Full-automatic water cooling wall cutting robot

Abstract

The invention discloses a full-automatic water cooling wall cutting robot, and relates to the technical field of robots. The detection unit is arranged on the mounting part, the cutting unit is arranged below the mounting part, the supporting parts are arranged on the two sides of the mounting part, and the marking unit is arranged above the mounting part and connected to the supporting parts. By arranging the detection unit, the marking unit and the cutting unit, detection marking of the defect position in the water cooling wall and cutting of the marked defect position are achieved, and the problem that an existing robot cannot automatically cut a boiler water cooling wall pipeline with defects is solved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a fully automatic water-cooled wall cutting robot. Background Art

[0002] At present, robot technology has been introduced in the field of water-cooled wall inspection. These robots use permanent magnetic adsorption technology to cling to the water-cooled wall, can move autonomously, and can perform multiple tasks in real time, including flushing floating dust from the water-cooled wall tubes, removing coke slag, inspecting the appearance of the tubes, automatically measuring the thickness of the tube walls, and accurately locating defects.

[0003] However, these existing robots do not yet have the ability to automatically cut defective boiler water-cooled wall pipes. After discovering the defects, workers still need to enter the furnace to perform cutting operations. Due to the large space in the furnace and the high vertical height of the pipes, workers often need to build a full-room scaffolding or use a lifting platform to reach the approximate location and further confirm the defect location for cutting operations. This process not only has a harsh working environment, but also has a large workload, slow progress, and is also quite costly.

[0004] In order to solve this problem, we urgently need a new fully automatic robot solution. This robot can not only complete the water-cooled wall inspection task, but more importantly, it also needs to have the ability to automatically cut the defective boiler water-cooled wall pipes, so as to completely get rid of the dependence on manual operation, improve work efficiency, reduce costs, and improve the working environment of staff. Summary of the invention

[0005] In view of the above problems existing in the prior art, the present invention is proposed.

[0006] The problem to be solved by the present invention is how to solve the problem that the current robot cannot automatically cut the defective boiler water-cooled wall pipe.

[0007] The above technical problem is solved by the following technical solution: The present invention provides a fully automatic water-cooled wall cutting robot, comprising a mounting portion, on which a detection unit is provided; The detection unit includes an inner wall corrosion pit detection part for detecting pipe wall defects; a cutting unit, which is located at the bottom of the mounting portion and includes a driving portion for lateral and longitudinal movement, and a cutting member located at the bottom of the driving portion; After the detection unit detects defects on the pipe wall, the cutting unit is used to perform cutting.

[0008] In a preferred embodiment of the fully automatic water-cooled wall cutting robot of the present invention: the inner wall corrosion pit detection unit includes a thickness gauge for detecting the thickness of the pipe wall, and a magnetic flux leakage detection probe and a cold cathode digital radiograph for further detecting the corrosion degree of the pipe wall corrosion pit; The magnetic flux leakage detection probe and the cold cathode digital ray machine cooperate to achieve high-precision detection of pipeline corrosion pits.

[0009] In a preferred embodiment of the fully automatic water-cooled wall cutting robot of the present invention: the thickness gauge is used for the initial detection, the magnetic flux leakage detection probe is used for the secondary detection, and the cold cathode digital radiograph is used for the tertiary detection; the magnetic flux leakage detection probe and the cold cathode digital radiograph are used for graded detection, which improves the accuracy of the detection and also enhances the comprehensiveness of the detection.

[0010] In a preferred embodiment of the fully automatic water-cooled wall cutting robot of the present invention: a storage slot is provided inside the mounting portion, and a retractable bracket for mounting the inner wall corrosion pit detection portion is provided in the storage slot; The retractable bracket drives the inner wall corrosion pit detection part to reciprocate along the length direction of the receiving groove.

[0011] In a preferred embodiment of the fully automatic water-cooled wall cutting robot of the present invention: the detection unit also includes a front high-definition camera and a rear high-definition camera for observing the appearance wear of the pipe wall, and a positioner for positioning.

[0012] In a preferred embodiment of the fully automatic water-cooled wall cutting robot of the present invention: support parts are symmetrically arranged on both sides of the mounting part; a marking unit is arranged on the inner side of the supporting part, and the marking unit includes a group of symmetrically arranged first support frames, a guide rail arranged between a group of the first support frames, a sliding block slidable on the guide rail, a high-pressure nozzle arranged on the sliding block, a first mounting groove arranged on the side of the supporting part, and an ink box arranged in the first mounting groove, and the high-pressure nozzle is connected to the ink box through a pipe.

