Water-cooled wall climbing robot capable of expanding external equipment

Abstract

The invention discloses a water-cooled wall climbing robot capable of expanding external equipment. The robot mainly comprises a chassis frame, a dustproof sliding rail mechanism capable of being externally connected with equipment, a controller, a power source and a working platform. Permanent magnets are mounted at four top corners of the chassis frame; four sets of same motion driving systems are mounted at the left side frame and the right side frame; the motion driving system is composed of a servo motor, a worm gear reducer, a planetary gear reducer and wheels. The overall movement of the robot is realized through the movement driving system; a dustproof sliding rail mechanism capable of being externally connected with equipment is installed on the upper surface of the chassis frame, a working platform is installed on the dustproof sliding rail mechanism and composed of a guide rail and the external equipment, and the working platform is driven by coaxial transmission composed of a servo motor, a planetary reducer and a shaft to move. And the movement of the external equipment is completed by driving of the servo motor. The water-cooled wall climbing extensible external equipment robot has the functions of detachability, man-machine remote control, manned work and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a wall-climbing robot for water-cooled walls, which is suitable for automated maintenance and overhaul of large steel structures. Background Art

[0002] The water-cooled wall is an important part of the boiler system of a power plant. It is prone to corrosion and wear due to long-term exposure to high temperature and high pressure. Traditional water-cooled wall maintenance work usually relies on manual operation. Workers enter the boiler by setting up scaffolding or using a hanging basket to weld, grind and inspect. This method has the problems of low efficiency, high labor intensity and high safety risks of high-altitude operations. Especially in the case of small space and complex environment, manual operation is difficult, and problems are easy to miss, affecting the subsequent maintenance effect. To solve the above problems, wall-climbing robots have begun to be used in the inspection and maintenance of water-cooled walls as an automated equipment. It can move on vertical surfaces and replace workers to work in high-risk environments. Although the existing wall-climbing robots can improve certain operating efficiency, there is still room for improvement in stability, adhesion and intelligent operation. Therefore, there is an urgent need for a wall-climbing robot with more complete functions and higher degree of automation to improve the efficiency and safety of water-cooled wall maintenance work. Summary of the invention

[0003] A water-cooled wall climbing robot with expandable external equipment comprises a chassis frame, a dustproof slide rail mechanism for external equipment, a controller, a power supply and a working platform. The chassis frame is respectively provided with the same motion drive system on all four sides. The motion drive system is composed of a servo motor, a planetary gear reducer, a worm gear reducer and wheels. The robot as a whole moves through the motion drive system. At the same time, dustproof plates are installed on the wheels. At the same time, a controller and a switching power supply are installed on the rear side of the chassis frame. At the same time, the movement of the working platform on the dustproof slide rail mechanism for external equipment is achieved by the rotation of the servo motor shaft through the planetary reducer and then transmitted to the transmission shaft through the belt drive to realize the movement. The dustproof slide rail mechanism for external equipment is provided with an x-direction synchronous belt guide.

[0004] X-axis: Assume that the robot is installed horizontally, the straight line in the horizontal plane parallel to the first guide rail is the X-axis, and the X-axis travel is 620mm;

[0005] Y-axis: Assume that the robot is installed horizontally, the straight line in the horizontal plane parallel to the second guide rail is the Y-axis, and the Y-axis travel is 570mm;

[0006] Z axis: Assume the robot is installed horizontally, the straight line perpendicular to the horizontal plane in the space is the Z axis, and the Z axis travel is 115mm;

[0007] R axis: If the robot is installed horizontally, the R axis is the axis that rotates around the vertical axis of the robot, and is used to control the rotation of the working tool (such as a welding head or a detection device) around the vertical axis. The rotation of the R axis can adjust the direction of the tool so that it can achieve angle changes on the horizontal plane, thereby ensuring that the robot can flexibly adapt to complex working posture requirements in working environments in different directions.

