater detection device provided by an embodiment of the present invention is shown;

[0027] Figure 3A cross-sectional view of a swing portion provided by an embodiment of the present invention is shown;

[0028] Figure 4 A cross-sectional view of a swinging portion and a clamping portion provided by an embodiment of the present invention is shown;

[0029] Figure 5 A schematic diagram showing the structure of the cooperation between the clamping portion and the first swing plate provided in an embodiment of the present invention is shown;

[0030] Figure 6 A schematic diagram showing the working state of the tubular air preheater detection device provided by an embodiment of the present invention on the wall surface of the tubular air preheater is shown.

[0031] The above drawings include the following reference numerals:

[0032] 1. Base; 11. Frame; 12. Support shaft;

[0033] 2. Clamping assembly; 201. First clamping assembly; 202. Second clamping assembly;

[0034] 21. driving part; 211. first main body; 212. first output shaft;

[0035] 22. Swinging part;

[0036] 221, first swing plate; 2211, first penetration hole; 2212, third penetration hole;

[0037] 222, second swing plate; 2221, second penetration hole; 2222, fourth penetration hole;

[0038] 223, connecting plate;

[0039] 23. Clamping portion; 2301. Connecting end; 2302. Clamping end;

[0040] 231, clamping member; 2311, parallel pneumatic clamp body; 2312, first clamping claw; 2313, second clamping claw;

[0041] 232, rotating part; 2321, follower shaft; 2322, flat key;

[0042] 233, sliding piece;

[0043] 234, driving member;

[0044] 3. Transmission assembly; 31. First pulley; 32. Second pulley; 33. Transmission belt;

[0045] 4. First bearing; 5. Second bearing; 6. Third bearing; 7. Fourth bearing;

[0046] 8. Air pressure detection unit. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. All other embodiments obtained by ordinary technicians in this field without creative work based on the embodiments of the present invention are within the scope of protection of the present invention.

[0048] like Figure 1 , Figure 2 and Figure 6 As shown, the present invention provides a wall-climbing robot, which includes a base 1 and a clamping assembly 2. The clamping assembly 2 includes a driving part 21, a swinging part 22 and a clamping part 23. The driving part 21 includes a first body part 211 and a first output shaft 212 connected to each other, and the first output shaft 212 is rotatably arranged on the first body part 211; the swinging part 22 has a first end and a second end oppositely arranged along an extension direction, and the first end of the swinging part 22 is fixedly arranged on the first output shaft 212. The driving part 21 drives the swinging part 22 to swing around the first end through the first output shaft 212; the clamping part 23 has a connecting end 2301 and a clamping end 2302 oppositely arranged, and the connecting end 2301 and the clamping end 2302 are connected to each other. 2 is parallel to the axial direction of the first output shaft 212, the clamping part 23 is arranged at the second end of the swinging part 22, and the clamping end 2302 is used to clamp the component to be clamped; when the clamping end 2302 is in a clamping state, the swinging part 22 is in a stationary state, and the driving part 21 drives the base 1 to rotate around the first output shaft 212; when the clamping end 2302 is in a loose state, the driving part 21 drives the swinging part 22 to drive the clamping part 23 to swing around the first output shaft 212; wherein, two clamping assemblies 2 are provided, and the two clamping assemblies 2 are spaced apart on the base 1, and the two clamping ends 2302 face the same side of the base 1.

[0049] The two clamping components 2 are defined as a first clamping component 201 and a second clamping component 202. When the wall-climbing robot is in a stationary state, the clamping ends 2302 of the first clamping component 201 and the second clamping component 202 are both in a clamping state.

[0050] By applying the technical solution of the present invention, through the cooperation of two clamping assemblies 2 consisting of a driving part 21, a swinging part 22 and a clamping part 23, when the clamping end 2302 of the first clamping assembly 201 is in a clamping state and the clamping end 2302 of the second clamping assembly 202 is in a loose state, the following three working states can be achieved:

[0051] 1. The driving part 21 of the first clamping assembly 201 is in a stationary state, and the base 1 is in a stationary state. The driving part 21 of the second clamping assembly 202 is driven to work, so that the second clamping assembly 202 swings alone. After the second clamping assembly 202 swings to the target position, the clamping end 2302 of the second clamping assembly 202 clamps the component to be clamped;

[0052] 2. The driving part 21 of the first clamping assembly 201 works and drives the base 1 to swing, and the base 1 drives the second clamping assembly 202 to swing synchronously, and the driving part 21 of the second clamping assembly 202 does not work. After the second clamping assembly 202 swings to the target position, the clamping end 2302 of the second clamping assembly 202 clamps the component to be clamped;

[0053] 3. The driving part 21 of the first clamping component 201 works and drives the base 1 to swing, and the base 1 then drives the second clamping component 202 to swing. At the same time, the driving part 21 of the second clamping component 202 works, so that the second clamping component 202 swings relative to the base 1 at the same time. After the second clamping component 202 swings to the target position, the clamping end 2302 of the second clamping component 202 clamps the part to be clamped.

