Obstacle crossing type boiler water wall detection robot

Abstract

The invention discloses an obstacle crossing type boiler water wall detection robot which comprises a guide mechanism, a moving mechanism is slidably arranged on the surface of the guide mechanism, traction ropes are wound in the two ends of the moving mechanism, and detection mechanisms are arranged at the lower ends of the two traction ropes; the detection mechanism comprises a detection box, telescopic rods are fixedly arranged at the four corners of the back face of the detection box, universal joints are arranged at the ends, away from the detection box, of the telescopic rods, protection plates are arranged at the ends, away from the telescopic rods, of the universal joints, moving wheels are rotationally arranged in the protection plates, and the robot can avoid obstacles.

Description

Technical Field

[0001] The invention belongs to the technical field of boiler water-cooled wall detection, and relates to an obstacle-surmountable boiler water-cooled wall detection robot. Background Art

[0002] The boiler water-cooled wall is usually laid vertically on the inner wall of the furnace wall. It is the boiler heating surface mainly used to absorb the radiant heat released by the flame and high-temperature flue gas in the furnace. It is the main type of evaporation heating surface of various modern boilers and is also a basic component in the boiler water circulation loop. It has the function of cooling and protecting the furnace wall.

[0003] The existing patent (publication number: CN113063848A) discloses "a crawling robot for detecting boiler water-cooled walls, including a driving walking mechanism and a detection mechanism; the driving walking mechanism includes a body, a stepping motor, a worm gear, a frame and a dovetail wheel, the stepping motor and the worm gear are arranged in the body, the front end face and the rear end face of the body are respectively connected to the dovetail wheel through a frame perpendicular to them, and a magnet is arranged on the frame; the detection mechanism is symmetrically distributed on both sides of the body, the detection mechanism includes an arc detection plate, a bull's eye wheel, a permanent magnet and a Hall element, the arc detection plate is connected to the body through a bracket, and the arc detection plate is sequentially provided with a bull's eye wheel, a permanent magnet, a Hall element, a permanent magnet and a bull's eye wheel from front to back, and the number of bull's eye wheels in contact with the boiler cold water wall is at least three and is arranged at equal intervals in the horizontal direction; the movement process of the driving walking mechanism: when the stepping motor is energized, it starts to rotate, driving the worm gear to drive the dovetail wheel to rotate, and due to the special design of the dovetail wheel, the concave tire fits the wall very well The surface, and the magnets on the frame have magnetic force to prevent the robot from having pressure. The pneumatic tire of the dovetail wheel can produce movement with the friction of the wall, and from then on the robot begins to crawl up and down along the wall. The working process of the leakage magnetic detection mechanism: After the Hall element is energized, it starts to detect the cold water wall of the boiler under the drive of the driving walking mechanism. When the wall becomes thinner or has defects such as cracks, the element will react and transmit the information to the controller. As the robot crawls up and down to detect a circle of the wall, the purpose of complete detection is achieved. The arc-shaped detection plate fits the curvature of the wall to increase the detection range. The bull's eye wheel plays a role in stabilizing the robot and helping it move. The adjustment screws on the bull's eye wheel and the permanent magnet play a role in adjusting the adsorption force, ensuring that the leakage magnetic detection mechanism can be adsorbed on the wall. The wall adsorption force can also be adjusted according to different situations. The present invention has a high degree of modularization, a strong unity of the driving walking mechanism and the detection mechanism, a clear division of labor, a compact structure, a small size and a light weight.

[0004] When the existing inspection robot is used, it is usually installed on the surface of the boiler water-cooled wall by magnetic attraction. When moving, it is difficult to avoid obstacles on the water-cooled wall surface. The overall application range is small and the practicality is poor. Summary of the invention

[0005] The purpose of the present invention is to overcome the above-mentioned shortcomings of the prior art and provide an obstacle-surmountable boiler water-cooled wall inspection robot, which can avoid obstacles.