[0013] In a preferred embodiment of the fully automatic water-cooled wall cutting robot of the present invention: a cleaning unit is also provided on the mounting portion and the supporting portion, and the cleaning unit includes a first cleaning portion provided at the bottom of the mounting portion and a second cleaning portion provided above the supporting portions on both sides.

[0014] In a preferred embodiment of the fully automatic water-cooled wall cutting robot of the present invention: the first cleaning part includes a second mounting groove arranged at the bottom of the mounting part, a first motor arranged in the second mounting groove, a third screw arranged at the output end of the first motor, a cylinder arranged on the surface of the third screw, and a cleaning brush arranged at the output end of the cylinder.

[0015] In a preferred embodiment of the fully automatic water-cooled wall cutting robot of the present invention: the second cleaning part includes a third mounting groove arranged inside the supporting part, a high-pressure pump and a water tank arranged in the third mounting groove, a high-pressure water gun arranged on the supporting part, and a mounting hole arranged on the supporting part, the high-pressure pump is connected to the high-pressure water gun through a first water pipe, the high-pressure pump is connected to the water tank through a second water pipe, and the mounting hole is for the first water pipe to pass through the supporting part.

[0016] In a preferred embodiment of the fully automatic water-cooled wall cutting robot of the present invention: a walking unit is further provided at the bottom of the support portion, and the walking unit includes a fourth mounting groove provided at the bottom of the support portion, and a driving wheel and a driving motor provided in the fourth mounting groove; The output end of the driving motor is connected to the driving wheel; the walking unit drives the robot to walk on the surface of the water-cooled wall.

[0017] The beneficial effects of the present invention are: The present invention realizes the detection of the internal defect position of the water-cooled wall and the cutting of the defect position by setting the detection unit and the cutting unit, thereby solving the problem that the current robot cannot automatically cut the defective boiler water-cooled wall pipe. The present invention adopts a three-level progressive detection method of a thickness gauge, a magnetic flux leakage detection probe and a cold cathode digital radiograph to screen defects step by step, and realizes a full-dimensional analysis from thickness anomalies to morphological features, which not only improves the accuracy of detection, but also improves the comprehensiveness of detection; The present invention adopts the first cleaning part and the second cleaning part to cooperate with each other to remove slag and coke, and can perform multiple cleanings to improve the cleaning efficiency and provide a pollution-free working surface for detection and cutting. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings of the embodiments of the present invention. Obviously, the drawings in the following description only relate to some embodiments of the present invention, but are not intended to limit the present invention.

[0019] Figure 1 The overall structure diagram of the fully automatic water-cooled wall cutting robot is shown; Figure 2 The bottom structure schematic diagram of the fully automatic water-cooled wall cutting robot is shown; Figure 3 Shows Figure 2 A partial enlarged view of part A; Figure 4 A schematic diagram of the internal structure of the support part of the fully automatic water-cooled wall cutting robot is shown.

[0020] 1. Installation part; 11. Storage slot; 111. Retractable bracket; 12. Support part; 2. Detection unit; 21. Inner wall corrosion pit detection part; 211. Thickness gauge; 212. Magnetic flux leakage detection probe; 213. Cold cathode digital X-ray machine; 22. Front high-definition camera; 23. Rear high-definition camera; 24. Positioner; 3. Cutting unit; 31. Driving part; 32. Cutting piece; 41. First support frame; 42. Guide rail; 43. Sliding block; 4 4. High-pressure nozzle; 45. First mounting slot; 46. Ink tank; 5. Cleaning unit; 51. First cleaning section; 511. Second mounting slot; 512. First motor; 513. Third screw; 514. Cylinder; 515. Cleaning brush; 52. Second cleaning section; 521. Third mounting slot; 522. High-pressure pump; 523. Water tank; 524. High-pressure water gun; 6. Travel unit; 61. Fourth mounting slot; 62. Driving wheel; 63. Driving motor. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the present invention, the present invention is further described in detail below in conjunction with specific implementation methods and drawings.