[0054] The above three different working states can realize the multi-directional movement of the wall-climbing robot on the wall, making the wall-climbing robot more flexible and adaptable.

[0055] Traditional wall-climbing robots can only move in one direction, and their movement will be limited when facing complex wall surfaces. Compared with the traditional technical solutions, the wall-climbing robot of this solution can walk more freely on complex wall surfaces and reach the target position more quickly through the cooperation of two clamping components 2. At the same time, the wall-climbing robot of this solution does not require too many independent drive control units, which simplifies the control mechanism and enhances the adaptability, operability and movement flexibility of the wall-climbing robot in complex wall environments.

[0056] Furthermore, the connecting end 2301 is rotatably disposed at the second end of the swinging portion 22, and the rotation axis of the connecting end 2301 is parallel to the swing axis of the swinging portion 22. The above arrangement can change the angle of the clamping end 2302 of the clamping portion 23 relative to the swinging portion 22, thereby improving the operational flexibility of the device and making the device more widely applicable to different working scenarios.

[0057] Furthermore, the wall-climbing robot further comprises a transmission assembly 3, which is arranged between the first end of the swinging part 22 and the connecting end 2301 of the clamping part 23, which cooperate with each other, and the clamping part 23 and the swinging part 22 rotate synchronously through the transmission assembly 3. In this solution, the rotational motion of the swinging part 22 is transmitted to the clamping part 23 through the transmission assembly 3, so as to realize the rotational drive of the clamping part 23, thereby ensuring the continuity of the operation of the wall-climbing robot, and no longer needing to separately set a driving device for the clamping part 23, thereby simplifying the structure while ensuring that the swinging part 22 and the clamping part 23 can rotate synchronously, and also ensuring that when the clamping end 2302 of the clamping part 23 is in the clamping state, the swinging part 22 and the clamping part 23 are both in a stationary state.

[0058] Specifically, the transmission assembly 3 includes a first pulley 31, a second pulley 32 and a transmission belt 33. The first pulley 31 is fixedly arranged on the first end of the swinging part 22, and the first pulley 31 is coaxial with the first output shaft 212; the second pulley 32 is fixedly sleeved on the outer periphery of the connecting end 2301; and the transmission belt 33 is sleeved on the outer periphery of the first pulley 31 and the second pulley 32. The first pulley 31 is fixedly connected with the swinging part 22 and rotates synchronously, and the second pulley 32 is fixedly connected with the clamping part 23 and rotates synchronously. Through the belt transmission cooperation of the first pulley 31, the second pulley 32 and the transmission belt 33, the rotation of the swinging part 22 can be accurately transmitted to the clamping part 23, so as to achieve precise synchronization between the two. In addition, the arrangement of the transmission assembly 3 is simple in structure and has strong transmission stability.

[0059] Specifically, when the driving part 21 drives the swinging part 22 to swing, the first pulley 31 fixed on the first end of the swinging part 22 will rotate accordingly, and drive the second pulley 32 to rotate through the transmission belt 33. The rotation of the second pulley 32 can drive the clamping part 23 to rotate, thereby transmitting the rotational power of the driving part 21 to the clamping part 23, so that the clamping part 23 can rotate synchronously with the swinging part 22 when the swinging part 22 swings, and the rotation angle of the clamping end 2302 relative to the swinging part 22 can be controlled, thereby further improving the adaptability of the wall-climbing robot.

[0060] In the embodiment of the present solution, the transmission ratio of the first pulley 31 and the second pulley 32 is set to 1.

[0061] In other embodiments of the present invention, the transmission ratio of the belt drive can be adjusted to adjust the diameter ratio of the first pulley 31 and the second pulley 32 to achieve different controls on the rotation angle of the clamping portion 23. When the swinging portion 22 swings a certain angle, the clamping portion 23 can be rotated to different angles according to actual needs, ensuring that the clamping portion 23 of the wall-climbing robot can better clamp the target after the swinging portion 22 rotates, thereby improving the controllability and flexibility of the rotation movement of the clamping portion 23.

