Boiler water-cooled wall detection robot with adjustable wheel tread

Abstract

The invention discloses a wheel track adjustable boiler water wall detection robot which comprises a guide mechanism, a moving mechanism is slidably arranged on the guide mechanism, a driving mechanism is slidably connected to one end, away from the guide mechanism, of the moving mechanism, and the driving mechanism is connected with a driven mechanism. According to the device, the distance between the driving wheel and the driven wheel can be adjusted, the application range of the device is enlarged, and the stability of the whole device during movement is improved in combination with the guide mechanism on the upper portion.

Description

Technical Field

[0001] The invention belongs to the technical field of boiler water-cooled wall detection, and relates to a boiler water-cooled wall detection robot with adjustable wheelbase. Background Art

[0002] The boiler water-cooled wall is the main heat-receiving part of the boiler. It is composed of several rows of steel pipes distributed around the boiler furnace. Its interior is flowing water or steam, and the outside world receives the heat from the flame of the boiler furnace. Its main function is to absorb the radiant heat of the high-temperature combustion products in the furnace. The working fluid moves upward in it, evaporates due to heat, and achieves a cooling effect. Therefore, in order to ensure the normal operation of the boiler, it needs to be inspected and maintained regularly.

[0003] The existing patent (publication number: CN113086044A) discloses "a magnetic wheel wall-climbing robot for boiler water-cooled wall detection, wherein the first transmission wheel and the second transmission wheel are connected by a first synchronous belt, the second transmission wheel and the third transmission wheel are connected by a second synchronous belt, the left end of the second transmission shaft is connected to the reducer and the stepper motor in sequence, a detection module is installed on the right side frame, a battery pack is provided on the right side of the detection module, the left end of the first transmission shaft is connected to a side magnetic wheel 1, and the right end of the first transmission shaft is connected to an intermediate magnetic wheel 1 and a side magnetic wheel 2 in sequence, a spring is sleeved on the connecting shaft between the side magnetic wheel 1, the first transmission wheel, the intermediate magnetic wheel 1, and the side magnetic wheel 2, and the right end of the third transmission shaft is connected to the intermediate magnetic wheel 2. The overall structure is simple, coordinated and compact, light in weight, stable in operation, flexible in posture adjustment, strong in controllability and simple and easy to operate, strong in adsorption, high in reliability, able to adapt to different working surfaces, good in obstacle surmounting ability, high in work efficiency, and low in cost".

[0004] When the existing device is used for detection, a fixed magnetic wheel is used to attach the device to the surface of the water-cooled wall for movement to achieve detection. When the device is in use, the distance between the wheels cannot be adjusted, and the adaptability to water-cooled walls of different sizes is poor. At the same time, the magnetism of the magnet is easily reduced due to high temperature, and the stability of the whole device during use is difficult to ensure. Summary of the invention

[0005] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art and provide a boiler water-cooled wall inspection robot with adjustable wheelbase. The distance between the driving wheel and the driven wheel can be adjusted to increase the application range of the device. Combined with the guide mechanism above, the stability of the device during overall movement is improved.

[0006] To achieve the above-mentioned purpose, the present invention discloses a boiler water-cooled wall inspection robot with adjustable wheelbase, comprising a guide mechanism, a moving mechanism slidably arranged on the guide mechanism, an active mechanism slidably connected to one end of the moving mechanism away from the guide mechanism, and the active mechanism is connected to a driven mechanism.

[0007] A further improvement of the boiler water wall inspection robot with adjustable wheelbase according to the present invention is as follows:

[0008] Further, the active mechanism includes a detection body, and first connecting rods are provided on both upper and lower sides of one end of the detection body, and second connecting rods are hingedly provided on the ends of the two first connecting rods away from the detection body, and a first splicing plate is provided between the two second connecting rods, and is connected to the driven mechanism through the first splicing plate;

[0009] A driving box is provided at the other end of the detection body, and driving wheels are provided on the upper and lower sides of the driving box. A driving motor is provided on the back of the detection body, and a lifting wheel is fixedly provided on the output end of the driving motor. A supporting frame is provided on the back of the detection body, and the lifting wheel is rotatably provided inside the supporting frame. The moving mechanism passes through the supporting frame and engages with the lifting wheel.

[0010] Furthermore, an inspection window is hingedly provided on the front of the detection body, a data transceiver is provided on the side of the drive box, and a control panel is provided on the front of the drive box.

