Wheel type robot self-adaptive to boiler water wall environment

Abstract

The invention discloses a wheeled robot self-adaptive to a boiler water-cooled wall environment, which relates to the technical field of robots and comprises a driving assembly for driving the wheeled robot to move forwards and an acoustic sensor for judging whether the robot is stuck or not. According to the wheeled robot self-adaptive to the boiler water-cooled wall environment, when the wheeled robot needs to be used for checking the internal condition of a boiler water-cooled wall, the wheeled robot is firstly placed on the boiler water-cooled wall, four universal wheels are driven to rotate through an engine body, and then the robot is driven to move on the surface of the boiler water-cooled wall; when an acoustic sensor detects that universal wheels are clamped by foreign matter on the surface of the boiler water-cooled wall, firstly, the wheeled robot is fixed to the surface of the boiler water-cooled wall, four air cylinders are started, the universal wheels are driven to move upwards to be separated from the outer surface of the boiler water-cooled wall, and two adsorption sleeves are driven to move downwards to be in contact with the outer surface of the boiler water-cooled wall; therefore, the rotation of the roller and the adsorption sleeve is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a wheeled robot adaptable to the environment of a boiler water wall. Background Art

[0002] The boiler water wall is a structure on the inner wall of the boiler composed of many interconnected tubes. These tubes are filled with water or steam. Its main function is to absorb the heat generated by combustion in the furnace and transfer the heat to the boiler water, thereby generating steam. Due to the harsh environment of the boiler water wall, it is difficult for people to directly enter for inspection and maintenance. A wheeled robot for the boiler water wall environment can move autonomously and perform tasks in the complex, narrow and high-temperature environment of the boiler water wall. It adopts a wheeled chassis to adapt to different terrains and obstacles.

[0003] Currently, most boiler water walls are made of ferromagnetic materials. Due to the complex environment in the boiler water wall and the presence of welds, corrosion pits and deposits on the inner surface of the water wall, there are irregularities on the surface of the boiler water wall. The wheeled robot relies on the contact between the wheels and the water wall to achieve movement. These uneven places will hinder the rolling of the wheels, resulting in the wheels of the robot being stuck. When the wheels are stuck, most of the existing wheeled robots are unable to adaptively adjust their own driving devices according to the actual situation of the boiler water wall, making the wheeled robot unable to continue moving forward on the surface of the boiler water wall, thus reducing the practicality of the wheeled robot for the boiler water wall.

[0004] Therefore, we propose a wheeled robot adaptable to the environment of a boiler water wall to solve the problems raised above. Summary of the Invention

[0005] The purpose of the present invention is to provide a wheeled robot adaptable to the environment of a boiler water wall to solve the problem that most wheeled robots for boiler water walls cannot adaptively adjust their own driving devices according to the actual situation, resulting in reduced practicality as described in the above background art.

[0006] To achieve the above object, the present invention provides the following technical solution: A wheeled robot adapted to the environment of the boiler water wall, including a driving component for driving the wheeled robot to move forward and an acoustic sensor for judging whether the robot is stuck. A camera for real-time monitoring of the state of the boiler water wall is provided on the top of the driving component. Switching components are provided on both the front surface and the rear surface of the driving component. Each of the two switching components includes a first tooth row and two compression frames. A connecting shaft is movably embedded between the opposite inner walls of the two compression frames. A first gear is fixedly sleeved on the outer surface of each of the two connecting shafts. A second tooth row is meshed with the outer surface of each of the two first gears. A bearing frame is fixed on the outer surface of each of the two second tooth rows. An auxiliary frame is fixedly installed at the bottom of each of the two bearing frames. A limiting shaft is movably embedded between the opposite inner walls of the two auxiliary frames. A roller for driving the wheeled robot to move forward steadily is fixedly sleeved on the outer surface of each of the two limiting shafts. An adsorption sleeve for adsorbing to the boiler water wall is provided on the outer surface of each of the two rollers.