[0022] The terms used in the present invention are those general terms currently widely used in the art in consideration of the functions of the present invention, but these terms may vary according to the intention of a person of ordinary skill in the art, precedents, or new technologies in the art. In addition, specific terms may be selected by the applicant, and in this case, their detailed meanings will be described in the detailed description of the present invention. Therefore, the terms used in the specification should not be understood as simple names, but rather as a general description based on the meaning of the terms and the present invention.

[0023] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0024] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor is it a separate or selective embodiment that is mutually exclusive with other embodiments.

[0025] Example 1, reference Figure 1 to Figure 4 , which is the first embodiment of the present invention, and provides a fully automatic water-cooled wall cutting robot, comprising a mounting portion 1, a detection unit 2 arranged on the mounting portion 1; the detection unit 2 comprises an inner wall corrosion pit detection portion 21 for detecting pipe wall defects; a cutting unit 3 arranged at the bottom of the mounting portion 1; the cutting unit 3 comprises a driving portion 31 for lateral and longitudinal movement, and a cutting member 32 located at the bottom of the driving portion 31; when the detection unit 2 detects that there are defects in the pipe wall, the cutting unit 3 is used to cut; It should be noted that the driving part 31 includes a first driving member, a first screw rod arranged at the output end of the first driving member, a first mounting plate arranged on the first screw rod, a second driving member arranged on the surface of the first mounting plate, a second screw rod arranged at the output end of the second driving member, and a second mounting plate arranged on the surface of the second screw rod. The cutting member 32 adopts a plasma cutting machine and is arranged on the surface of the second mounting plate. The first screw rod and the second screw rod are arranged vertically. A movement groove is provided at the bottom of the mounting portion 1 to provide a housing space for the cutting unit 3 and also to provide a movement space for the cutting unit 3 to facilitate cutting. The power supply system and other components necessary for cutting can be placed in a suitable position according to actual conditions.

[0026] In summary, the thickness, defects and positions of the water-cooled wall are detected in real time by the detection unit 2. If a defect is detected in the water-cooled wall, the defect position is cut by the cutting unit 3, thereby realizing automatic cutting of defective boiler water-cooled wall pipes. The first mounting plate is driven to move in the horizontal / vertical direction by the first driving member, and then the second mounting plate is driven to move in the vertical / horizontal direction by the second driving member on the first mounting plate, thereby realizing the free movement of the plasma cutting machine and improving the cutting accuracy; in order to ensure stability during operation, a lead screw corresponding to the first screw is arranged on the side of the motion groove away from the first screw, and a sliding block 43 for placing the second screw is arranged on the lead screw.

[0027] Example 2, reference Figure 1-2 , which is the second embodiment of the present invention, and which is different from the first embodiment in that: The inner wall corrosion pit detection unit 21 includes a thickness gauge 211 for detecting the thickness of the pipe wall, and a magnetic flux leakage detection probe 212 and a cold cathode digital ray machine 213 for further detecting the corrosion degree of the pipe wall corrosion pit; the magnetic flux leakage detection probe 212 and the cold cathode digital ray machine 213 cooperate to achieve high-precision detection of the pipeline corrosion pit; Further, the thickness gauge 211 is used for the primary detection, the magnetic flux leakage detection probe 212 is used for the secondary detection, and the cold cathode digital radiograph 213 is used for the tertiary detection; Furthermore, a receiving groove 11 is provided inside the mounting portion 1, and a retractable bracket 111 for mounting the inner wall corrosion pit detection portion 21 is provided inside the receiving groove 11; The retractable bracket 111 drives the inner wall corrosion pit detection unit 21 to reciprocate along the length direction of the receiving groove 11; Furthermore, the detection unit 2 also includes a front high-definition camera 22 and a rear high-definition camera 23 for observing the wear of the pipe wall appearance, and a positioner 24 for positioning; The front high-definition camera 22, the rear high-definition camera 23, the inner wall corrosion pit detection unit 21 and the positioner 24 are used to observe, detect and locate the on-site environment, the movement of the robot and the appearance wear of the pipe wall; the storage groove 11 is used to store the retractable bracket 111, and a driving cylinder 514 is also provided in the storage groove 11. The driving cylinder 514 is used to control the extension and retraction of the retractable bracket 111. When working, the driving cylinder 514 extends the retractable bracket 111. When not in use, the driving cylinder 514 stores the retractable bracket 111 into the storage groove 11, which can prevent the inner wall corrosion pit detection unit 21 from being damaged by collision or other accidental damage when not in use.