[0006] To achieve the above-mentioned purpose, the obstacle-surmountable boiler water-cooled wall inspection robot of the present invention comprises a guide mechanism, a moving mechanism is slidably arranged on the surface of the guide mechanism, traction ropes are wound inside the two ends of the moving mechanism, and the lower ends of the two traction ropes are provided with inspection mechanisms;

[0007] The detection mechanism includes a detection box, and telescopic rods are fixedly arranged at the four corners of the back of the detection box. A universal joint is arranged at the end of the telescopic rod away from the detection box, and a protective plate is arranged at the end of the universal joint away from the telescopic rod. A movable wheel is rotatably arranged inside the protective plate.

[0008] The further improvement of the obstacle-surmountable boiler water-cooled wall inspection robot of the present invention is:

[0009] Furthermore, a first detection camera is arranged at the middle position on both sides of the detection box, infrared sensors are arranged at the upper and lower positions of the rear ends of both sides of the detection box, a second detection camera is arranged at the middle position on the back side of the detection box, and detection probes are arranged at the middle positions at both ends of the back side of the detection box.

[0010] Furthermore, hanging seats are fixedly provided on both sides of the upper surface of the detection box, and two hanging plates are provided on the upper ends of the hanging seats.

[0011] Furthermore, a placement door is hingedly provided on the front of the detection box, and a control panel is provided in the middle of the front of the placement door.

[0012] Furthermore, a handle is provided at a middle position of the bottom end of the front side of the door.

[0013] Furthermore, the moving mechanism includes a winding box, and a motor box is fixedly arranged on the side of the winding box.

[0014] Furthermore, an inspection door is hingedly provided on the front of the winding box, and a protective door is hingedly provided on the front of the motor box.

[0015] Furthermore, a driving motor is arranged inside the motor box, a rotating shaft is arranged at the output end of the driving motor, a winding wheel is arranged on the surface of the rotating shaft, the rotating shaft is rotatably arranged in the winding box, and a lifting slot is opened at the middle position of the bottom end of the winding box.

[0016] Furthermore, a mounting seat is provided on the back of the motor box and the winding box, a mounting plate is provided at the rear end of the mounting seat, a plurality of sliding wheels are rotatably provided between the mounting seat and the mounting plate, and a linear motor is provided at the middle position of the back of the mounting plate.

[0017] The obstacle-surmountable boiler water-cooled wall inspection robot described in the present invention includes a guide mechanism, a moving mechanism is slidably arranged on the surface of the guide mechanism, traction ropes are wound inside the two ends of the moving mechanism, and the lower ends of the two traction ropes are provided with inspection mechanisms; the inspection mechanism includes an inspection box, telescopic rods are fixedly arranged at the four corners of the back of the inspection box, a universal joint is arranged on the end of the telescopic rod away from the inspection box, a protective plate is arranged on the end of the universal joint away from the telescopic rod, and a moving wheel is rotatably arranged inside the protective plate; the guide mechanism includes a mounting track, and the inner surface of the mounting track is provided with a guide track.

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

[0019] During specific operation, the boiler header water pressure testing device described in the present invention is provided with a detection mechanism and a moving mechanism. When the user is using it, the detection mechanism realizes the function of detecting obstacles in front of the device and judges the size of the obstacles. Smaller obstacles can be avoided by lifting the device by a telescopic rod, and larger obstacles can be overcome by changing the position of the entire device by a traction rope, thereby increasing the overall application range of the device and improving the practicability of the device.

[0020] Furthermore, protective plates are fixedly provided at the rear ends of the four universal joints, and movable wheels are rotatably provided inside the four protective plates, so as to facilitate the function of moving and lifting the device to avoid obstacles when in use.

[0021] Furthermore, a second detection camera is fixedly provided at the middle position of the back of the detection box, and detection probes are fixedly provided at the middle positions of both ends of the back of the detection box, so as to facilitate the water-cooled wall detection function when the device is used.

[0022] Furthermore, a plurality of sliding wheels are rotatably arranged between the mounting seat and the mounting plate, which is beneficial to reducing friction between the devices and improving the stability of the devices. A linear motor is fixedly arranged in the middle position on the back side of the mounting plate, which is beneficial to realizing the moving function of the device when it is used.