[0007] Preferably, a controller is provided on the outer surface of one of the bearing frames. Servo motors for driving the rollers to rotate are provided near one side edge of the top of each of the two auxiliary frames. Power shafts are fixedly connected to the output ends of the two servo motors. Servo gears are fixedly sleeved on the outer surface of each of the two power shafts near one end. A second gear is meshed with the outer surface of each of the two servo gears.

[0008] Preferably, the outer surfaces of the two first tooth rows are respectively meshed with the outer surfaces of the two first gears. The two first gears are respectively arranged inside the two compression frames. The two rollers are respectively arranged inside the two auxiliary frames. One end of each of the two limiting shafts is fixedly connected to the outer surface of each of the two second gears.

[0009] Preferably, the driving component includes a vehicle frame and a lifting plate. Connecting blocks are provided near the four corners at the bottom of the vehicle frame. Every two adjacent ones of the four connecting blocks form a group. A stabilizing rod is movably embedded between the interiors of each group of connecting blocks.

[0010] Preferably, universal wheels for driving the robot to move forward are provided at both ends of the two stabilizing rods. An engine body for providing power for the movement of the robot is provided near the center at the bottom of the vehicle frame. A transmission rod for power transmission is provided on the outer surface of the engine body.

[0011] Preferably, a differential for driving the rotation of the four universal wheels is provided on the outer surface of one of the stabilizing rods. Cylinders are provided near the four corners at the bottom of the lifting plate. The bottom ends of the four cylinders are fixedly connected to the top of the vehicle frame.

[0012] Preferably, the bottoms of the two first tooth rows are fixedly connected to the top of the vehicle frame, the tops of the two first tooth rows movably penetrate to the outside of the lifting plate, the bottoms of the two compression frames are fixedly connected to the top of the lifting plate, and the outer surfaces of the two second tooth rows slide inside the lifting plate.

[0013] Preferably, an adsorption assembly for limiting the wheeled robot is arranged inside the driving assembly. The adsorption assembly includes a mounting frame. The bottom of the mounting frame is fixedly connected to the top of the lifting plate, and a hydraulic rod is arranged on the inner top surface of the mounting frame.

[0014] Preferably, the bottom end of the hydraulic rod movably penetrates to the outside of the lifting plate. The bottom end of the hydraulic rod is fixedly installed with a lifting rod. The bottom end of the lifting rod sequentially movably penetrates to the outside of the lifting plate and the vehicle frame. A communication groove is formed at the bottom of the lifting rod.

[0015] Preferably, a suction cup for adsorbing the boiler water wall is fixedly communicated with the outer surface of the communication groove. A communicating pipe is fixed at the outer surface of the lifting rod near the bottom end. The inside of the communicating pipe is communicated with the inside of the communication groove, and a solenoid valve is arranged on the outer surface of the communicating pipe.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] 1. When it is necessary to use the wheeled robot to check the inside of the boiler water wall, first place the wheeled robot on the boiler water wall. Drive the four universal wheels to rotate through the engine body, and then drive the robot to move on the surface of the boiler water wall. When the acoustic sensor detects that the universal wheel is stuck by a foreign object on the surface of the boiler water wall, first fix the wheeled robot on the surface of the boiler water wall, start the four cylinders, drive the universal wheel to move upward and separate from the outer surface of the boiler water wall, and also drive the two adsorption sleeves to move downward to contact the outer surface of the boiler water wall, which realizes the rotation of the rollers and the adsorption sleeves, and solves the problem that most of the existing wheeled robots for boiler water walls in the prior art cannot adaptively adjust their own driving equipment according to the actual situation, reducing the practicability.

[0018] 2. When a foreign object blocks the normal movement of the universal wheel, start the hydraulic rod to drive the suction cup to tightly fit on the boiler water wall, and then fix the whole wheeled robot at this position. After the equipment for driving the robot forward is switched, open the solenoid valve to separate the suction cup from the outer surface of the boiler water wall. Through the action of the adsorption assembly, the overall stability of the wheeled robot during the process of switching the driving equipment is ensured.