[0028] In order to further and more accurately detect, the inner wall corrosion pit detection unit 21 includes a thickness gauge 211, a magnetic flux leakage detection probe 212 and a cold cathode digital ray machine 213, and the thickness gauge 211, the magnetic flux leakage detection probe 212 and the cold cathode digital ray machine 213 are sequentially installed on the retractable bracket 111; The thickness gauge 211 can use an electromagnetic ultrasonic thickness measuring device, without coupling agent, to measure the wall thickness of the water-cooled wall with an accuracy of 0.1mm, which is used for preliminary detection of corrosion pits in the wall thickness. When it is determined that there are corrosion pits, in order to further understand the situation of the defects and improve the accuracy of detection, a leakage magnetic detection probe 212 can be used for secondary detection. The leakage magnetic method has a high detection sensitivity for internal defects of the pipeline, fast detection speed, low cost, simple operation and clear and intuitive signals. The basic principle of the leakage magnetic method detection is to use a suitable excitation circuit to apply a magnetic field to the pipeline to saturate the local magnetization of the pipe wall. When there are corrosion pits or cracks in the pipe wall of the inspected area, the local pipe wall magnetic resistance increases, the magnetic field in the area is distorted, and part of the magnetic field leaks out from the surface of the pipe wall to form a local leakage magnetic field. The distribution of the leakage magnetic field is related to the nature and geometric size of the defect. The leakage magnetic field distribution is obtained by using a magnetic sensitive element and converted into an observable electrical signal to obtain a defect diagram reflecting the pipeline. In addition to leakage magnetic detection, pulse eddy current detection can also be used; Since the image resolution is low when the depth of the corrosion pit is less than 25% of the pipe wall thickness defect when magnetic flux leakage detection or pulse eddy current detection is used, in order to further improve the accuracy of the detection and to enhance the comprehensiveness of the detection, when about 25% of the small corrosion pits are detected, it is necessary to further use the cold cathode digital ray machine 213 to use the cold cathode digital ray direct imaging technology for a third detection. It should be noted that when using the cold cathode digital ray direct imaging technology, a synchronous control system is required, and a human or another robot is required to use an imaging plate outside the furnace to work synchronously with the cold cathode digital ray machine 213 of the robot inside the furnace, and the two need to run synchronously and then take pictures; The presence of corrosion pits is determined by the thickness gauge 211, and then further detected by the magnetic flux leakage detection probe 212 and the cold cathode digital radiograph 213. The magnetic flux leakage detection is suitable for rapid screening of larger defects, and the cold cathode digital radiograph is used to accurately identify small defects, and the two are complementary. The present invention adopts a three-level progressive detection of the thickness gauge 211, the magnetic flux leakage detection probe 212 and the cold cathode digital radiograph 213 to screen defects step by step, realizing full-dimensional analysis from thickness anomalies to morphological features, which not only improves the accuracy of detection, but also improves the comprehensiveness of detection.

[0029] Example 3, reference Figure 1 to Figure 4 , which is the third embodiment of the present invention, and which is different from the first two embodiments in that: Supporting parts 12 are symmetrically arranged on both sides of the mounting part 1; a marking unit is arranged inside the supporting part 12, and the marking unit includes a group of symmetrically arranged first supporting frames 41, a guide rail 42 arranged between the group of first supporting frames 41, a sliding block 43 slidably arranged on the guide rail 42, a high-pressure nozzle 44 arranged on the sliding block 43, a first mounting groove 45 arranged on the side of the supporting part 12, and an ink tank 46 arranged in the first mounting groove 45, and the high-pressure nozzle 44 is connected to the ink tank 46 through a pipeline; The high-pressure nozzle 44 is driven to move on the guide rail 42 by the sliding block 43, so as to mark defects at different positions. In order to protect the ink in the water-cooled wall ink tank 46, an anti-shedding and wear-resistant coating that does not harm metal is used.

[0030] It should be noted that in order to prevent the inner wall corrosion pit detection unit 21 from affecting the operation of the marking unit, the inner wall corrosion pit detection unit 21 needs to be retracted into the storage groove 11 after the detection is completed.