[0008] The chassis frame is made of 6061 aluminum alloy;

[0009] A dustproof slide rail mechanism for external devices is installed on the upper side of the chassis frame. The overall structure of the dustproof slide rail mechanism for external devices consists of a servo motor, a planetary reducer, a transmission shaft and an x-direction synchronous belt guide rail. The rotation of the servo motor shaft is transmitted to the planetary reducer, and after passing through the belt drive, it is transmitted to the transmission shaft through the coupling. At the same time, the connection and fixation of the planetary reducer and the coupling are achieved through the base plate of the planetary reducer and the expansion plate on the left side of the coupling through six hexagon socket head screws.

[0010] The controller is PLC;

[0011] The power supply is a switching power supply;

[0012] The working platform is composed of a synchronous belt, a servo motor, a y-direction guide rail, a z-axis base plate, an electric cylinder, a driver, a cladding mounting plate, a z-direction guide rail, a tooling base, an r-axis plate, a driver, a camera base plate, a light source base, a light source, a vision board, a vision base plate, a two-dimensional camera and a three-dimensional sensor; the z-axis base plate is fixedly connected to the z-direction guide rail, the lower left side of the electric cylinder is fixedly connected to the z-direction guide rail, the camera base plate is fixedly connected to the electric cylinder through the r-axis plate, the two-dimensional camera is fixedly connected to the camera base plate, the light source base is fixedly connected to the light source, the driver is fixedly connected to the r-axis plate, and the cladding mounting plate is fixed to the r-axis plate through the tooling base The lower right side of the electric cylinder is fixedly connected to the driver, the vision board is fixedly connected to the vision base plate, the two-dimensional camera is fixedly connected to the vision base plate through the camera base plate, and the three-dimensional sensor is fixedly connected to the vision base plate. At the same time, the movement in the y direction is realized by the transmission of the servo motor, the rotation in the r-axis direction is realized by the transmission of the driver, and the movement in the z direction is realized by the transmission of the driver. At the same time, the two-dimensional camera and the three-dimensional sensor scan the surface information of the water-cooled wall, form a point cloud and transmit it to the control system for processing. The control system generates an accurate three-dimensional model of the water-cooled wall by fusing the two-dimensional image and the three-dimensional point cloud data. Based on this model, the system can identify the weld position, corrosion point or defect area on the surface, and provide precise positioning for subsequent welding or repair operations. Subsequently, the robot adjusts the posture and position of its operating tool according to the generated path planning algorithm and combined with real-time sensor data to ensure that the welding head or detection device can accurately align with the target area and perform high-precision operations. In addition, the dynamic update of the point cloud data can also help the robot monitor the progress of the operation in real time, ensuring that any subtle changes in the operation process can be fed back in time, ensuring the stability and accuracy of the welding or repair operation;

[0013] Four identical motion drive systems are installed around the chassis frame. The motion drive system consists of a servo motor, a planetary gear reducer, a worm gear reducer and wheels. A permanent magnet is installed on the lower side of the worm gear reducer.

[0014] The movement in the y direction is achieved by the transmission of the servo motor, the rotation in the r-axis direction is achieved by the transmission of the driver, and the movement in the z direction is achieved by the transmission of the driver. At the same time, the two-dimensional camera and the three-dimensional camera scan the surface information of the water-cooled wall, form a point cloud and transmit it to the control system for processing; the control system generates an accurate three-dimensional model of the water-cooled wall by fusing the two-dimensional image and the three-dimensional point cloud data. Based on this model, the system can identify the weld position, corrosion points or defective areas on the surface, and provide precise positioning for subsequent welding or repair operations; then, the robot adjusts the posture and position of its working tools according to the generated path planning algorithm and combined with real-time sensor data to ensure that the welding head or detection device can accurately align with the target area and perform high-precision operations; in addition, the dynamic update of the point cloud data can also help the robot monitor the progress of the operation in real time, ensuring that any subtle changes in the operation process can be fed back in time, ensuring the stability and accuracy of the welding or repair operation;

[0015] Four identical motion drive systems are installed around the chassis frame. The motion drive system consists of a servo motor, a planetary gear reducer, a worm gear reducer and wheels. A permanent magnet is installed on the lower side of the worm gear reducer.