[0019] 3. To facilitate the switching of the driving device of the wheeled robot, when the universal wheels are stuck, four cylinders are activated to drive the frame to move upward, which also drives the four universal wheels to move upward, so as to separate them from the obstacles. At the same time, when the frame moves upward, it also drives the two rollers to move towards the surface of the boiler water wall. Through a series of connections, the robot can complete the switching of the driving device without the cooperation of multiple driving devices, saving resources. Description of the Drawings

[0020] Figure 1 Front three-dimensional view of a wheeled robot that adapts to the environment of the boiler water wall according to the present invention;

[0021] Figure 2 Side three-dimensional view of a wheeled robot that adapts to the environment of the boiler water wall according to the present invention;

[0022] Figure 3 Partial three-dimensional view of the driving component of a wheeled robot that adapts to the environment of the boiler water wall according to the present invention;

[0023] Figure 4 Partial three-dimensional view of the frame of a wheeled robot that adapts to the environment of the boiler water wall according to the present invention;

[0024] Figure 5 Partial three-dimensional view of the lifting plate of a wheeled robot that adapts to the environment of the boiler water wall according to the present invention;

[0025] Figure 6 Partial sectional three-dimensional view of the adsorption component of a wheeled robot that adapts to the environment of the boiler water wall according to the present invention;

[0026] Figure 7 Partial three-dimensional view of the switching component of a wheeled robot that adapts to the environment of the boiler water wall according to the present invention;

[0027] Figure 8 Partial unfolded three-dimensional view of the structure of the servo gear of a wheeled robot that adapts to the environment of the boiler water wall according to the present invention.

[0028] In the figure:

[0029] 1. Driving assembly; 101. Frame; 102. Connecting block; 103. Stabilizing bar; 104. Universal wheel; 105. Engine body; 106. Transmission rod; 107. Differential; 108. Cylinder; 109. Lifting plate; 2. Adsorption assembly; 201. Mounting frame; 202. Hydraulic rod; 203. Lifting rod; 204. Connecting groove; 205. Suction cup; 206. Connecting pipe; 207. Solenoid valve; 3. Camera; 4. Acoustic sensor; 5. Switching assembly; 501. First gear row; 502. Compression frame; 503. Connecting shaft; 504. First gear; 505. Second gear row; 506. Carrying frame; 507. Auxiliary frame; 508. Limiting shaft; 509. Roller; 510. Adsorption sleeve; 511. Servo motor; 512. Power shaft; 513. Servo gear; 514. Second gear; 6. Controller. DETAILED DESCRIPTION

[0030] 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 implementation regulations described are only 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.