[0062] In the embodiment of the present scheme, the base 1 includes a frame 11 and a support shaft 12, the first body portion 211 is arranged on the frame 11, and the first output shaft 212 rotates relative to the frame 11; the support shaft 12 is arranged on the frame 11 and is coaxial with the first output shaft 212, the first end of the swing portion 22 is rotatably sleeved on the support shaft 12, and the first pulley 31 is rotatably sleeved on the support shaft 12. The above arrangement provides stable support for the clamping assembly 2 and the transmission assembly 3, ensuring the stability of their rotational motion.

[0063] Specifically, the frame 11 serves as the structural foundation of the wall-climbing robot, carries the entire clamping assembly 2, provides stable support for the entire wall-climbing robot system, and ensures the structural stability of the wall-climbing robot. The support shaft 12 is coaxially arranged with the first output shaft 212, which enables the first output shaft 212 to transmit power without deviation and eccentricity, reduces the additional friction and torque loss caused by the inconsistency of the axis, and reduces the motion error. In addition, the first end of the swinging part 22 and the first pulley 31 can be rotatably arranged on the support shaft 12, so that the support shaft 12 forms a central axis for power transmission, ensures the stability of the rotational motion of the clamping assembly 2 and the transmission assembly 3, and improves the motion accuracy of the wall-climbing robot.

[0064] like Figure 3 As shown, in the embodiment of the present scheme, the swinging part 22 includes a first swinging plate 221, a second swinging plate 222 and a connecting plate 223, a first end of the first swinging plate 221 is provided with a first through hole 2211, and the first through hole 2211 is coaxial with the first output shaft 212; the second swinging plate 222 and the first swinging plate 221 are relatively spaced apart from each other along the extension direction of the support shaft 12, the first swinging plate 221 and the second swinging plate 222 are respectively connected to the connecting plate 223, a first end of the second swinging plate 222 is provided with a second through hole 2221, and the second through hole 2211 is coaxial with the first output shaft 212; The hole 2221 is coaxial with the first through hole 2211; the wall-climbing robot also includes a first bearing 4 and a second bearing 5, the first bearing 4 is sleeved on the support shaft 12 and is located in the first through hole 2211, the inner ring of the first bearing 4 is fixedly set on the support shaft 12, and the outer ring of the first bearing 4 is fixedly set on the first swing plate 221; the second bearing 5 is sleeved on the support shaft 12 and is located in the second through hole 2221, the inner ring of the second bearing 5 is fixedly set on the support shaft 12, and the outer ring of the second bearing 5 is fixedly set on the second swing plate 222.

[0065] In the embodiment of the present solution, the first swing plate 221 and the second swing plate 222 are connected by the connecting plate 223 to form an integral swing portion 22. The first through hole 2211 and the second through hole 2221 are coaxially arranged with the support shaft 12 and sleeved on the support shaft 12, so that the rotational movement of the swing portion 22 on the support shaft 12 is more stable, and the shaking of the swing portion 22 during the rotational movement is reduced.

[0066] Specifically, when the driving part 21 drives the swinging part 22 to swing, the first output shaft 212 of the driving part 21 rotates, which can drive the first swinging plate 221, the connecting plate 223 and the second swinging plate 222 to swing simultaneously.

[0067] In addition, the first bearing 4 and the second bearing 5 are both sleeved on the support shaft 12, and the outer rings of the first bearing 4 and the second bearing 5 are fixed to the first swing plate 221 and the second swing plate 222 respectively, which can avoid direct contact between the support shaft 12 and the swinging part 22, reduce the friction when the swinging part 22 swings, and improve the stability of the swinging of the swinging part 22.

[0068] In the embodiment of the present scheme, the first swing plate 221 is fixedly connected to the first pulley 31 to transmit power, so that the first swing plate 221 can drive the first pulley 31 to rotate. The above arrangement can make the clamping part 23 always rotate synchronously with the swinging part 22, and the two always remain relatively stationary in the rotation direction, thereby realizing accurate control of the rotation angle of the clamping part 23, and the control method is relatively simple, thereby improving the operational stability of the wall-climbing robot.