[0016] Furthermore, the chassis frame is made of 6061 aluminum alloy, and the overall chassis frame is rectangular. The vertical fixed connection between the frames is used to increase the stability of the overall frame. The frames are connected by hexagon socket head screws to achieve the overall detachability of the chassis frame.

[0017] Furthermore, the servo motor, planetary gear reducer, worm gear reducer and wheel used in the motion drive system are the same, and the tire of the wheel is made of anti-skid material and has strong grip, so as to ensure that the water-cooled wall climbing and extensible external equipment robot can walk stably on the surface of the water-cooled wall, and the motion drive systems on the left and right sides are symmetrically distributed; at the same time, the power chain of the motion drive system is from the servo motor to the planetary gear reducer, then to the worm gear reducer, and finally to the wheel; at the same time, a permanent magnet is installed under each worm gear reducer, and the permanent magnet can be adsorbed on the surface of the water-cooled wall, so as to realize the walking of the water-cooled wall climbing and extensible external equipment robot on the water-cooled wall;

[0018] Furthermore, the x-direction synchronous belt guide is in the x-axis direction, the y-direction guide is in the y-axis direction, the z-direction guide is in the z-axis direction, and the rotation in the r-axis direction is achieved by the transmission of the driver;

[0019] Furthermore, the power supply and working platform are located in the head of the robot;

[0020] Furthermore, the overall structure of the dustproof slide rail mechanism that can be connected to an external device is composed of a servo motor, a planetary reducer, a transmission shaft and an x-direction synchronous belt guide rail. The rotation of the servo motor shaft is transmitted to the planetary reducer, and after passing through the belt drive, it is transmitted to the transmission shaft through the coupling. Due to the existence of the transmission shaft, the movement of the x-direction guide rail is ensured to be synchronous, and the x-direction synchronous belt guide rail has a dustproof effect;

[0021] Furthermore, the transmission of the y-direction guide rail is belt transmission, and has a dust-proof effect;

[0022] Compared with the prior art, the water-cooled wall climbing robot provided by the present invention has many beneficial effects:

[0023] First, the four-wheel drive combined with the adsorption system enables the robot to be firmly attached to the vertical or inclined water-cooled wall surface, ensuring stable movement and operation in complex environments. Secondly, the R-axis rotation function and Y-axis linear movement capability enable the operating tools to flexibly adjust the position and angle to adapt to welding, grinding or inspection needs in different directions, greatly improving the flexibility and accuracy of the operation. In addition, the robot integrates multi-sensor fusion technology, which can perform path planning and obstacle detection in real time to ensure safe and accurate execution of tasks in complex working conditions. Compared with traditional manual operation methods, the robot has greatly improved operating efficiency and reduced safety risks of high-altitude operations. At the same time, it reduces the need for human intervention through intelligent control and significantly improves the automation level of maintenance operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a front plan view of the overall appearance of the robot of the present invention;

[0025] Figure 2 It is a top view of the dustproof slide rail mechanism of the robot of the present invention that can be connected to an external device;

[0026] Figure 3 is a front plan view of the working platform of the robot of the present invention;

[0027] Figure 4 is a rear plan view of the working platform of the robot of the present invention;

[0028] Figure 5 It is a left view of the motion drive system of the robot of the present invention.

[0029] Numbers in the figure: 1. chassis frame; 2. dust-proof slide rail mechanism for external equipment; 21. servo motor; 22. planetary reducer; 23. base plate; 24. coupling; 25. transmission shaft; 26. x-direction synchronous belt guide; 3. PLC; 4. switch power supply; 5. working platform; 51. synchronous belt; 52. servo motor; 53. y-direction guide; 54. z-axis base plate; 55. electric cylinder; 56. driver; 57. cladding installation Plate; 58, z-direction guide rail; 59, tooling base; 510, r-axis plate; 511, driver; 512, camera base; 513, light source base; 514, light source; 515, vision board; 516, vision base; 517, two-dimensional camera; 518, three-dimensional sensor; 6, motion drive system; 61, servo motor; 62, planetary gear reducer; 63, worm gear reducer; 64, permanent magnet; 65, wheel. DETAILED DESCRIPTION

[0030] The following will be combined with the accompanying drawings of the embodiments of the present invention to clearly and completely describe the technical solution of the present invention. It should be noted that the embodiments are only a part of the present invention, not all embodiments. Based on these embodiments of the present invention, other variations or modifications made by those skilled in the art without creative work should be deemed to belong to the protection scope of the present invention.