[0031] See also Figure 1-5 and Figure 7-Figure 8, the present invention provides a technical solution: a wheeled robot adapted to the environment of a boiler water wall, including a driving component 1 for driving the wheeled robot to move forward and an acoustic sensor 4 for determining whether the robot is stuck. A camera 3 for real-time monitoring of the state of the boiler water wall is provided on the top of the driving component 1. Switching components 5 are provided on both the front surface and the rear surface of the driving component 1. Each of the two switching components 5 includes a first tooth row 501 and two compression frames 502. A connecting shaft 503 is movably embedded between the opposite inner walls of the two compression frames 502. First gears 504 are fixedly sleeved on the outer surfaces of the two connecting shafts 503. Second tooth rows 505 are meshed with the outer surfaces of the two first gears 504. Carrying frames 506 are fixed on the outer surfaces of the two second tooth rows 505. Auxiliary frames 507 are fixedly installed at the bottoms of the two carrying frames 506. Limiting shafts 508 are movably embedded between the opposite inner walls of the two auxiliary frames 507. Wheels 509 for driving the wheeled robot to move forward stably are fixedly sleeved on the outer surfaces of the two limiting shafts 508. Adsorption sleeves 510 for adsorbing to the boiler water wall are provided on the outer surfaces of the two wheels 509. A controller 6 is provided on the outer surface of one of the carrying frames 506. Servo motors 511 for driving the wheels 509 to rotate are provided near one side edge at the tops of the two auxiliary frames 507. Power shafts 512 are fixedly connected to the output ends of the two servo motors 511. Servo gears 513 are fixedly sleeved on the outer surfaces of the two power shafts 512 near one end. Second gears 514 are meshed with the outer surfaces of the two servo gears 513. The outer surfaces of the two first tooth rows 501 are respectively meshed with the outer surfaces of the two first gears 504. The two first gears 504 are respectively arranged inside the two compression frames 502. The two wheels 509 are respectively arranged inside the two auxiliary frames 507. One ends of the two limiting shafts 508 are fixedly connected to the outer surfaces of the two second gears 514. The driving component 1 includes a vehicle frame 101 and a lifting plate 109. Connecting blocks 102 are provided near the four corners at the bottom of the vehicle frame 101. Every two adjacent ones of the four connecting blocks 102 form a group. Stabilizing rods 103 are movably embedded between the interiors of each group of connecting blocks 102. Universal wheels 104 for driving the robot to move forward are provided at both ends of the two stabilizing rods 103. An engine body 105 for providing power for the movement of the robot is provided near the center at the bottom of the vehicle frame 101. A transmission rod 106 for power transmission is provided on the outer surface of the engine body 105. A differential 107 for driving the four universal wheels 104 to rotate is provided on the outer surface of one of the stabilizing rods 103. Cylinders 108 are provided near the four corners at the bottom of the lifting plate 109. The bottom ends of the four cylinders 108 are fixedly connected to the top of the vehicle frame 101. The bottom ends of the two first tooth rows 501 are fixedly connected to the top of the vehicle frame 101. The top ends of the two first tooth rows 501 movably penetrate to the outside of the lifting plate 109.The bottoms of the two pressure-resistant frames 502 are fixedly connected to the top of the lifting plate 109, and the outer surfaces of the two second tooth rows 505 are slidably connected to the inside of the lifting plate 109.