[0069] Furthermore, a third through hole 2212 is provided at the second end of the first swing plate 221, and the axis of the third through hole 2212 is parallel to the axis of the first through hole 2211; a fourth through hole 2222 is provided at the second end of the second swing plate 222, and the fourth through hole 2222 is coaxial with the third through hole 2212; the wall-climbing robot also includes a third bearing 6 and a fourth bearing 7, the third bearing 6 is arranged in the third through hole 2212, and the outer ring of the third bearing 6 is fixedly arranged on the first swing plate 221; the fourth bearing 7 is arranged in the fourth through hole 2222, and the outer ring of the fourth bearing 7 is fixedly arranged on the second swing plate 222; wherein, the third bearing 6 and the fourth bearing 7 are respectively sleeved on the outer periphery of the connecting end of the clamping portion 23, and the inner ring of the third bearing 6 and the inner ring of the fourth bearing 7 are both fixedly arranged on the connecting end 2301.

[0070] In the embodiment of the present solution, the third through hole 2212 and the fourth through hole 2222 are coaxial, so that the rotational movement of the clamping part 23 is more stable, and the shaking during the rotational movement of the clamping part 23 is reduced. The third bearing 6 and the fourth bearing 7 can reduce the friction of the clamping part 23 when it rotates, and improve the stability and accuracy of the rotational movement of the clamping part 23.

[0071] like Figure 4 As shown, further, along the direction from the clamping end 2302 to the swinging part 22, the distance between the clamping end 2302 and the swinging part 22 is adjustable. Such a configuration enables the clamping end 2302 to move in the vertical direction relative to the swinging part 22, so that the clamping end 2302 can be more flexibly close to the clamped target, successfully complete the clamping action, and increase the flexibility and adaptability of the wall-climbing robot.

[0072] like Figure 4 and Figure 5 As shown, the clamping part 23 includes a clamping member 231, a rotating member 232, a sliding member 233 and a driving member 234, the clamping member 231 is located on one side of the extension direction of the swinging part 22; the rotating member 232 is rotatably arranged on the second end of the swinging part 22; the sliding member 233 is movably arranged on the rotating member 232 along the axial direction of the rotating member 232, one end of the sliding member 233 is located on the same side of the extension direction of the swinging part 22 as the clamping member 231 and is fixedly connected to the clamping member 231; the driving member 234 is arranged on the swinging part 22, and the driving member 234 is drivingly connected to the sliding member 233 so that the sliding member 233 moves relative to the rotating member 232.

[0073] In the embodiment of the present solution, the clamping member 231 , the rotating member 232 , the sliding member 233 and the driving member 234 are all arranged on the same axis.

[0074] Specifically, the clamping member 231 includes a parallel pneumatic clamp body 2311, a first clamping claw 2312, and a second clamping claw 2313. The parallel pneumatic clamp body 2311 is fixedly connected to the sliding member 233 and can move along the extending direction of the axis of the clamping portion 23 with the sliding member 233. The first clamping claw 2312 and the second clamping claw 2313 are symmetrically distributed relative to the axis direction of the clamping portion 23. The first clamping claw 2312 and the second clamping claw 2313 can be close to or away from each other, and can cooperate with each other to clamp both sides of the clamped target to achieve the clamping function.

[0075] The driving member 234 is a linear motor, which is arranged on the top of the first swing plate 221, and the motor shaft of the linear motor extends downward. The top of the sliding member 233 is connected to the motor shaft of the linear motor, and the bottom is fixedly connected to the parallel pneumatic clamp body 2311 of the clamping member 231. In this way, the clamping member 231 can be driven by the driving member 234 to move linearly in the axial direction.

[0076] Further, the rotating member 232 includes a follower shaft 2321 and a flat key 2322. The follower shaft 2321 is arranged between the third bearing 6 and the fourth bearing 7. The inner rings of the third bearing 6 and the fourth bearing 7 are fixed on the follower shaft 2321. The follower shaft 2321 is coaxially connected with the second pulley 32. The second pulley 32 is sleeved on the follower shaft 2321 and transmits power through the flat key 2322, so that the second pulley 32 can drive the follower shaft 2321 to rotate synchronously and does not move relative to the axis. The sliding member 233 is arranged along the axis direction of the follower shaft 2321, so that the clamping member 231 is located at the bottom end of the follower shaft 2321, and the driving member 234 is located at the top end of the follower shaft 2321. The sliding member 233 and the follower shaft 2321 are circumferentially fixed, and the sliding member 233 and the follower shaft 2321 are slidingly matched in the axis direction. Such an arrangement can ensure that the second pulley 32 , the follower shaft 2321 and the sliding member 233 rotate synchronously, and at the same time ensure that the sliding member 233 drives the clamping member 231 to move relative to the follower shaft 2321 in the axial direction.