[0031] Example 4, reference Figure 1 to Figure 4 , which is the fourth embodiment of the present invention, and which is different from the first three embodiments in that: In order to remove slag and coke on the surface of the water-cooled wall and provide a good environment for subsequent corrosion pit marking and cutting; a cleaning unit 5 is also provided on the mounting portion 1 and the supporting portion 12, and the cleaning unit 5 includes a first cleaning portion 51 provided on the front side of the bottom of the mounting portion 1 and a second cleaning portion 52 provided on the supporting portions 12 on both sides; Furthermore, the first cleaning portion 51 includes a second mounting groove 511 disposed at the bottom of the mounting portion 1, a first motor 512 disposed in the second mounting groove 511, a third screw 513 disposed at the output end of the first motor 512, a cylinder 514 disposed on the surface of the third screw 513, and a cleaning brush 515 disposed at the output end of the cylinder 514. Further, the second cleaning portion 52 includes a third mounting groove 521 disposed inside the support portion 12, a high-pressure pump 522 and a water tank 523 disposed in the third mounting groove 521, a high-pressure water gun 524 disposed on the support portion 12, and a mounting hole disposed on the support portion 12, the high-pressure pump 522 is connected to the high-pressure water gun 524 through a first water pipe, the high-pressure pump 522 is connected to the water tank 523 through a second water pipe, and the mounting hole is for the first water pipe to pass through the support portion 12; The high-pressure water gun 524 uses the impact force of water to wash away the slag and coke on the surface of the water-cooled wall, and then cleans it with a cleaning brush. The cleaning brush 515 is driven by the first motor 512 and the third screw 513 to reciprocate and clean it many times. In order to clean more cleanly and improve the accuracy of detection, the cleaning brush is connected to the cylinder 514, and the cylinder 514 is a retractable cylinder 514. In order to increase the pressure, the cylinder 514 can be extended to make the cleaning force stronger. In order to further improve the cleaning effect, it is recommended to set two groups of the second cleaning part 52, which are respectively set on the two supporting parts 12; if the cleaning degree is not ideal at one time, the first cleaning part 51 and the second cleaning part 52 can be used to work many times until it is clean. The present invention adopts the first cleaning part 51 and the second cleaning part 52 to cooperate with each other to remove slag and coke, and can perform multiple cleanings to improve the cleaning efficiency and provide a pollution-free working surface for detection and cutting.

[0032] Example 5, reference Figure 1 to Figure 4 , which is the fifth embodiment of the present invention, and which is different from the first four embodiments in that: In order to drive the robot body to walk on the surface of the water-cooled wall, so as to facilitate the cleaning, detection, marking and cutting of the water-cooled wall, a walking unit 6 is also provided at the bottom of the support portion 12, and the walking unit 6 includes a fourth mounting groove 61 provided at the bottom of the support portion 12, a driving wheel 62 and a driving motor 63 provided in the fourth mounting groove 61, and the output end of the driving motor 63 is connected to the driving wheel 62; The driving motor 63 drives the driving wheel 62 to rotate and then drives the robot body to walk. Considering the material of the water-cooled wall, it is recommended that the driving wheel 62 adopts a magnetic wheel. In order to consider the walking stability, it is recommended to set four groups of walking units, two groups on each of the two support parts 12.

[0033] In addition, in order to improve the working efficiency of the robot, two sets of blades can be set above the support parts 12 on both sides. The rotation of the blades can drive the robot to take off and move. The walking unit 6 is used to work when the robot is working, and the robot can fly away through the blades when the work is completed.

[0034] In the present invention, the control system is indispensable. The required control system can be integrated on the central controller, which is installed in the middle of the installation part 1 to be responsible for controlling and synchronously coordinating the robot's walking, cleaning, detection, marking and cutting operations on the surface of the water-cooled wall. In order to facilitate the staff to check the records, the central controller is also set to be displayable and touch-controlled.

[0035] Finally, it should be pointed out that the methods and devices described in detail above are only embodiments, and those skilled in the art can modify these embodiments in different ways without departing from the scope of the present invention.