[0011] Furthermore, the driving wheel comprises a hub, an inner tube is arranged on the outer end surface of the hub, and an outer tube is arranged on the outer surface of the inner tube.

[0012] Furthermore, a fill light, a camera and a detection probe are arranged on the back of the detection body.

[0013] Furthermore, the driven mechanism includes a battery box, driven wheels are provided at both upper and lower ends of the battery box, third connecting rods are hingedly provided on both upper and lower sides of the side of the battery box, fourth connecting rods are hingedly provided on the ends of the two third connecting rods away from the battery box, a second splicing plate is rotatably provided between the two fourth connecting rods, and the second splicing plate is connected to the first splicing plate.

[0014] Furthermore, a box door is hingedly provided on the front of the battery box, and a plurality of heat dissipation holes are provided on the side of the battery box.

[0015] Furthermore, the guide mechanism includes a guide track, a changing track is fixedly provided at one end of the guide track, a first connecting plate is provided at the other end of the guide track, a second connecting plate is provided at the end of the changing track, and the upper end of the moving mechanism is inserted into the guide track.

[0016] Furthermore, the moving mechanism includes a moving plate, a plurality of moving teeth are arranged on the side of the moving plate, two limit plates are arranged at the upper end of the moving plate, a pulley is rotatably arranged between the two limit plates, and the pulley is located in the guide track.

[0017] The boiler water-cooled wall inspection robot with adjustable wheelbase described in the present invention comprises a guide mechanism, a moving mechanism is slidably arranged on the guide mechanism, an active mechanism is slidably connected to one end of the moving mechanism away from the guide mechanism, the active mechanism is connected to a driven mechanism, the upper end of the moving mechanism moves under the action of the guide mechanism, and the moving mechanism moves up and down under the action of the active mechanism.

[0018] The present invention has the following beneficial effects:

[0019] The boiler water-cooled wall inspection robot with adjustable wheelbase described in the present invention is provided with a guide mechanism, an active mechanism and a driven mechanism during specific operation. When in use, the user splices the active mechanism with the driven mechanism. After the splicing is completed, the upper end of the mobile mechanism moves under the action of the guide mechanism, and the mobile mechanism moves up and down under the action of the active mechanism. The guide mechanism adjusts the angle through a changing track so that it can better fit the water-cooled wall, avoids the device being separated too far from the water-cooled wall during use, and affects the inspection result, thereby improving the stability of the overall use of the device.

[0020] Furthermore, the guide mechanism includes a plurality of guide rails, one end of which is provided with a direction-changing rail, and the direction-changing rail is made of metal corrugations to achieve direction adjustment.

[0021] Furthermore, the driving wheel includes a hub, an inner tube is arranged on the outer end surface of the hub, and an outer tube is fixedly arranged on the outer end surface of the inner tube, which is beneficial to improving the fit between the device and the water-cooled wall and improving the stability of the device during use.

[0022] Furthermore, the function of adjusting the height of the device is achieved by cooperating with the lifting wheel and the moving teeth.

[0023] Furthermore, a fill light is arranged on the back of the detection body, a camera is arranged on the back of the detection body, and a detection probe is arranged on the back of the detection body, which is conducive to realizing the function of detecting various parameters of the water-cooled wall surface when the device is performing detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings constituting a part of the present invention 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 accompanying drawings:

[0025] Figure 1 It is an axonometric schematic diagram of the present invention;

[0026] Figure 2 It is a front axonometric schematic diagram of the active mechanism of the present invention;

[0027] Figure 3 It is a rear axonometric schematic diagram of the active mechanism of the present invention;

[0028] Figure 4 It is a front axonometric schematic diagram of the driven mechanism of the present invention;

[0029] Figure 5 It is an axonometric schematic diagram of the guide mechanism of the present invention;

[0030] Figure 6 It is an axonometric schematic diagram of the moving mechanism of the present invention.

[0031] Among them, 1 is a guide mechanism, 2 is a moving mechanism, 3 is an active mechanism, 4 is a driven mechanism, 101 is a first connecting plate, 102 is a guide track, 103 is a second connecting plate, 104 is a turning track, 201 is a pulley, 202 is a limit plate, 203 is a moving plate, 204 is a moving tooth, 301 is a first connecting rod, 302 is a second connecting rod, 303 is a fixing bolt, 304 is a first splicing plate, 305 is a detection body, 306 is an inspection window, 307 is a drive box, 308 is a control panel, 309 is a driving wheel , 310 is a support frame, 311 is a driving motor, 312 is a lifting wheel, 313 is a fill light, 314 is a first fixed knob, 315 is a detection probe, 316 is a camera, 317 is a data transceiver, 30901 is an inner tube, 30902 is an outer tube, 30903 is a wheel hub, 401 is a box door, 402 is a heat dissipation hole, 403 is a battery box, 404 is a driven wheel, 405 is a third connecting rod, 406 is a fourth connecting rod, 407 is a second splicing plate, 408 is a fixing nut, and 409 is a second fixing knob. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] In the description of the present invention, it should be understood that the terms “include” and “comprises” indicate the presence of described features, wholes, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or collections thereof.