[0023] Furthermore, a guide track is fixedly provided on the inner surface of the mounting track, which is helpful for limiting the forward direction of the device when it is in use. 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 view isometric schematic diagram of the detection mechanism of the present invention;

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

[0028] Figure 4 It is an axonometric schematic diagram of the guide mechanism of the present invention;

[0029] Figure 5 It is a front axonometric schematic diagram of the mobile mechanism of the present invention;

[0030] Figure 6 It is a rear axonometric schematic diagram of the mobile mechanism of the present invention;

[0031] Figure 7 It is a front cross-sectional schematic diagram of the moving mechanism of the present invention.

[0032] Among them, 1 is a moving mechanism, 2 is a guiding mechanism, 3 is a traction rope, 4 is a detection mechanism, 101 is an inspection door, 102 is a winding box, 103 is a motor box, 104 is a protective door, 105 is a linear motor, 106 is a mounting seat, 107 is a mounting plate, and 108 is a sliding wheel; 109 is a rotating shaft, 110 is a driving motor, 111 is a winding wheel, 112 is a lifting slot, 201 is a mounting track, 202 is a guide track, 401 is a heat dissipation hole, 402 is a moving wheel, 403 is a protective plate, 404 is a universal joint, 405 is an infrared sensor, 406 is a first detection camera, 407 is a lifting plate, 408 is a lifting seat, 409 is a detection box, 410 is a placement door, 411 is a control panel, 412 is a handle, 413 is a second detection camera, 414 is a detection probe, and 415 is a telescopic rod. DETAILED DESCRIPTION

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] Embodiment 1

[0042] In order to solve the problem that the detection robot is magnetically mounted on the surface of the boiler water-cooled wall when in use, and it is difficult to avoid obstacles on the water-cooled wall surface when moving, the obstacle-surmountable boiler water-cooled wall detection robot described in the present invention includes a guide mechanism 2, a moving mechanism 1 is slidably arranged on the surface of the guide mechanism 2, traction ropes 3 are wound inside the two ends of the moving mechanism 1, and a detection mechanism 4 is arranged at the lower end of the two traction ropes 3; the detection mechanism 4 includes a detection box 409, telescopic rods 415 are fixedly arranged at the four corners of the back side of the detection box 409, a universal joint 404 is arranged on the end of the telescopic rod 415 away from the detection box 409, a protective plate 403 is arranged on the end of the universal joint 404 away from the telescopic rod 415, and a moving wheel 402 is rotatably arranged inside the protective plate 403; the guide mechanism 2 includes a mounting track 201, and a guide track 202 is arranged on the inner surface of the mounting track 201. The mobile mechanism 1 includes a winding box 102, a motor box 103 is fixedly arranged on one side of the winding box 102, an inspection door 101 is hingedly arranged on the front of the winding box 102, and a protective door 104 is hingedly arranged on the front of the motor box 103, which is conducive to providing power for the device to reel; a driving motor 110 is fixedly arranged inside the motor box 103, a rotating shaft 109 is fixedly arranged on the output end of the driving motor 110, and two winding wheels 111 are fixedly arranged on the surface of the rotating shaft 109, and the rotating shaft 109 is rotatably arranged in the winding box 102, and the winding box 102 A lifting slot 112 is provided in the middle of the bottom end, which is convenient for realizing the winding function of the traction rope 3 when the device is used; a mounting seat 106 is fixedly provided on one side of the back of the motor box 103 and the winding box 102, and a mounting plate 107 is fixedly provided at the rear end of the mounting seat 106. A plurality of sliding wheels 108 are rotatably provided between the mounting seat 106 and the mounting plate 107, which is conducive to reducing the friction between the devices and improving the stability of the devices. A linear motor 105 is fixedly provided in the middle of the back of the mounting plate 107, which is conducive to realizing the mobile function of the device when it is used. When working, the detection mechanism 4 realizes the function of detecting obstacles in front of the device, and at the same time judges the size of the obstacles. Smaller obstacles can be avoided by lifting the device through the telescopic rod 215, and larger obstacles can be overcome by changing the position of the entire device through the traction rope 3.