[0032] In this embodiment, since the internal environment of the boiler water wall made of ferromagnetic materials is complex, when a wheeled robot is needed to inspect the inside of the boiler water wall, first place the wheeled robot on the boiler water wall, and then start the engine body 105 to drive the transmission rod 106 to drive the differential 107 to rotate, and then drive the stabilizer bar 103 connected to the differential 107 to rotate. Among them, the working principles of the engine body 105 and the differential 107 are as follows: the engine body 105 converts the chemical energy generated by fuel combustion into mechanical energy to drive the robot forward. The main function of the differential 107 is to allow the two universal wheels 104 on the stabilizer bar 103 to rotate at different speeds. The rotation of the stabilizer bar 103 drives the two universal wheels 104 connected thereto to rotate, thereby driving the four universal wheels 104 to rotate. Among them, as Figure 1As shown, there are many uneven places on the surface of the universal wheel 104. The purpose is to increase the friction between the universal wheel 104 and the surface of the boiler water wall, so that the wheeled robot can move more stably on the surface of the boiler water wall. The rotation of the four universal wheels 104 drives the robot to move forward along the surface of the boiler water wall. At the same time, the camera 3 is started, and the state of the boiler water wall, including potential problems such as dirt, corrosion, and cracks, is monitored in real time through the camera 3, which helps to perform preventive maintenance on the boiler water wall and avoid failures. When the acoustic sensor 4 detects that the universal wheel 104 is stuck by foreign objects on the surface of the boiler water wall, among them, the acoustic sensor 4 continuously collects the sound signals generated during the operation of the wheel. These sound signals contain the rotation frequency, amplitude of the wheel, and various noise information. Through signal processing, the characteristic parameters that can reflect the rotation state of the wheel are extracted, and then it is judged whether the wheel is stuck. To facilitate the normal movement of the robot, first fix the wheeled robot on the surface of the boiler water wall, and then the four cylinders 108 can be started through the controller 6 to shorten them, driving the frame 101 to move upward, thereby driving the four universal wheels 104 to move upward and separate from the outer surface of the boiler water wall. The movement of the frame 101 drives the two first tooth rows 501 to move upward. Since the two first tooth rows 501 are fixedly connected to the frame 101, the two first gears 504 move relative to the two first tooth rows 501 respectively, driving the two first gears 504 to rotate. The rotation of the two first gears 504 drives the two second tooth rows 505 to move downward. Among them, the downward movement rate of the second tooth row 505 is greater than the upward movement rate of the lifting plate 109, so that the two carrier frames 506 move downward, driving the two rollers 509 to move downward, and then driving the two adsorption sleeves 510 to move downward until the outer surfaces of the two adsorption sleeves 510 are completely in contact with the outer surface of the boiler water wall, so that the adsorption sleeves 510 are adsorbed on the surface of the boiler water wall. Among them, the adsorption sleeve 510 is made of a strong magnet. Although the adsorption force of the strong magnet will decrease in a high-temperature and high-pressure environment, it still has a certain adsorption effect on the boiler water wall, which can further improve the grasping force of the roller 509 on the boiler water wall. At this time, the solenoid valve 207 can be opened, so that air enters the communication groove 204 and the communication pipe 206 in a negative pressure state, so that the atmospheric pressure in the suction cup 205 is the same as the external atmospheric pressure, and the suction cup 205 can be separated from the outer surface of the boiler water wall. Then the hydraulic rod 202 can be started again to shorten it, driving the suction cup 205 to separate from the outer surface of the boiler water wall, which realizes the switching between the universal wheel 104 and the roller 509 in the wheeled robot moving device. Then the two servo motors 511 can be started through the controller 6 to drive the two power shafts 512 to rotate, driving the two servo gears 513 to rotate, and then driving the two second gears 514 to rotate, and then driving the two limit shafts 508 to rotate.By rotating the two limiting shafts 508, the rotation of the roller 509 and the adsorption sleeve 510 is realized, which can drive the robot to continue moving forward along the boiler water wall. By setting two sets of devices for forward driving on the robot, when one set of driving devices is stuck by an obstacle, it can be automatically adjusted and the other set of driving devices can be switched, further improving the practicability of the wheeled robot in the boiler water wall environment, and solving the problem that most of the existing wheeled robots for boiler water walls in the prior art cannot adaptively adjust their own driving devices according to the actual situation, resulting in reduced practicability.

[0033] As Figure 1-Figure 6 shown, an adsorption component 2 for limiting the wheeled robot is arranged inside the driving component 1. The adsorption component 2 includes a mounting frame 201. The bottom of the mounting frame 201 is fixedly connected to the top of the lifting plate 109. A hydraulic rod 202 is arranged on the inner top surface of the mounting frame 201. The bottom end of the hydraulic rod 202 movably penetrates to the outside of the lifting plate 109. A lifting rod 203 is fixedly installed at the bottom end of the hydraulic rod 202. The bottom end of the lifting rod 203 sequentially movably penetrates to the outside of the lifting plate 109 and the vehicle frame 101. A communication groove 204 is formed at the bottom of the lifting rod 203. A suction cup 205 for adsorbing the boiler water wall is fixedly communicated with the outer surface of the communication groove 204. A communication pipe 206 is fixed near the bottom end of the outer surface of the lifting rod 203. The inside of the communication pipe 206 is communicated with the inside of the communication groove 204. An electromagnetic valve 207 is arranged on the outer surface of the communication pipe 206.