[0077] Specifically, a guide groove is provided inside the follower shaft 2321, and the guide groove extends along the axial direction of the follower shaft 2321. The guide groove penetrates the follower shaft 2321 along the axial direction of the follower shaft 2321, and a boss is provided on the circumferential surface of the sliding member 233, and the boss is movably provided in the guide groove. In this way, the sliding member 233 and the follower shaft 2321 can simultaneously achieve circumferential rotation-stopping cooperation and relative movement in the axial direction. The structure is relatively simple, and it is convenient to realize the processing and assembly of the sliding member 233 and the follower shaft 2321.

[0078] Through the above arrangement, the internal structure of the clamping portion 23 is simple and reliable, and the position and posture of the clamping member 231 can be accurately controlled.

[0079] Furthermore, in the embodiment of the present scheme, the first claw 2312 and the second claw 2313 are distributed along the extension direction of the swing part 22. When the swing part 22 swings, the distribution direction of the first claw 2312 and the second claw 2313 is always parallel to the extension direction of the swing part 22, thereby improving the stability and adaptability of the clamping action and realizing the clamping function efficiently and reliably.

[0080] In the embodiment of the present scheme, when the clamping member 231 clamps the wall surface, the sliding member 233 fixedly connected thereto is fixed and will not rotate, and the boss on the sliding member 233 will limit the rotating member 232 so that the rotating member 232 cannot rotate; the flat key 2322 on the rotating member 232 will limit the second pulley 32 so that the second pulley 32 cannot rotate, and the first pulley 31 cannot rotate; the first pulley 31 is fixedly connected to the first swing plate 221, so the first swing plate 221 cannot rotate, and the swing part 22 and the first output shaft 212 of the driving part 21 cannot rotate; this clamping assembly 2 is in a clamping state and cannot rotate as a whole. At this time, if the corresponding driving part 21 is started to drive, the first main body 211 will drive the base 1 and another clamping assembly 2 in a loose state to rotate around the first output shaft 212 of the clamping assembly 2 in the clamping state, so as to realize the movement of the main part of the wall climbing robot.

[0081] like Figure 1 and Figure 6 As shown, further, the tubular air preheater detection device includes an air pressure detection unit 8, which is arranged on the clamping assembly 2 and is used to detect the air tightness of the tubular air preheater. In some embodiments of this scheme, the air pressure detection unit 8 is arranged on the first swing plate 221, and can swing and adjust the position following the swinging unit 22, so that the air pressure detection unit 8 can smoothly reach the detection position directly above to perform the detection work.

[0082] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0083] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to actual proportional relationships. The technology, methods and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being only exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0084] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the devices or elements referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention. The directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0085] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0086] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only to facilitate the distinction between corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0087] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A wall-climbing robot, characterized in that: include: Base (1); A clamping assembly (2) comprises a driving portion (21), a swinging portion (22) and a clamping portion (23), wherein the driving portion (21) comprises a first main body portion (211) and a first output shaft (212) which are connected to each other, wherein the first output shaft (212) is rotatably arranged on the first main body portion (211); the swinging portion (22) comprises a first end and a second end which are arranged opposite to each other along an extension direction, wherein the first end of the swinging portion (22) is fixedly arranged on the first output shaft (212), and the driving portion (21) drives the swinging portion (22) to swing around the first end via the first output shaft (212); and the clamping portion (23) comprises a connecting end (2301) and a clamping end (2302) which are arranged opposite to each other. The holding end (2302) is parallel to the axial direction of the first output shaft (212) and the connecting end (2301) and the clamping end (2302); the clamping portion (23) is arranged at the second end of the swinging portion (22); the clamping end (2302) is used to clamp the component to be clamped; when the clamping end (2302) is in a clamping state, the swinging portion (22) is in a stationary state, and the driving portion (21) drives the base (1) to rotate around the first output shaft (212); when the clamping end (2302) is in a loosened state, the driving portion (21) drives the swinging portion (22) to drive the clamping portion (23) to swing around the first output shaft (212); There are two clamping assemblies (2), and the two clamping assemblies (2) are spaced apart and distributed on the base (1), and the two clamping ends (2302) face the same side of the base (1).

2. The wall-climbing robot according to claim 1, characterized in that: The connecting end (2301) is rotatably arranged at the second end of the swinging portion (22), and the rotation axis of the connecting end (2301) is parallel to the swing axis of the swinging portion (22).