[0034] It should also be understood that the terms used in the present specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. As used in the present specification and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" are intended to include plural forms.

[0035] It should be further understood that the term "and / or" used in the present specification and the appended claims refers to any combination of one or more of the associated listed items and all possible combinations, and includes these combinations. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present invention generally indicates that the associated objects are in an "or" relationship.

[0036] It should be understood that, although the terms first, second, third, etc. may be used to describe preset ranges, etc. in the embodiments of the present invention, these preset ranges should not be limited to these terms. These terms are only used to distinguish preset ranges from each other. For example, without departing from the scope of the embodiments of the present invention, the first preset range may also be referred to as the second preset range, and similarly, the second preset range may also be referred to as the first preset range.

[0037] The word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if it is determined" or "if (stated condition or event) is detected" may be interpreted as "when it is determined" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0038] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present invention described and shown in the drawings here can usually be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents selected embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0039] Various structural schematic diagrams of the embodiments disclosed in the present invention are shown in the accompanying drawings. These figures are not drawn to scale, and some details are magnified and some details may be omitted for the purpose of clear expression. The shapes of various regions and layers shown in the figures and the relative sizes and positional relationships therebetween are only exemplary, and may deviate in practice due to manufacturing tolerances or technical limitations, and those skilled in the art may additionally design regions / layers with different shapes, sizes, and relative positions according to actual needs.

[0040] Embodiment 1

[0041] refer to Figure 1 The boiler water-cooled wall inspection robot with adjustable wheelbase described in the present invention includes a guide mechanism 1, a moving mechanism 2 is slidably arranged on the guide mechanism 1, an active mechanism 3 is slidably connected to the end of the moving mechanism 2 away from the guide mechanism 1, and the active mechanism 3 is connected to the driven mechanism 4. The upper end of the moving mechanism 2 moves under the action of the guide mechanism 1, and the moving mechanism 2 moves up and down under the action of the active mechanism 3.

[0042] Embodiment 2

[0043] refer to Figures 1 to 6 The boiler water-cooled wall inspection robot with adjustable wheelbase of the present invention comprises a guide mechanism 1, which is convenient for guiding the travel direction of the device. A moving mechanism 2 is slidably arranged on the surface of the guide mechanism 1, which is convenient for realizing the auxiliary movement function of the device when in use. An active mechanism 3 is slidably arranged on the side of the moving mechanism 2 away from the guide mechanism 1, and a driven mechanism 4 is arranged at the end of the active mechanism 3, which is conducive to providing power for the overall inspection movement of the device;

[0044] As an embodiment of the present invention, the active mechanism 3 includes a detection body 305, and a first connecting rod 301 is provided on the upper and lower sides of one end of the detection body 305. The two first connecting rods 301 are hingedly provided with a second connecting rod 302 at one end away from the detection body 305, so that the user can adjust the wheel spacing by adjusting the angle between the first connecting rod 301 and the second connecting rod 302. A first splicing plate 304 is rotatably arranged between the two second connecting rods 302, and a fixing bolt 303 is arranged on the end face of the first splicing plate 304, so that the user can splice the active mechanism 3 with the driven mechanism 4. The bottom ends of the first connecting rod 301 and the second connecting rod 302 are threaded with a first fixing knob 314, so that the user can fix it after the angle adjustment is completed. An inspection window 306 is hingedly provided on the front of the detection body 305, and a drive box 307 is provided at the other end of the detection body 305. Driving wheels 309 are fixedly provided on the upper and lower sides of the drive box 307. A data transceiver 317 is provided on the drive box 307. A control panel 308 is provided on the front of the drive box 307. The driving wheel 309 includes a hub 30903. An inner tube 30901 is provided on the outer end surface of the hub 30903. An outer tube 30902 is fixedly provided on the outer end surface of the inner tube 30901, which is conducive to improving the fit between the device and the water-cooled wall and improving the stability of the device during use.