[0034] In this embodiment, when a foreign object blocks the normal movement of the universal wheel 104, first, the hydraulic rod 202 is started by the controller 6 to make it extend, driving the lifting rod 203 to move downward, and then driving the suction cup 205 to move downward. Among them, as Figure 6 shown, the cross-section of the lifting rod 203 is cross-shaped, and its purpose is to increase its contact area with the inner walls of the lifting plate 109 and the vehicle frame 101, so that the lifting rod 203 moves up and down more stably. When the bottom of the suction cup 205 is in full contact with the outer surface of the boiler water wall, the suction cup 205 creates a low-pressure area, evacuates the air from between the suction cup 205 and the water wall, thus forming an internal and external pressure difference, causing the suction cup 205 to tightly adhere to the water wall, and then fixing the entire wheeled robot at this position. When the switching of the device for the robot to drive forward is completed, at this time, the electromagnetic valve 207 can be opened, so that air enters the communication groove 204 and the communication pipe 206 in a negative pressure state, so that the atmospheric pressure in the suction cup 205 is the same as the external atmospheric pressure, and the suction cup 205 can be separated from the outer surface of the boiler water wall. Then, the hydraulic rod 202 can be started again to make it shorten, driving the separation between the suction cup 205 and the outer surface of the boiler water wall. Through the action of the adsorption component 2, the overall stability of the wheeled robot during the process of switching the driving device is ensured.

[0035] Usage method and working principle of this device: Since the internal environment of the boiler water wall made of ferromagnetic materials is complex, when a wheeled robot is needed to inspect the inside of the boiler water wall, first place the wheeled robot on the boiler water wall, and then start the engine body 105 to drive the transmission rod 106 to drive the differential 107 to rotate, and then drive the stabilizer bar 103 connected to the differential 107 to rotate. Among them, the working principles of the engine body 105 and the differential 107 are: the engine body 105 converts the chemical energy generated by fuel combustion into mechanical energy to drive the robot forward. The main function of the differential 107 is to allow the two universal wheels 104 on the stabilizer bar 103 to rotate at different speeds. The rotation of the stabilizer bar 103 drives the two universal wheels 104 connected to it to rotate, thereby driving the four universal wheels 104 to rotate. Among them, as Figure 1 shown, there are many concave and convex parts on the surface of the universal wheel 104, and the purpose is to increase the friction between the universal wheel 104 and the surface of the boiler water wall, so that the wheeled robot moves more stably on the surface of the boiler water wall. The rotation of the four universal wheels 104 drives the robot to move forward along the surface of the boiler water wall. At the same time, start the camera 3 to monitor the state of the boiler water wall in real time through the camera 3, including potential problems such as dirt, corrosion, and cracks, which helps to perform preventive maintenance on the boiler water wall and avoid failures. When the acoustic sensor 4 detects that the universal wheel 104 is stuck by foreign objects on the surface of the boiler water wall, among them, the acoustic sensor 4 continuously collects the sound signals generated during the operation of the wheels. These sound signals contain the frequency, amplitude of the wheel rotation and various noise information. Through signal processing, the characteristic parameters that can reflect the rotation state of the wheels are extracted, and then it is judged whether the wheels are stuck. In order to facilitate the normal movement of the robot, first start the hydraulic rod 202 through the controller 6 to make it extend, drive the lifting rod 203 to move downward, and then mobilize the suction cup 205 to move downward. Among them, as Figure 6As shown, the cross-section of the lifting rod 203 is cross-shaped, aiming to increase its contact area with the lifting plate 109 and the inner wall of the vehicle frame 101, so that the lifting rod 203 moves up and down more stably. When the bottom of the suction cup 205 is in full contact with the outer surface of the boiler water wall, the suction cup 205 creates a low-pressure area, evacuating the air between the suction cup 205 and the water wall, thus forming an internal and external pressure difference, causing the suction cup 205 to tightly adhere to the water wall, and then fixing the entire wheeled robot at this position. Then, the four cylinders 108 can be activated through the controller 6 to shorten, driving the vehicle frame 101 to move upward, thereby driving the four universal wheels 104 to move upward and separate from the outer surface of the boiler water wall. The movement of the vehicle frame 101 drives the two first tooth rows 501 to move upward. Since the two first tooth rows 501 are fixedly connected to the vehicle frame 101, the two first gears 504 move relative to the two first tooth rows 501 respectively, driving the two first gears 504 to rotate. The rotation of the two first gears 504 drives the two second tooth rows 505 to move downward. Among them, the downward movement rate of the second tooth row 505 is greater than the upward movement rate of the lifting plate 109, so that the two bearing frames 506 move downward, driving the two rollers 509 to move downward, and then driving the two adsorption sleeves 510 to move downward until the outer surfaces of the two adsorption sleeves 510 are in full contact with the outer surface of the boiler water wall, so that the adsorption sleeves 510 are adsorbed on the surface of the boiler water wall. Among them, the adsorption sleeve 510 is made of a strong magnet. Although the adsorption force of the strong magnet will decrease in a high-temperature and high-pressure environment, it still has a certain adsorption effect on the boiler water wall, which can further improve the gripping force of the roller 509 on the boiler water wall, that is, the switching between the universal wheel 104 and the roller 509 in the wheeled robot moving device is realized. Then, the two servo motors 511 can be activated through the controller 6 to drive the two power shafts 512 to rotate, driving the two servo gears 513 to rotate, and then driving the two second gears 514 to rotate, so that the two limit shafts 508 rotate. Through the rotation of the two limit shafts 508, the rotation of the roller 509 and the adsorption sleeve 510 is realized, and the robot can be driven to continue moving forward along the boiler water wall. By setting two sets of devices for forward driving on the robot, when one set of driving devices is stuck by an obstacle, it can be automatically adjusted and switched to the other set of driving devices, further improving the practicability of the wheeled robot in the boiler water wall environment, and solving the problem that most of the existing wheeled robots for boiler water walls in the prior art cannot adaptively adjust their own driving devices according to the actual situation, reducing the practicability. Among them, the controller 6 is electrically connected to the engine body 105, the differential 107, the cylinder 108, the hydraulic rod 202, the solenoid valve 207, the camera 3, the acoustic sensor 4, and the servo motor 511.