[0036] It is important to note that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A fully automatic water-cooled wall cutting robot, characterized in that: include, A mounting portion (1), wherein a detection unit (2) is arranged on the mounting portion (1); The detection unit (2) comprises an inner wall corrosion pit detection portion (21) for detecting pipe wall defects; A cutting unit (3) located at the bottom of the mounting portion (1), comprising a driving portion (31) for lateral and longitudinal movement, and a cutting member (32) located at the bottom of the driving portion (31); After the detection unit (2) detects that there are defects on the pipe wall, the cutting unit (3) is used to perform cutting.

2. The fully automatic water-cooled wall cutting robot according to claim 1, characterized in that: The inner wall corrosion pit detection unit (21) comprises a thickness gauge (211) for detecting the thickness of the pipe wall, and a magnetic flux leakage detection probe (212) and a cold cathode digital radiograph (213) for further detecting the corrosion degree of the pipe wall corrosion pits; The magnetic flux leakage detection probe (212) and the cold cathode digital ray machine (213) cooperate to achieve high-precision detection of pipeline corrosion pits.

3. The fully automatic water-cooled wall cutting robot according to claim 2, characterized in that: The thickness gauge (211) is used for primary detection, the magnetic flux leakage detection probe (212) is used for secondary detection, and the cold cathode digital radiography machine (213) is used for tertiary detection; the magnetic flux leakage detection probe (212) and the cold cathode digital radiography machine (213) perform graded detection, thereby improving detection accuracy and comprehensiveness.

4. The fully automatic water-cooled wall cutting robot according to claim 2, characterized in that: A receiving groove (11) is provided inside the mounting portion (1), and a retractable bracket (111) for mounting the inner wall corrosion pit detection portion (21) is provided inside the receiving groove (11); The retractable bracket (111) drives the inner wall corrosion pit detection portion (21) to perform reciprocating motion along the length direction of the storage groove (11).

5. A fully automatic water-cooled wall cutting robot according to any one of claims 1 to 4, characterized in that: The detection unit (2) also includes a front high-definition camera (22) and a rear high-definition camera (23) for observing the wear and tear of the pipe wall, and a positioner (24) for positioning.

6. The fully automatic water-cooled wall cutting robot according to claim 1, characterized in that: Support parts (12) are symmetrically arranged on both sides of the mounting part (1); a marking unit is arranged inside the supporting part (12); the marking unit comprises a group of symmetrically arranged first supporting frames (41), a guide rail (42) arranged between the group of first supporting frames (41), a sliding block (43) slidable on the guide rail (42), and a high-pressure nozzle (44) arranged on the sliding block (43); a first mounting groove (45) arranged on the side of the supporting part (12), an ink box (46) arranged in the first mounting groove (45), and the high-pressure nozzle (44) is connected to the ink box (46) through a pipeline.

7. The fully automatic water-cooled wall cutting robot according to claim 6, characterized in that: A cleaning unit (5) is also provided on the mounting portion (1) and the supporting portion (12), the cleaning unit (5) comprising a first cleaning portion (51) provided at the bottom of the mounting portion (1) and a second cleaning portion (52) provided above the supporting portions (12) on both sides.

8. The fully automatic water-cooled wall cutting robot according to claim 7, characterized in that: The first cleaning portion (51) comprises a second mounting groove (511) arranged at the bottom of the mounting portion (1), a first motor (512) arranged in the second mounting groove (511), a third screw rod (513) arranged at the output end of the first motor (512), a cylinder (514) arranged on the surface of the third screw rod (513), and a cleaning brush (515) arranged at the output end of the cylinder (514).

9. The fully automatic water-cooled wall cutting robot according to claim 7, characterized in that: The second cleaning portion (52) comprises a third mounting groove (521) arranged inside the supporting portion (12), a high-pressure pump (522) and a water tank (523) arranged in the third mounting groove (521), and a high-pressure water gun (524) arranged on the supporting portion (12), the high-pressure pump (522) being connected to the high-pressure water gun (524) via a first water pipe, and the high-pressure pump (522) being connected to the water tank (523) via a second water pipe.

10. The fully automatic water-cooled wall cutting robot according to claim 6, characterized in that: A walking unit (6) is also provided at the bottom of the support portion (12), and the walking unit (6) comprises a fourth mounting groove (61) provided at the bottom of the support portion (12), and a driving wheel (62) and a driving motor (63) provided in the fourth mounting groove (61); The output end of the driving motor (63) is connected to the driving wheel (62); the walking unit (6) drives the robot to walk on the surface of the water-cooled wall.

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