[0043] Embodiment 2

[0044] On the basis of the first embodiment, in order to further solve the problem that the detection robot is installed on the surface of the boiler water-cooled wall by magnetic attraction when in use, and it is difficult to avoid obstacles on the water-cooled wall surface when moving, refer to Figures 1 to 7The obstacle-surmountable boiler water-cooled wall inspection robot of the present invention comprises a guide mechanism 2, a moving mechanism 1 is slidably arranged on the surface of the guide mechanism 2, traction ropes 3 are wound and fixed at both ends of the inside of the moving mechanism 1, and a detection mechanism 4 is fixedly arranged at the lower ends of the two traction ropes 3;

[0045] The detection mechanism 4 includes a detection box 409, and telescopic rods 415 are fixedly arranged at the four corners of the back side of the detection box 409, and universal joints 404 are fixedly arranged at the rear ends of the four telescopic rods 415. Protective plates 403 are fixedly arranged at the rear ends of the four universal joints 404, and moving wheels 402 are rotatably arranged inside the four protective plates 403, so as to facilitate the function of moving and lifting the device to avoid obstacles when in use.

[0046] As an embodiment of the present invention, a first detection camera 406 is fixedly installed in the middle position on both sides of the detection box 409, and infrared sensors 405 are fixedly installed in the upper and lower positions of the rear ends of both sides of the detection box 409, so as to realize the obstacle detection function when the device is used, and a second detection camera 413 is fixedly installed in the middle position on the back side of the detection box 409, and detection probes 414 are fixedly installed in the middle positions of both ends of the back side of the detection box 409, so as to realize the water-cooled wall detection function when the device is used.

[0047] As an embodiment of the present invention, hanging seats 408 are fixedly provided on both sides of the upper surface of the detection box 409, and two hanging plates 407 are fixedly provided on the upper ends of the two hanging seats 408, which is conducive to realizing the hanging function when the device is used.

[0048] As an embodiment of the present invention, a door 410 is hingedly provided on the front of the detection box 409, a control panel 411 is fixedly provided in the middle position of the front of the door 410, and a handle 412 is fixedly provided in the middle position of the bottom end of the front of the door 410, so as to facilitate the user to control the detection function of the device.

[0049] As an embodiment of the present invention, the mobile mechanism 1 includes a winding box 102, a motor box 103 is fixedly provided on one side of the winding box 102, an inspection door 101 is hingedly provided on the front of the winding box 102, and a protective door 104 is hingedly provided on the front of the motor box 103, which is conducive to providing power for the device to wind up.

[0050] As an embodiment of the present invention, a driving motor 110 is fixedly installed inside the motor box 103, a rotating shaft 109 is fixedly installed on the output end of the driving motor 110, two winding wheels 111 are fixedly installed on the surface of the rotating shaft 109, the rotating shaft 109 is rotatably installed in the winding box 102, and a lifting groove 112 is opened in the middle position of the bottom end of the winding box 102, so as to realize the winding function of the traction rope 3 when the device is used.

[0051] As an embodiment of the present invention, a mounting seat 106 is fixedly provided on one side of the back of the motor box 103 and the winding box 102, a mounting plate 107 is fixedly provided at the rear end of the mounting seat 106, and a plurality of sliding wheels 108 are rotatably provided between the mounting seat 106 and the mounting plate 107, which is beneficial to reduce the friction between the devices and improve the stability of the devices, and a linear motor 105 is fixedly provided in the middle position on the back of the mounting plate 107, which is beneficial to realize the moving function of the device when it is used.

[0052] As an embodiment of the present invention, the guide mechanism 2 includes a mounting track 201, and a guide track 202 is fixedly provided on the inner surface of the mounting track 201, which is conducive to limiting the forward direction of the device when it is used.

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

[0054] By providing the detection mechanism 4 and the moving mechanism 1, when the user is using the device, the second detection camera 413 of the detection mechanism 4 can detect obstacles in front of the device. At the same time, combined with the infrared sensors 405 at both ends, the size of the obstacles can be judged. Smaller obstacles can be avoided by lifting the device through the telescopic rod 415, and larger obstacles can be overcome by changing the position of the entire device through the traction rope 3.