[0045] As an embodiment of the present invention, a driving motor 311 is provided on the back of the detection body 305, a lifting wheel 312 is fixedly provided on the output end of the driving motor 311, a support frame 310 is provided on the back of the detection body 305, and the lifting wheel 312 is rotatably arranged inside the support frame 310, so that the user can cooperate with the moving teeth 204 through the lifting wheel 312 to realize the function of adjusting the height of the device.

[0046] As an embodiment of the present invention, a fill light 313 is arranged on the back of the detection body 305, a camera 316 is arranged on the back of the detection body 305, and a detection probe 315 is arranged on the back of the detection body 305, which is conducive to realizing the function of detecting various parameters of the water-cooled wall surface when the device is performing detection.

[0047] As an embodiment of the present invention, the driven mechanism 4 includes a battery box 403, and driven wheels 404 are rotatably provided at both upper and lower ends of the battery box 403, and third connecting rods 405 are hingedly provided at both upper and lower ends of the side of the battery box 403, and fourth connecting rods 406 are hingedly provided at one end of the two third connecting rods 405 away from the battery box 403, and a second splicing plate 407 is rotatably provided between the two fourth connecting rods 406, so that the user can adjust the wheel spacing by adjusting the angle between the third connecting rod 405 and the fourth connecting rod 406.

[0048] As an embodiment of the present invention, the bottom ends of the third connecting rod 405 and the fourth connecting rod 406 are both threaded with a second fixing knob 409, which is convenient for controlling, adjusting and fixing the angle between the two. A fixing nut 408 is provided on the end face of the second splicing plate 407, which is convenient for the user to connect the active mechanism 3 and the driven mechanism 4. A box door 401 is hingedly provided on the front of the battery box 403, and a plurality of heat dissipation holes 402 are provided on the side of the battery box 403, which is beneficial to provide a power source for the device and facilitate improving the heat dissipation effect of the device.

[0049] As an embodiment of the present invention, the guide mechanism 1 includes a plurality of guide rails 102 , one end of which is provided with a change-of-direction rail 104 , which is made of corrugated metal and can adjust the direction.

[0050] As an embodiment of the present invention, a first connecting plate 101 is provided at the other end of the guide rail 102, and second connecting plates 103 are provided at both ends of the change-of-direction rail 104. The first connecting plates 101 and the second connecting plates 103 on the front and rear guide rails are spliced.

[0051] As an embodiment of the present invention, the moving mechanism 2 includes a moving plate 203 , and a plurality of moving teeth 204 are fixedly provided on the front side of the moving plate 203 , so as to facilitate the user to adjust the detection height position of the entire device.

[0052] As an embodiment of the present invention, two limit plates 202 are fixedly provided on the rear side of the upper end of the movable plate 203 , and a plurality of pulleys 201 are rotatably provided between the two limit plates 202 , which is conducive to realizing the sliding function of the device in the guide mechanism 1 .

[0053] The specific use process of the present invention is:

[0054] When the device is in use, the user can select a suitable number of guide rails 102 according to the length of the water-cooled wall to be detected, and select a suitable number of turning rails 104 at the turning position of the water-cooled wall. After the selection is completed, the guide rails 102 and the turning rails 104 are combined and connected through the first connecting plate 101 and the second connecting plate 103. After the connection is completed, the spliced ​​guide mechanism 1 is welded and fixed to the surface of the water-cooled wall. After the installation is completed, the mobile mechanism 2 is installed as a whole to the inside of the guide rail 102 through the pulley 201. According to the required wheel spacing, the angles between the first connecting rod 310, the second connecting rod 302, the third connecting rod 405 and the fourth connecting rod 406 are adjusted. After the adjustment is completed, the fixing bolts 303 and The fixing nut 408 fixes the active mechanism 3 and the driven mechanism 4 in combination with the first splicing plate 304 and the second splicing plate 407, and fixes the first connecting rod 310, the second connecting rod 302, the third connecting rod 405 and the fourth connecting rod 406 through the first fixing knob 314 and the second fixing knob 409. The driving box 307 is turned on to drive the active wheel 309 and the driven wheel 404 to move, so that the entire device can move on the surface of the water-cooled wall. The detection probe 315 and the camera 316 are combined with the detection body 305 for detection. When the detection height needs to be adjusted, the lifting wheel 312 is driven to rotate by the driving motor 311 to move on the surface of the moving tooth 204 and the moving plate 203 to complete the detection of different positions.