[0036] The wiring diagrams of the engine body 105, differential 107, cylinder 108, hydraulic rod 202, solenoid valve 207, camera 3, acoustic sensor 4, servo motor 511 and controller 6 in the present invention belong to the common knowledge in the art, and their working principles are already well-known technologies. Their models are selected according to actual use. Therefore, the control methods and wiring arrangements of the engine body 105, differential 107, cylinder 108, hydraulic rod 202, solenoid valve 207, camera 3, acoustic sensor 4, servo motor 511 and controller 6 will not be explained in detail.

[0037] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A wheeled robot adaptable to the environment of a boiler water wall, comprising a driving assembly (1) for driving the wheeled robot to move forward and an acoustic sensor (4) for judging whether the robot is stuck. A camera (3) for real-time monitoring of the state of the boiler water wall is arranged on the top of the driving assembly (1), and it is characterized in that: The front surface and the rear surface of the driving component (1) are both provided with switching components (5). Both of the two switching components (5) include a first tooth row (501) and two compression frames (502). A connecting shaft (503) is movably embedded between the opposite inner walls of the two compression frames (502). A first gear (504) is fixedly sleeved on the outer surface of each of the two connecting shafts (503). A second tooth row (505) is meshed and connected to the outer surface of each of the two first gears (504). A bearing frame (506) is fixed on the outer surface of each of the two second tooth rows (505). An auxiliary frame (507) is fixedly installed at the bottom of each of the two bearing frames (506). A limiting shaft (508) is movably embedded between the opposite inner walls of the two auxiliary frames (507). A roller (509) for driving the wheeled robot to move forward stably is fixedly sleeved on the outer surface of each of the two limiting shafts (508). An adsorption sleeve (510) for adsorbing to the boiler water wall is arranged on the outer surface of each of the two rollers (509).