[0031] Specific implementation method 1: Please refer to Figure 1 The present invention provides a technical solution: a water-cooled wall climbing robot with expandable external equipment, comprising a chassis frame 1, a dustproof slide rail mechanism 2 for external equipment, a controller 3, a power supply 4 and a working platform 5, the chassis frame 1 is respectively provided with the same motion drive system 6 around, the motion drive system 6 is composed of a servo motor 61, a planetary gear reducer 62, a worm gear reducer 63 and a wheel 65, and the robot as a whole moves through the motion drive system 6, and a dustproof plate is installed on the wheel 63, and the controller 3 and a switching power supply 4 are installed on the rear side of the chassis frame 1, and the movement of the working platform 5 on the dustproof slide rail mechanism 2 for external equipment is realized by the rotation of the shaft of the servo motor 21 through the planetary reducer 22 and then transmitted to the transmission shaft 25 through the belt drive, and the dustproof slide rail mechanism 2 for external equipment is provided with an x-direction synchronous belt guide 26;

[0032] The working platform 5 is composed of a synchronous belt 51, a servo motor 52, a y-direction guide rail 53, a z-axis base plate 54, an electric cylinder 55, a driver 56, a cladding mounting plate 57, a z-direction guide rail 58, a tooling base 59, an r-axis plate 510, a driver 511, a camera base plate 512, a light source base 513, a light source 514, a vision board 515, a vision base plate 516, a two-dimensional camera 517 and a three-dimensional sensor 518; the z-axis base plate 54 is fixedly connected to the z-direction guide rail 58, the lower left side of the electric cylinder 55 is fixedly connected to the z-direction guide rail 58, the camera base plate 512 is fixedly connected to the electric cylinder 55 through the r-axis plate 510, the two-dimensional camera 517 is fixedly connected to the camera base plate 512, the light source base 513 and the light source 514 are fixedly connected, the driver 56 is fixedly connected to the r-axis plate 510, and the cladding mounting plate 57 is fixedly connected to the camera base plate 512. The covering mounting plate 57 is fixedly connected to the r-axis plate 510 through the tooling base 59, the lower right side of the electric cylinder 55 is fixedly connected to the driver 56, the vision board 515 is fixedly connected to the vision base plate 516, the two-dimensional camera 517 is fixedly connected to the vision base plate 516 through the camera base plate 512, and the three-dimensional sensor 518 is fixedly connected to the vision base plate 516. At the same time, the movement in the y direction is achieved by the transmission of the servo motor 52, the rotation in the r-axis direction is achieved by the transmission of the driver 511, and the movement in the z direction is achieved by the transmission of the driver 56. At the same time, the two-dimensional camera 517 and the three-dimensional camera 518 scan the surface information of the water-cooled wall, form a point cloud and transmit it to the control system for processing; the control system generates an accurate three-dimensional model of the water-cooled wall by fusing the two-dimensional image and the three-dimensional point cloud data. Based on this model, the system can identify the weld position, corrosion points or defective areas on the surface, providing precise positioning for subsequent welding or repair operations. Subsequently, the robot adjusts the posture and position of its operating tools based on the generated path planning algorithm and real-time sensor data to ensure that the welding head or detection device can accurately align with the target area for high-precision operations. In addition, the dynamic update of point cloud data can also help the robot monitor the progress of the operation in real time, ensuring that any subtle changes in the operation process can be fed back in time, thus ensuring the stability and accuracy of the welding or repair operation.