[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 are 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. An obstacle-surmountable boiler water-cooled wall inspection robot, characterized in that: It comprises a guide mechanism (2), a moving mechanism (1) is slidably arranged on the surface of the guide mechanism (2), traction ropes (3) are wound inside the two ends of the moving mechanism (1), and a detection mechanism (4) is arranged at the lower ends of the two traction ropes (3); The detection mechanism (4) comprises a detection box (409), and telescopic rods (415) are fixedly arranged at the four corners of the back of the detection box (409), and a universal joint (404) is arranged at one end of the telescopic rod (415) away from the detection box (409), and a protective plate (403) is arranged at one end of the universal joint (404) away from the telescopic rod (415), and a moving wheel (402) is rotatably arranged inside the protective plate (403).

2. The obstacle-surmountable boiler water-cooled wall inspection robot according to claim 1, characterized in that: A first detection camera (406) is arranged at the middle position of both sides of the detection box (409), infrared sensors (405) are arranged at the upper and lower positions of the rear ends of both sides of the detection box (409), a second detection camera (413) is arranged at the middle position of the back side of the detection box (409), and detection probes (414) are arranged at the middle positions of both ends of the back side of the detection box (409).

3. The obstacle-surmountable boiler water-cooled wall inspection robot according to claim 1, characterized in that: Hanging seats (408) are fixedly arranged on both sides of the upper surface of the detection box (409), and two hanging plates (407) are arranged at the upper ends of the hanging seats (408).

4. The obstacle-surmountable boiler water-cooled wall inspection robot according to claim 1, characterized in that: The front of the detection box (409) is hingedly provided with a placement door (410), and the middle position of the front of the placement door (410) is provided with a control panel (411).

5. The obstacle-surmountable boiler water-cooled wall inspection robot according to claim 4, characterized in that: A handle (412) is provided at the middle position of the bottom end of the front side of the placement door (410).

6. The obstacle-surmountable boiler water-cooled wall inspection robot according to claim 1, characterized in that: The moving mechanism (1) comprises a winding box (102), and a motor box (103) is fixedly arranged on the side of the winding box (102).

7. The obstacle-surmountable boiler water-cooled wall inspection robot according to claim 6, characterized in that: The front of the winding box (102) is hingedly provided with an inspection door (101), and the front of the motor box (103) is hingedly provided with a protective door (104).

8. The obstacle-surmountable boiler water-cooled wall inspection robot according to claim 6, characterized in that: A driving motor (110) is arranged inside the motor box (103); a rotating shaft (109) is arranged at the output end of the driving motor (110); a winding wheel (111) is arranged on the surface of the rotating shaft (109); the rotating shaft (109) is rotatably arranged in the winding box (102); and a lifting slot (112) is provided at the middle position of the bottom end of the winding box (102).

9. The obstacle-surmountable boiler water-cooled wall inspection robot according to claim 6, characterized in that: The backs of the motor box (103) and the winding box (102) are both provided with a mounting seat (106), a mounting plate (107) is provided at the rear end of the mounting seat (106), a plurality of sliding wheels (108) are rotatably provided between the mounting seat (106) and the mounting plate (107), and a linear motor (105) is provided at the middle position of the back of the mounting plate (107).

10. An obstacle-surmountable boiler water-cooled wall inspection robot, characterized in that: It comprises a guide mechanism (2), a moving mechanism (1) is slidably arranged on the surface of the guide mechanism (2), traction ropes (3) are wound inside the two ends of the moving mechanism (1), and a detection mechanism (4) is arranged at the lower ends of the two traction ropes (3); The detection mechanism (4) comprises a detection box (409), telescopic rods (415) are fixedly arranged at the four corners of the back of the detection box (409), a universal joint (404) is arranged at one end of the telescopic rod (415) away from the detection box (409), a protective plate (403) is arranged at one end of the universal joint (404) away from the telescopic rod (415), and a moving wheel (402) is rotatably arranged inside the protective plate (403); The guide mechanism (2) comprises a mounting track (201), and a guide track (202) is provided on the inner surface of the mounting track (201).

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