2. The wheeled robot for adapting to the environment of the boiler water wall according to claim 1, characterized in that: A controller (6) is arranged on the outer surface of one of the bearing frames (506). A servo motor (511) for driving the roller (509) to rotate is arranged at the top of each of the two auxiliary frames (507) near one side edge. A power shaft (512) is fixedly connected to the output end of each of the two servo motors (511). A servo gear (513) is fixedly sleeved on the outer surface of each of the two power shafts (512) near one end. A second gear (514) is meshed and connected to the outer surface of each of the two servo gears (513).

3. The wheeled robot for adapting to the environment of the boiler water wall according to claim 2, characterized in that: The outer surfaces of the two first tooth rows (501) are meshed and connected to the outer surfaces of the two first gears (504) respectively. The two first gears (504) are respectively arranged inside the two compression frames (502). The two rollers (509) are respectively arranged inside the two auxiliary frames (507). One end of each of the two limiting shafts (508) is fixedly connected to the outer surface of each of the two second gears (514).

4. The wheeled robot for adapting to the environment of the boiler water wall according to claim 3, characterized in that: The driving component (1) includes a vehicle frame (101) and a lifting plate (109). Connecting blocks (102) are arranged at the bottom of the vehicle frame (101) near the four corners. Every two adjacent ones of the four connecting blocks (102) form a group. A stabilizing rod (103) is movably embedded between the interiors of each group of connecting blocks (102).

5. The wheeled robot for adapting to the environment of the boiler water-cooled wall according to claim 4, wherein: Universal wheels (104) for driving the robot to move forward are arranged at both ends of the two stabilizing rods (103). An engine body (105) for providing power for the movement of the robot is arranged at the bottom of the vehicle frame (101) near the center. A transmission rod (106) for power transmission is arranged on the outer surface of the engine body (105).

6. The wheeled robot for adapting to the environment of the boiler water wall according to claim 5, characterized in that: A differential (107) for driving the four universal wheels (104) to rotate is arranged on the outer surface of one of the stabilizing rods (103). Cylinders (108) are arranged at the bottom of the lifting plate (109) near the four corners. The bottom ends of the four cylinders (108) are fixedly connected to the top of the vehicle frame (101).

7. The wheeled robot for adapting to the environment of the boiler water-cooled wall according to claim 6, wherein: The bottom ends of the two first tooth rows (501) are fixedly connected to the top of the vehicle frame (101), the top ends of the two first tooth rows (501) all movably penetrate to the outside of the lifting plate (109), the bottoms of the two compression frames (502) are fixedly connected to the top of the lifting plate (109), and the outer surfaces of the two second tooth rows (505) all slide inside the lifting plate (109).

8. The wheeled robot for adapting to the environment of the boiler water-cooled wall according to claim 7, wherein: An adsorption assembly (2) for limiting the wheeled robot is arranged inside the driving assembly (1). The adsorption assembly (2) includes a mounting frame (201). The bottom of the mounting frame (201) is fixedly connected to the top of the lifting plate (109), and a hydraulic rod (202) is arranged on the inner top surface of the mounting frame (201).

9. The wheeled robot for adapting to the environment of the boiler water wall according to claim 8, wherein: The bottom end of the hydraulic rod (202) movably penetrates to the outside of the lifting plate (109). A lifting rod (203) is fixedly installed at the bottom end of the hydraulic rod (202). The bottom end of the lifting rod (203) sequentially movably penetrates to the outside of the lifting plate (109) and the vehicle frame (101), and a communication groove (204) is formed at the bottom of the lifting rod (203).

10. The wheeled robot for adapting to the environment of the boiler water-cooled wall according to claim 9, characterized in that: A suction cup (205) for adsorbing the water-cooled wall of the boiler is fixedly communicated with the outer surface of the communication groove (204). A communication pipe (206) is fixed near the bottom end of the outer surface of the lifting rod (203). The inside of the communication pipe (206) is communicated with the inside of the communication groove (204), and a solenoid valve (207) is arranged on the outer surface of the communication pipe (206).

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