[0033] Four identical motion drive systems 6 are installed around the chassis frame 1. The motion drive system 6 consists of a servo motor 61, a planetary gear reducer 62, a worm gear reducer 63 and a wheel 65. A permanent magnet 64 is installed on the lower side of the worm gear reducer 63.

[0034] Working principle: The robot of the present invention realizes crawling and precise movement on the surface of the water-cooled wall through four sets of identical motion drive systems 6 installed around the chassis frame; each set of drive systems is composed of a servo motor 61, a planetary gear reducer 62, a worm gear reducer 63 and a permanent magnet 64. The permanent magnet 64 is responsible for providing adhesion so that the robot can be firmly adsorbed on the water-cooled wall; the servo motor 61 drives the wheel 65 to achieve precise displacement and direction control. In addition to the motion system, the robot is also equipped with a two-dimensional camera 517 and a three-dimensional sensor 518. These visual devices are fixedly connected to the visual base plate to scan the two-dimensional image and three-dimensional point cloud data of the water-cooled wall surface respectively. The two-dimensional camera 517 is responsible for obtaining the plane image, and the three-dimensional sensor 518 generates point cloud data through depth information. Through the collaborative work of these two sensors, the robot can obtain detailed surface information of the water-cooled wall in real time and transmit this data to the control system for processing; the control system fuses the two-dimensional image with the three-dimensional point cloud data to generate an accurate three-dimensional model of the water-cooled wall. Based on this model, the system can identify the weld location, corrosion points or other defective areas. Subsequently, the system plans the best welding or repair path for the robot through a path planning algorithm; the servo motor and driver control the movement of the robot in the Y-axis, R-axis and Z-axis directions respectively through the transmission system to ensure that the working tool can accurately align with the target area and perform high-precision operations; at the same time, the point cloud data will be dynamically updated as the operation progresses, real-time monitoring of the progress of the welding or repair process, ensuring that any minor changes can be fed back to the control system in a timely manner. This real-time adjustment and dynamic update mechanism ensures the high stability and high precision of the robot in welding or repair operations, and provides reliable protection for automated operations under complex working conditions;

[0035] Specific embodiment 2: This embodiment is a further limitation of specific embodiment 1. The robot adopts a lightweight modular design. The chassis frame 1 is made of aluminum alloy material and has a rectangular main platform. The platform is provided with a support frame for installing the motor and control board. The layout of the basic platform is optimized to ensure balance and stability when running on a vertical surface. At the same time, the chassis frame 1 supports quick disassembly and assembly;

[0036] Specific implementation method 3: This implementation method is a further limitation of specific implementation method 1. The robot can crawl on the water-cooled wall by magnetic adsorption. Each of the four wheels is equipped with a high-power permanent magnet 64, which is driven by a servo motor 61 and can achieve precise movements such as forward, backward and rotation;

[0037] The strength of the magnetic force can be adjusted according to the robot's load and the surface material, ensuring that the robot can be firmly attached when moving and remain stable even on curved or uneven surfaces;

[0038] Specific implementation method 4: This implementation method is a further limitation of specific implementation method 1. The robot head is provided with an expandable external interface, which is used to install various modular devices, such as detection cameras, cleaning nozzles or welding tools, and supports rapid disassembly and assembly;

[0039] Specific implementation 5: This implementation is a further limitation of specific implementation 1. The interface includes a standard mounting slot and power and data connection ports for external devices. The platform supports simultaneous operation of multiple devices and can adapt to the needs of different tasks such as inspection, welding or surface cleaning.

[0040] Specific embodiment 6: This embodiment is a further limitation of specific embodiment 1, in which the robot is operated by a remote control system, including wireless communication between the robot and an operator control unit. The control system can realize real-time monitoring of robot movement, external device operation, and surface data;

[0041] Specific implementation method 7: This implementation method is a further limitation of the specific implementation method 1. In addition to remote control, the robot also has a semi-automatic mode, which can detect obstacles through sensors and adjust the route in real time. A variety of sensors including ultrasonic sensors and infrared sensors continuously scan the surface to ensure that the robot can avoid collisions in complex working environments;