[0055] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and disclosure of the invention. This application is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present invention is indicated by the following claims.

[0056] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

[0057] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any way. Any simple modification, change and equivalent structural change made to the above embodiment based on the technical essence of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A boiler water wall inspection robot with adjustable wheelbase, characterized in that: The invention comprises a guide mechanism (1), a moving mechanism (2) being slidably arranged on the guide mechanism (1), an active mechanism (3) being slidably connected to one end of the moving mechanism (2) away from the guide mechanism (1), and the active mechanism (3) being connected to a driven mechanism (4).

2. The boiler water wall inspection robot with adjustable wheelbase according to claim 1, characterized in that: The active mechanism (3) comprises a detection body (305), wherein first connecting rods (301) are provided on both upper and lower sides of one end of the detection body (305), and second connecting rods (302) are hingedly provided on the ends of the two first connecting rods (301) away from the detection body (305), and a first splicing plate (304) is provided between the two second connecting rods (302), and is connected to the driven mechanism (4) via the first splicing plate (304); A driving box (307) is provided at the other end of the detection body (305), and driving wheels (309) are provided on both the upper and lower sides of the driving box (307). A driving motor (311) is provided on the back of the detection body (305), and a lifting wheel (312) is fixedly provided at the output end of the driving motor (311). A supporting frame (310) is provided on the back of the detection body (305), and the lifting wheel (312) is rotatably provided inside the supporting frame (310). The moving mechanism (2) passes through the supporting frame (310) and meshes with the lifting wheel (312).

3. The boiler water wall inspection robot with adjustable wheelbase according to claim 2, characterized in that: An inspection window (306) is hingedly provided on the front of the detection body (305), a data transceiver (317) is provided on the side of the drive box (307), and a control panel (308) is provided on the front of the drive box (307).

4. The boiler water wall inspection robot with adjustable wheelbase according to claim 2, characterized in that: The driving wheel (309) comprises a wheel hub (30903), an inner tube (30901) is arranged on the outer end surface of the wheel hub (30903), and an outer tube (30902) is arranged on the outer surface of the inner tube (30901).

5. The boiler water wall inspection robot with adjustable wheelbase according to claim 2, characterized in that: A fill light (313), a camera (316) and a detection probe (315) are arranged on the back of the detection body (305).

6. The boiler water wall inspection robot with adjustable wheelbase according to claim 2, characterized in that: The driven mechanism (4) comprises a battery box (403), driven wheels (404) are arranged at both upper and lower ends of the battery box (403), third connecting rods (405) are hingedly arranged on both upper and lower sides of the side of the battery box (403), fourth connecting rods (406) are hingedly arranged on the ends of the two third connecting rods (405) away from the battery box (403), a second splicing plate (407) is rotatably arranged between the two fourth connecting rods (406), and the second splicing plate (407) is connected to the first splicing plate (304).

7. The boiler water wall inspection robot with adjustable wheelbase according to claim 6, characterized in that: A box door (401) is hingedly provided on the front of the battery box (403), and a plurality of heat dissipation holes (402) are provided on the side of the battery box (403).

8. The boiler water wall inspection robot with adjustable wheelbase according to claim 6, characterized in that: The guide mechanism (1) comprises a guide track (102), one end of the guide track (102) is fixedly provided with a direction-changing track (104), the other end of the guide track (102) is provided with a first connecting plate (101), the end of the direction-changing track (104) is provided with a second connecting plate (103), and the upper end of the moving mechanism (2) is inserted into the guide track (102).

9. The boiler water wall inspection robot with adjustable wheelbase according to claim 8, characterized in that: The moving mechanism (2) comprises a moving plate (203), a plurality of moving teeth (204) are arranged on the side of the moving plate (203), two limit plates (202) are arranged at the upper end of the moving plate (203), a pulley (201) is rotatably arranged between the two limit plates (202), and the pulley (201) is located in the guide track (102).

10. A boiler water wall inspection robot with adjustable wheelbase, characterized in that: The invention comprises a guide mechanism (1), a moving mechanism (2) being slidably arranged on the guide mechanism (1), an active mechanism (3) being slidably connected to one end of the moving mechanism (2) away from the guide mechanism (1), the active mechanism (3) being connected to a driven mechanism (4), the upper end of the moving mechanism (2) moving under the action of the guide mechanism (1), and the moving mechanism (2) moving up and down under the action of the active mechanism (3).

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