3. The wall-climbing robot according to claim 2, characterized in that: The wall-climbing robot also includes: The transmission assembly (3) is arranged between the first end of the swinging part (22) and the connecting end (2301) of the clamping part (23) which cooperate with each other, and the clamping part (23) and the swinging part (22) rotate synchronously through the transmission assembly (3).

4. The wall-climbing robot according to claim 3, characterized in that: The transmission assembly (3) comprises: A first pulley (31) is fixedly arranged on the first end of the swinging portion (22), and the first pulley (31) and the first output shaft (212) are coaxial; A second pulley (32) fixedly sleeved on the outer periphery of the connecting end (2301); A transmission belt (33) is sleeved on the outer circumference of the first belt pulley (31) and the second belt pulley (32).

5. The wall-climbing robot according to claim 4, characterized in that: The base (1) comprises: A frame (11), the first main body (211) being arranged on the frame (11), and the first output shaft (212) rotating relative to the frame (11); A support shaft (12) is arranged on the frame (11) and is coaxial with the first output shaft (212); the first end of the swing portion (22) is rotatably sleeved on the support shaft (12); and the first pulley (31) is rotatably sleeved on the support shaft (12).

6. The wall-climbing robot according to claim 5, characterized in that: The swinging part (22) comprises a first swinging plate (221), a second swinging plate (222) and a connecting plate (223); a first end of the first swinging plate (221) is provided with a first through hole (2211), and the first through hole (2211) is coaxial with the first output shaft (212); the second swinging plate (222) and the first swinging plate (221) are relatively spaced apart from each other along the extension direction of the support shaft (12); the first swinging plate (221) and the second swinging plate (222) are respectively connected to the connecting plate (223); a first end of the second swinging plate (222) is provided with a second through hole (2221), and the second through hole (2221) is coaxial with the first through hole (2211); the wall-climbing robot further comprises: A first bearing (4) is sleeved on the support shaft (12) and is located in the first penetration hole (2211); an inner ring of the first bearing (4) is fixedly arranged on the support shaft (12), and an outer ring of the first bearing (4) is fixedly arranged on the first swing plate (221); The second bearing (5) is sleeved on the support shaft (12) and is located in the second penetration hole (2221); the inner ring of the second bearing (5) is fixedly arranged on the support shaft (12), and the outer ring of the second bearing (5) is fixedly arranged on the second swing plate (222).

7. The wall-climbing robot according to claim 6, characterized in that: A third through hole (2212) is provided at the second end of the first swing plate (221), and the axis of the third through hole (2212) is parallel to the axis of the first through hole (2211); a fourth through hole (2222) is provided at the second end of the second swing plate (222), and the fourth through hole (2222) is coaxial with the third through hole (2212); the wall-climbing robot further comprises: A third bearing (6) is arranged in the third penetration hole (2212), and an outer ring of the third bearing (6) is fixedly arranged on the first swing plate (221); A fourth bearing (7) is arranged in the fourth penetration hole (2222), and an outer ring of the fourth bearing (7) is fixedly arranged on the second swing plate (222); The third bearing (6) and the fourth bearing (7) are respectively sleeved on the outer circumference of the connecting end of the clamping portion (23), and the inner ring of the third bearing (6) and the inner ring of the fourth bearing (7) are both fixedly arranged on the connecting end (2301).

8. The wall-climbing robot according to claim 2, characterized in that: Along the direction from the clamping end (2302) to the swinging portion (22), the distance between the clamping end (2302) and the swinging portion (22) is adjustable.

9. The wall-climbing robot according to claim 8, characterized in that: The clamping portion (23) comprises: A clamping member (231) is located on one side of the extension direction of the swinging portion (22); A rotating member (232) rotatably disposed at the second end of the swinging portion (22); a sliding member (233) movably arranged on the rotating member (232) along the axial direction of the rotating member (232), one end of the sliding member (233) and the clamping member (231) being located on the same side of the extending direction of the swinging portion (22) and being fixedly connected to the clamping member (231); A driving member (234) is arranged on the swinging part (22), and the driving member (234) is drivingly connected to the sliding member (233) so that the sliding member (233) moves relative to the rotating member (232).

10. A tubular air preheater detection device, characterized in that: The tubular air preheater detection device comprises: The wall-climbing robot according to any one of claims 1 to 9; An air pressure detection unit (8) is arranged on the swinging unit (22) of the wall-climbing robot, and the air pressure detection unit (8) is used to detect the air tightness of the tubular air preheater.

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