[0042] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A water-cooled wall climbing robot capable of being expanded and connected to external devices, comprising a chassis frame (1), a dustproof slide rail mechanism (2) capable of being connected to external devices, a controller (3), a power supply (4), a working platform (5), and a robot as a whole, characterized in that: The chassis frame (1) is respectively provided with the same motion drive system (6) on all four sides, the motion drive system (6) is composed of a servo motor (61), a planetary gear reducer (62), a worm gear reducer (63) and a wheel (65), and the robot as a whole moves through the motion drive system (6), a dustproof plate is installed on the wheel (65), a controller (3) and a switch power supply (4) are installed on the rear side of the chassis frame (1), the movement of the working platform (5) on the dustproof slide rail mechanism (2) of the external device is achieved by the rotation of the shaft of the servo motor (21) through the planetary reducer (22) and then transmitted to the transmission shaft (25) through the belt drive, and the dustproof slide rail mechanism (2) of the external device is provided with an x-direction synchronous belt guide rail (26); The chassis frame (1) is made of 6061 aluminum alloy; A dustproof slide rail mechanism (2) for externally connected devices is installed on the upper side of the chassis frame (1). The overall structure of the dustproof slide rail mechanism (2) for externally connected devices consists of a servo motor (21), a planetary reducer (22), a transmission shaft (25) and an x-direction synchronous belt guide rail (26). The rotation of the servo motor (21) shaft is transmitted to the planetary reducer (22), and after being transmitted by the belt, it is transmitted to the transmission shaft (25) via a coupling (24). The connection and fixation of the planetary reducer (22) and the coupling (24) is achieved by fixing the base plate (23) of the planetary reducer (22) and the expansion plate on the left side of the coupling via six hexagon socket head screws. The controller (3) is a PLC; The power supply (4) is a switching power supply; The working platform (5) is composed of a synchronous belt (51), a servo motor (52), a y-direction guide rail (53), a z-axis base plate (54), an electric cylinder (55), a driver (56), a cladding installation plate (57), a z-direction guide rail (58), a tooling base (59), an r-axis plate (510), a driver (511), a camera base plate (512), a light source base (513), a light source (514), a vision board (515), a vision base plate (516), a two-dimensional camera (517) and a three-dimensional sensor (518); the z-axis base plate (54) and the z-direction guide rail (58) are fixedly connected, the lower left side of the electric cylinder (55) and the z-direction guide rail (58) are fixedly connected, the camera base plate (512) is fixedly connected to the electric cylinder (55) through the r-axis plate (510), the two-dimensional camera (517) is fixedly connected to the camera base plate (512), the light source base (513) and the light source (514) are fixedly connected, and the driver (56) The cladding installation plate (57) is fixedly connected to the r-axis plate (510) through a tooling base (59), the lower right side of the electric cylinder (55) is fixedly connected to the driver (56), the vision plate (515) is fixedly connected to the vision base plate (516), the two-dimensional camera (517) is fixedly connected to the vision base plate (516) through the camera base plate (512), and the three-dimensional sensor (518) is fixedly connected to the vision base plate (516). At the same time, the movement in the y direction is achieved by the transmission of the servo motor (52), the rotation in the r-axis direction is achieved by the transmission of the driver (511), and the movement in the z direction is achieved by the transmission of the driver (56). At the same time, the two-dimensional camera (517) and the three-dimensional sensor (518) scan the surface information of the water-cooled wall, form a point cloud and transmit it to the control system for processing. The control system generates an accurate three-dimensional model of the water-cooled wall by fusing the two-dimensional image and the three-dimensional point cloud data. Based on this model, the system can identify the weld position, corrosion points or defective areas on the surface, and provide precise positioning for subsequent welding or repair operations. Subsequently, the robot adjusts the posture and position of its operating tools based on the generated path planning algorithm and real-time sensor data to ensure that the welding head or detection device can accurately align with the target area and perform high-precision operations. In addition, the dynamic update of point cloud data can also help the robot monitor the progress of the operation in real time, ensuring that any subtle changes in the operation process can be fed back in time, thus ensuring the stability and accuracy of the welding or repair operation. Four identical motion drive systems (6) are installed around the chassis frame (1). The motion drive system (6) is composed of a servo motor (61), a planetary gear reducer (62), a worm gear reducer (63) and a wheel (65). A permanent magnet (64) is installed on the lower side of the worm gear reducer (63).

2. The water-cooled wall climbing robot capable of expanding external equipment according to claim 1, characterized in that: The chassis frame (1) is made of 6061 aluminum alloy, and the overall chassis frame is rectangular. The vertical fixed connection between the frames is used to increase the stability of the overall frame. The frames are connected by hexagon socket head screws to achieve the overall detachability of the chassis frame (1).

3. The water-cooled wall climbing robot capable of expanding external equipment according to claim 1, characterized in that: The servo motor (61), planetary gear reducer (62), worm gear reducer (63) and wheel (65) used in the motion drive system (6) are the same. The tire of the wheel (65) is made of anti-skid material and has strong grip, so as to ensure that the water-cooled wall climbing and expandable external device robot can stably walk on the surface of the water-cooled wall. The motion drive systems (6) on the left and right sides are symmetrically distributed. At the same time, the power chain of the motion drive system (6) is from the servo motor (61) to the planetary gear reducer (62), then to the worm gear reducer (63), and finally to the wheel (65). At the same time, a permanent magnet (64) is installed under each worm gear reducer (63), and the permanent magnet (64) is adsorbed on the surface of the water-cooled wall to realize the walking of the water-cooled wall climbing and expandable external device robot on the water-cooled wall.

4. The water-cooled wall climbing robot capable of expanding external equipment according to claim 1, characterized in that: The x-direction synchronous belt guide rail (26) is in the x-axis direction, the y-direction guide rail (53) is in the y-axis direction, the z-direction guide rail (58) is in the z-axis direction, and the rotation in the r-axis direction is achieved by the transmission of the driver (56).

5. The water-cooled wall climbing robot capable of expanding external equipment according to claim 1, characterized in that: The power source (4) and the working platform (5) are located on the head of the robot.

6. The water-cooled wall climbing robot capable of expanding external equipment according to claim 1, characterized in that: The overall structure of the dustproof slide rail mechanism (2) capable of being connected to an external device is composed of a servo motor (21), a planetary reducer (22), a transmission shaft (25) and an x-direction synchronous belt guide rail (26). The rotation of the shaft of the servo motor 21 is transmitted to the planetary reducer (22), and after being transmitted by the belt, it is transmitted to the transmission shaft (25) via a coupling (24). Due to the existence of the transmission shaft (25), the movement of the x-direction guide rail is ensured to be a synchronous movement, and the x-direction synchronous belt guide rail (26) has a dustproof effect.

7. The water-cooled wall climbing robot capable of expanding external equipment according to claim 1, characterized in that: The transmission of the y-direction guide rail (53) is belt transmission and has a dust-proof effect.

8. The water-cooled wall climbing robot capable of expanding external equipment according to claim 1, characterized in that: The movement in the y direction is achieved by the transmission of the servo motor (52), the rotation in the r-axis direction is achieved by the transmission of the driver (511), and the movement in the z direction is achieved by the transmission of the driver (56). At the same time, the two-dimensional camera (517) and the three-dimensional camera (518) scan the surface information of the water-cooled wall to form a point cloud and transmit it to the control system for processing; the control system generates an accurate three-dimensional model of the water-cooled wall by fusing the two-dimensional image and the three-dimensional point cloud data. Based on the model, the system can identify the weld position, corrosion point or defect area on the surface, and provide accurate positioning for subsequent welding or repair operations; Subsequently, the robot adjusts the posture and position of its working tool based on the generated path planning algorithm and combined with real-time sensor data to ensure that the welding head or detection device can accurately aim at the target area and perform high-precision operations. In addition, the dynamic update of point cloud data can also help the robot monitor the progress of the operation in real time, ensuring that any subtle changes during the operation can be promptly fed back, thus ensuring the stability and accuracy of the welding or repair operation.

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